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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
102 lines
2.6 KiB
C++
102 lines
2.6 KiB
C++
#ifndef AREAS_HPP_CVK1NIAI
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#define AREAS_HPP_CVK1NIAI
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#include <vanetza/geodesy/geodesy.hpp>
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#include <vanetza/units/area.hpp>
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#include <boost/variant.hpp>
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namespace vanetza
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{
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namespace geonet
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{
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using geodesy::CartesianPosition;
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using geodesy::GeodeticPosition;
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using geodesy::distance;
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using geodesy::local_cartesian;
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struct Circle
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{
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Circle() : r(1.0 * units::si::meters) {}
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units::Length r; // radius
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};
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struct Rectangle
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{
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Rectangle() : a(1.0 * units::si::meters), b(1.0 * units::si::meters) {}
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units::Length a; // center to long side
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units::Length b; // center to short side
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};
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struct Ellipse
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{
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Ellipse() : a(1.0 * units::si::meters), b(1.0 * units::si::meters) {}
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units::Length a; // long semi-axis
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units::Length b; // short semi-axis
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};
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struct Area
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{
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boost::variant<Rectangle, Ellipse, Circle> shape;
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GeodeticPosition position;
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units::Angle angle;
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};
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double geometric_function(const Circle&, const CartesianPosition&);
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double geometric_function(const Rectangle&, const CartesianPosition&);
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double geometric_function(const Ellipse&, const CartesianPosition&);
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double geometric_function(const decltype(Area::shape)&, const CartesianPosition&);
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/**
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* Canonicalize a point in a shape's coordinate system w.r.t. its azimuth angle
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* \param point Point to canonicalize
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* \param azimuth Azimuth angle of shape's long side
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* \return canonical position (suitable for geometric_function)
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*/
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CartesianPosition canonicalize(const CartesianPosition& point, units::Angle azimuth);
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/**
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* Check if positon is within or at border of area
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* \param area with shape, dimensions, azimuth and center point position
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* \param position Geodetic position to check against area
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* \return true if position is inside or at border
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*/
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bool inside_or_at_border(const Area&, const GeodeticPosition&);
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/**
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* Calculate area size in square km.
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* \param area Area object
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* \return area size
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*/
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units::Area area_size(const Area&);
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template<class SHAPE>
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bool inside_shape(const SHAPE& shape, const CartesianPosition& p)
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{
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return geometric_function(shape, p) > 0.0;
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}
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template<class SHAPE>
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bool outside_shape(const SHAPE& shape, const CartesianPosition& p)
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{
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return geometric_function(shape, p) < 0.0;
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}
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template<class SHAPE>
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bool at_shape_border(const SHAPE& shape, const CartesianPosition& p)
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{
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return geometric_function(shape, p) == 0.0;
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}
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template<class SHAPE>
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bool at_center_point(const SHAPE& shape, const CartesianPosition& p)
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{
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return geometric_function(shape, p) == 1.0;
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}
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} // namespace geonet
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} // namespace vanetza
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#endif /* AREAS_HPP_CVK1NIAI */
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