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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
#include <vanetza/common/position_provider.hpp>
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#include <vanetza/common/runtime.hpp>
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#include <vanetza/geonet/position_updater.hpp>
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#include <vanetza/geonet/router.hpp>
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#include <vanetza/units/time.hpp>
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#include <chrono>
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namespace vanetza
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{
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namespace geonet
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{
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PositionUpdater::PositionUpdater(Runtime& rt, PositionProvider& position, Router& router) :
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m_runtime(rt), m_positioning(position), m_router(router)
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{
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update_rate(m_router.get_mib().itsGnMinimumUpdateFrequencyEPV);
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}
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PositionUpdater::~PositionUpdater()
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{
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m_runtime.cancel(this);
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}
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void PositionUpdater::schedule()
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{
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if (m_interval > Clock::duration::zero()) {
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m_runtime.schedule(m_interval, [this](Clock::time_point) {
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m_router.update_position(m_positioning.position_fix());
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schedule();
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}, this);
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}
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}
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void PositionUpdater::update_rate(Clock::duration interval)
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{
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m_interval = interval;
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m_runtime.cancel(this); /*< cancel previously scheduled callback */
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schedule();
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}
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void PositionUpdater::update_rate(units::Frequency rate)
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{
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if (rate > units::Frequency::from_value(0.0)) {
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using namespace std::chrono;
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const duration<double> interval { 1.0 / rate / units::si::second };
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update_rate(duration_cast<Clock::duration>(interval));
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} else {
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update_rate(Clock::duration::zero());
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}
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}
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} // namespace geonet
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} // namespace vanetza
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