Ashin Walpola
d107534eb2
obu-firmware builds against the vanetza-idf C-ITS library, which until now came from the colleague's microbu-esp32c5 tree beside the repository and was not tracked here, so a clone of this repository could not build the firmware it ships. The library alone is now part of obu-firmware, as obu-firmware/external/vanetza-idf: their external/vanetza-idf at commit cf4b99f, unchanged (9775 files; see its PROVENANCE.md). CMake takes it from there by default; -DVANETZA_IDF_DIR still points the build elsewhere. The rest of the colleague's tree (their own VAM firmware, PKI tooling, station-link Python tools, the V2X2MAP bridge) stays out of this repository and gitignored; nothing is pushed to their repository. NOTES.md, docs/06, TODO.md and the pcap verifier's usage line point at the new location.
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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