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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
#ifndef POSITION_VECTOR_HPP_WJAGEOCS
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#define POSITION_VECTOR_HPP_WJAGEOCS
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#include <vanetza/common/bit_number.hpp>
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#include <vanetza/geodesy/position.hpp>
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#include <vanetza/geonet/address.hpp>
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#include <vanetza/geonet/serialization.hpp>
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#include <vanetza/geonet/timestamp.hpp>
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#include <vanetza/geonet/units.hpp>
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#include <boost/units/quantity.hpp>
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#include <boost/units/systems/si/velocity.hpp>
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#include <cstdint>
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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::GeodeticPosition;
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class LongPositionVector
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{
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public:
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static constexpr std::size_t length_bytes = 24;
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typedef boost::units::quantity<boost::units::make_scaled_unit<
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boost::units::si::velocity,
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boost::units::scale<10, boost::units::static_rational<-2>>
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>::type, BitNumber<uint_fast16_t, 15>> speed_u15t; // 1/100 m/s
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Address gn_addr;
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Timestamp timestamp; // ms since 2004-01-01 00:00:00.000
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geo_angle_i32t latitude;
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geo_angle_i32t longitude;
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bool position_accuracy_indicator;
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speed_u15t speed;
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heading_u16t heading;
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LongPositionVector();
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GeodeticPosition position() const;
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};
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bool operator==(const LongPositionVector& lhs, const LongPositionVector& rhs);
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bool operator!=(const LongPositionVector& lhs, const LongPositionVector& rhs);
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/**
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* Check if position vector is empty (default)
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* \return true if all data fields are zero
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*/
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bool is_empty(const LongPositionVector&);
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/**
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* Check if position vector contains valid data,
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* i.e. not empty and latitude, longitude, and heading values within range
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* \return true if all data fields are valid
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*/
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bool is_valid(const LongPositionVector&);
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void serialize(const LongPositionVector&, OutputArchive&);
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void deserialize(LongPositionVector&, InputArchive&);
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class ShortPositionVector
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{
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public:
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static constexpr std::size_t length_bytes = 20;
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ShortPositionVector() = default;
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ShortPositionVector(const ShortPositionVector&) = default;
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ShortPositionVector& operator=(const ShortPositionVector&) = default;
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explicit ShortPositionVector(const LongPositionVector&);
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Address gn_addr;
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Timestamp timestamp;
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geo_angle_i32t latitude;
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geo_angle_i32t longitude;
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};
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bool operator==(const ShortPositionVector& lhs, const ShortPositionVector& rhs);
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bool operator!=(const ShortPositionVector& lhs, const ShortPositionVector& rhs);
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} // namespace geonet
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} // namespace vanetza
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#endif /* POSITION_VECTOR_HPP_WJAGEOCS */
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