Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
104 lines
3.3 KiB
C++
104 lines
3.3 KiB
C++
#ifndef PATH_HISTORY_HPP_1ITSMS5I
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#define PATH_HISTORY_HPP_1ITSMS5I
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#include <vanetza/facilities/path_point.hpp>
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#include <boost/circular_buffer.hpp>
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#include <boost/range/iterator_range.hpp>
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#include <cstddef>
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#include <list>
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namespace vanetza
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{
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namespace facilities
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{
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// C2C-CC BSP RS_BSP_318 path history (Method One) parameters
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extern const units::Length cTraceAllowableError;
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extern const units::Length cTraceMaxDeltaDistance;
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extern const units::Angle cTraceDeltaPhi;
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/**
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* Implementation of Path History Reference Design (Method One)
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* \see NHTSA Document "VSC-A Final Report: Appendix B-2" from September 2011
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*/
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class PathHistory
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{
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public:
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struct Parameters
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{
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units::Length allowable_error = cTraceAllowableError;
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units::Length chord_length_threshold = cTraceMaxDeltaDistance;
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units::Angle small_delta_phi = cTraceDeltaPhi;
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units::Length retention_distance = 500.0 * units::si::meter;
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};
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PathHistory();
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explicit PathHistory(const Parameters& params);
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/**
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* Consider one further path point for inclusion into path history
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* \param a path point, expected to be newer than any previously given point
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*/
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void addSample(const PathPoint&);
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/**
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* Drop all samples and concise points, e.g. on pseudonym (AT) change
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*/
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void clear();
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/**
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* Get current reference point, i.e. last provided path point
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* \return current reference point (fallback is a default constructed PathPoint)
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*/
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const PathPoint& getReferencePoint() const;
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/**
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* Get concise list of path points
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* \note previously given path points are only included if the algorithm
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* presented in above mentioned document as "Method One" selects them
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* \return list of path points, some given points might be omitted
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*/
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const std::list<PathPoint>& getConcisePoints() const { return m_concise; }
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/**
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* Newest concise points covering at least a distance (crossing point included)
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* \param distance minimum distance to cover
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* \return view of the newest concise points
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*/
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMinLength(units::Length distance) const;
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/// As above but capped at max_points
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMinLength(units::Length distance, std::size_t max_points) const;
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/**
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* Newest concise points covering at most a distance (crossing point excluded)
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* \param distance maximum distance to cover
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* \return view of the newest concise points
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*/
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMaxLength(units::Length distance) const;
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/// As above but capped at max_points
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boost::iterator_range<std::list<PathPoint>::const_iterator>
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getConcisePointsMaxLength(units::Length distance, std::size_t max_points) const;
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private:
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void updateConcisePoints();
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void truncateConcisePoints();
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const PathPoint& starting() const;
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const PathPoint& previous() const;
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const PathPoint& next() const;
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Parameters m_params;
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boost::circular_buffer<PathPoint> m_samples;
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std::list<PathPoint> m_concise;
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};
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} // namespace facilities
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} // namespace vanetza
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#endif /* PATH_HISTORY_HPP_1ITSMS5I */
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