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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
112 lines
3.1 KiB
C++
112 lines
3.1 KiB
C++
#include "areas.hpp"
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#include "position_vector.hpp"
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#include "serialization.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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constexpr std::size_t LongPositionVector::length_bytes;
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constexpr std::size_t ShortPositionVector::length_bytes;
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LongPositionVector::LongPositionVector() : position_accuracy_indicator(false)
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{
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}
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GeodeticPosition LongPositionVector::position() const
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{
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return GeodeticPosition {
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static_cast<units::GeoAngle>(latitude),
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static_cast<units::GeoAngle>(longitude)
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};
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}
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ShortPositionVector::ShortPositionVector(const LongPositionVector& lpv) :
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gn_addr(lpv.gn_addr), timestamp(lpv.timestamp),
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latitude(lpv.latitude), longitude(lpv.longitude)
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{
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}
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bool operator==(const LongPositionVector& lhs, const LongPositionVector& rhs)
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{
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return lhs.gn_addr == rhs.gn_addr
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&& lhs.timestamp == rhs.timestamp
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&& lhs.latitude == rhs.latitude
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&& lhs.longitude == rhs.longitude
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&& lhs.speed == rhs.speed
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&& lhs.heading == rhs.heading
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&& lhs.position_accuracy_indicator == rhs.position_accuracy_indicator;
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}
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bool operator!=(const LongPositionVector& lhs, const LongPositionVector& rhs)
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{
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return !(lhs == rhs);
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}
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bool operator==(const ShortPositionVector& lhs, const ShortPositionVector& rhs)
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{
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return lhs.gn_addr == rhs.gn_addr
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&& lhs.timestamp == rhs.timestamp
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&& lhs.latitude == rhs.latitude
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&& lhs.longitude == rhs.longitude;
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}
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bool operator!=(const ShortPositionVector& lhs, const ShortPositionVector& rhs)
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{
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return !(lhs == rhs);
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}
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bool is_empty(const LongPositionVector& pv)
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{
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static const LongPositionVector zero;
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return pv == zero;
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}
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bool is_valid(const LongPositionVector& pv)
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{
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static const geo_angle_i32t limit_lat { 90.0 * units::degree };
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static const geo_angle_i32t limit_lon { 180.0 * units::degree };
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static const heading_u16t limit_hdg { 360.0 * units::degree };
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if (is_empty(pv)) {
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return false;
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} else if (pv.latitude < -limit_lat || pv.latitude > limit_lat) {
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return false;
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} else if (pv.longitude < -limit_lon || pv.longitude > limit_lon) {
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return false;
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} else if (pv.heading > limit_hdg) {
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return false;
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}
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return true;
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}
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void serialize(const LongPositionVector& lpv, OutputArchive& ar)
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{
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serialize(lpv.gn_addr, ar);
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serialize(lpv.timestamp, ar);
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serialize(lpv.latitude, ar);
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serialize(lpv.longitude, ar);
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uint16_t paiAndSpeed = lpv.speed.value().raw();
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paiAndSpeed |= lpv.position_accuracy_indicator ? 0x8000 : 0x0000;
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serialize(host_cast(paiAndSpeed), ar);
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serialize(lpv.heading, ar);
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}
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void deserialize(LongPositionVector& lpv, InputArchive& ar)
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{
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deserialize(lpv.gn_addr, ar);
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deserialize(lpv.timestamp, ar);
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deserialize(lpv.latitude, ar);
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deserialize(lpv.longitude, ar);
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uint16_t paiAndSpeed = 0;
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deserialize(paiAndSpeed, ar);
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lpv.position_accuracy_indicator = ((paiAndSpeed & 0x8000) != 0);
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lpv.speed = LongPositionVector::speed_u15t::from_value(paiAndSpeed);
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deserialize(lpv.heading, ar);
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}
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} // namespace geonet
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} // namespace vanetza
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