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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
104 lines
3.8 KiB
C++
104 lines
3.8 KiB
C++
#include <vanetza/asn1/security_profile.hpp>
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#include VANETZA_ASN1_SECURITY_HEADER(CircularRegion.h)
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#include VANETZA_ASN1_SECURITY_HEADER(PolygonalRegion.h)
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#include VANETZA_ASN1_SECURITY_HEADER(RectangularRegion.h)
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#include VANETZA_ASN1_SECURITY_HEADER(SequenceOfRectangularRegion.h)
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#include VANETZA_ASN1_SECURITY_HEADER(TwoDLocation.h)
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#include <vanetza/common/position_fix.hpp>
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#include <vanetza/security/v3/boost_geometry.hpp>
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#include <vanetza/security/v3/distance.hpp>
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#include <vanetza/security/v3/geometry.hpp>
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#include <boost/geometry/algorithms/within.hpp>
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#include <boost/units/cmath.hpp>
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namespace vanetza
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{
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namespace security
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{
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namespace v3
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{
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bool is_valid(const asn1::TwoDLocation& location)
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{
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return location.latitude >= Vanetza_Security_NinetyDegreeInt_min &&
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location.latitude <= Vanetza_Security_NinetyDegreeInt_max &&
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location.longitude >= Vanetza_Security_OneEightyDegreeInt_min &&
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location.longitude <= Vanetza_Security_OneEightyDegreeInt_max;
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}
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bool is_inside(const PositionFix& location, const asn1::CircularRegion& region)
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{
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if (is_valid(region.center) && region.radius >= 0) {
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return distance(location, region.center) <= region.radius * units::si::meter;
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} else {
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return false;
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}
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}
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bool is_inside(const PositionFix& location, const asn1::SequenceOfRectangularRegion& regions)
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{
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for (int i = 0; i < regions.list.count; ++i) {
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if (regions.list.array[i] != nullptr && is_inside(location, *regions.list.array[i])) {
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return true;
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}
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}
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return false;
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}
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bool is_inside(const PositionFix& location, const asn1::RectangularRegion& region)
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{
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const bool location_valid = isfinite(location.latitude) && isfinite(location.longitude);
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const bool region_valid = is_valid(region.northWest) && is_valid(region.southEast);
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if (location_valid && region_valid) {
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if (region.northWest.latitude <= region.southEast.latitude) {
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// north-west is equal or south of south-east: invalid region
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return false;
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} else if (region.northWest.longitude == region.southEast.longitude) {
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// equal longitudes are invalid
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return false;
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} else {
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static constexpr long scale_90deg = Vanetza_Security_NinetyDegreeInt_max / 90;
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static constexpr long scale_180deg = Vanetza_Security_OneEightyDegreeInt_max / 180;
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Vanetza_Security_NinetyDegreeInt_t loc_lat = location.latitude / units::degree * scale_90deg;
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Vanetza_Security_OneEightyDegreeInt_t loc_lon = location.longitude / units::degree * scale_180deg;
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if (loc_lat >= region.southEast.latitude && loc_lat <= region.northWest.latitude) {
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if (region.northWest.longitude < region.southEast.longitude) {
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return loc_lon >= region.northWest.longitude && loc_lon <= region.southEast.longitude;
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} else {
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return loc_lon >= region.northWest.longitude || loc_lon <= region.southEast.longitude;
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}
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}
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}
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}
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return false;
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}
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bool is_inside(const asn1::TwoDLocation* location, const asn1::PolygonalRegion* region)
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{
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if (region && location) {
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PolygonalRegionRingAdapter polygonal_region(*region);
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auto point = make_model(*location);
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return boost::geometry::within(point, polygonal_region);
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}
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return false;
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}
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bool is_inside(const PositionFix& location, const asn1::PolygonalRegion& region)
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{
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if (isfinite(location.latitude) && isfinite(location.longitude)) {
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PolygonalRegionRingAdapter polygonal_region(region);
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auto point = make_model(location);
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return boost::geometry::within(point, polygonal_region);
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}
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return false;
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}
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} // namespace v3
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} // namespace security
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} // namespace vanetza
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