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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
130 lines
3.3 KiB
C++
130 lines
3.3 KiB
C++
#include "gbc_gac_header.hpp"
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#include "areas.hpp"
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#include <cmath>
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namespace vanetza
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{
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namespace geonet
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{
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namespace detail
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{
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class set_distance_visitor : public boost::static_visitor<>
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{
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public:
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set_distance_visitor(GbcGacHeader& hdr) : m_header(hdr) {}
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void operator()(const Circle& circle)
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{
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m_header.distance_a = circle.r;
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m_header.distance_b = 0;
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}
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void operator()(const Rectangle& rect)
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{
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m_header.distance_a = rect.a;
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m_header.distance_b = rect.b;
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}
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void operator()(const Ellipse& elip)
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{
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m_header.distance_a = elip.a;
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m_header.distance_b = elip.b;
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}
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private:
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GbcGacHeader& m_header;
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};
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class get_distance_visitor : public boost::static_visitor<>
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{
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public:
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get_distance_visitor(const GbcGacHeader& hdr) : m_header(hdr) {}
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void operator()(Circle& circle)
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{
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circle.r = m_header.distance_a;
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}
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void operator()(Rectangle& rect)
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{
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rect.a = m_header.distance_a;
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rect.b = m_header.distance_b;
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}
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void operator()(Ellipse& elip)
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{
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elip.a = m_header.distance_a;
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elip.b = m_header.distance_b;
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}
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private:
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const GbcGacHeader& m_header;
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};
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constexpr std::size_t GbcGacHeader::length_bytes;
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void GbcGacHeader::destination(const Area& area)
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{
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this->position(area.position);
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angle = static_cast<angle_u16t>(area.angle);
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set_distance_visitor visitor(*this);
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boost::apply_visitor(visitor, area.shape);
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}
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Area GbcGacHeader::destination(const decltype(Area::shape)& shape) const
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{
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Area area;
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area.shape = shape;
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area.position = this->position();
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area.angle = static_cast<units::Angle>(angle);
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get_distance_visitor visitor(*this);
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boost::apply_visitor(visitor, area.shape);
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return area;
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}
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void GbcGacHeader::position(const GeodeticPosition& position)
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{
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geo_area_pos_latitude = geo_angle_i32t::from_value(std::round(position.latitude.value() * 1e7));
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geo_area_pos_longitude = geo_angle_i32t::from_value(std::round(position.longitude.value() * 1e7));
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}
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GeodeticPosition GbcGacHeader::position() const
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{
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return GeodeticPosition(
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static_cast<units::GeoAngle>(geo_area_pos_latitude),
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static_cast<units::GeoAngle>(geo_area_pos_longitude)
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);
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}
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void serialize(const GbcGacHeader& header, OutputArchive& ar)
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{
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geonet::serialize(header.sequence_number, ar);
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geonet::serialize(host_cast(header.reserved1), ar);
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geonet::serialize(header.source_position, ar);
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geonet::serialize(header.geo_area_pos_latitude, ar);
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geonet::serialize(header.geo_area_pos_longitude, ar);
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geonet::serialize(header.distance_a, ar);
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geonet::serialize(header.distance_b, ar);
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geonet::serialize(header.angle, ar);
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geonet::serialize(host_cast(header.reserved2), ar);
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}
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void deserialize(GbcGacHeader& header, InputArchive& ar)
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{
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geonet::deserialize(header.sequence_number, ar);
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geonet::deserialize(header.reserved1, ar);
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geonet::deserialize(header.source_position, ar);
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geonet::deserialize(header.geo_area_pos_latitude, ar);
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geonet::deserialize(header.geo_area_pos_longitude, ar);
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geonet::deserialize(header.distance_a, ar);
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geonet::deserialize(header.distance_b, ar);
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geonet::deserialize(header.angle, ar);
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geonet::deserialize(header.reserved2, ar);
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}
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} // namespace detail
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} // namespace geonet
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} // namepsace vanetza
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