Common getter functions for the ETSI ITS CAM (EN and TS) More...

#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_getters.h>

Functions
uint32_t	getStationID (const CAM &cam)
	Get the Station ID object.

GenerationDeltaTime	getGenerationDeltaTime (const CAM &cam)
	Get the GenerationDeltaTime.

uint16_t	getGenerationDeltaTimeValue (const CAM &cam)
	Get the GenerationDeltaTime-Value.

uint8_t	getStationType (const CAM &cam)
	Get the stationType object.

double	getLatitude (const CAM &cam)
	Get the Latitude value of CAM.

double	getLongitude (const CAM &cam)
	Get the Longitude value of CAM.

double	getAltitude (const CAM &cam)
	Get the Altitude value of CAM.

double	getHeading (const Heading &heading)
	Get the Heading value.

double	getHeading (const CAM &cam)
	Get the Heading value of CAM.

double	getVehicleLength (const VehicleLength &vehicle_length)
	Get the Vehicle Length.

double	getVehicleLength (const CAM &cam)
	Get the Vehicle Length.

double	getVehicleWidth (const VehicleWidth &vehicle_width)
	Get the Vehicle Width.

double	getVehicleWidth (const CAM &cam)
	Get the Vehicle Width.

double	getSpeed (const CAM &cam)
	Get the vehicle speed.

double	getLongitudinalAcceleration (const CAM &cam)
	Get the longitudinal acceleration.

double	getLateralAcceleration (const CAM &cam)
	Get the lateral acceleration.

gm::PointStamped	getUTMPosition (const CAM &cam, int &zone, bool &northp)
	Get the UTM Position defined within the BasicContainer of the CAM.

gm::PointStamped	getUTMPosition (const CAM &cam)
	Get the UTM Position defined within the BasicContainer of the CAM.

std::vector< bool >	getExteriorLights (const ExteriorLights &exterior_lights)
	Get the Exterior Lights in form of bool vector.

std::vector< bool >	getExteriorLights (const CAM &cam)
	Get Exterior Lights as bool vector.

std::vector< bool >	getAccelerationControl (const AccelerationControl &acceleration_control)
	Get Acceleration Control in form of bool vector.

std::vector< bool >	getDrivingLaneStatus (const DrivingLaneStatus &driving_lane_status)
	Get the Driving Lane Status in form of bool vector.

std::vector< bool >	getSpecialTransportType (const SpecialTransportType &special_transport_type)
	Get the Special Transport Type in form of bool vector.

std::vector< bool >	getLightBarSirenInUse (const LightBarSirenInUse &light_bar_siren_in_use)
	Get the Lightbar Siren In Use in form of bool vector.

std::vector< bool >	getEmergencyPriority (const EmergencyPriority &emergency_priority)
	Get the Vehicle Role in form of bool vector.

Detailed Description

Common getter functions for the ETSI ITS CAM (EN and TS)

Definition in file cam_getters_common.h.

Function Documentation

◆ getAccelerationControl()

std::vector< bool > getAccelerationControl ( const AccelerationControl & acceleration_control )

inline

Get Acceleration Control in form of bool vector.

Parameters

acceleration_control

Returns: std::vector<bool>

Definition at line 264 of file cam_getters_common.h.

                                                                                               {
  return getBitString(acceleration_control.value, acceleration_control.bits_unused);
}

◆ getAltitude()

double getAltitude ( const CAM & cam )

inline

Get the Altitude value of CAM.

Parameters

cam	CAM to get the Altitude value from

Returns: Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 95 of file cam_getters_common.h.

                                          {
  return getAltitude(cam.cam.cam_parameters.basic_container.reference_position.altitude);
}

◆ getDrivingLaneStatus()

std::vector< bool > getDrivingLaneStatus ( const DrivingLaneStatus & driving_lane_status )

inline

Get the Driving Lane Status in form of bool vector.

Parameters

driving_lane_status

Returns: std::vector<bool>

Definition at line 274 of file cam_getters_common.h.

                                                                                          {
  return getBitString(driving_lane_status.value, driving_lane_status.bits_unused);
}

◆ getEmergencyPriority()

std::vector< bool > getEmergencyPriority ( const EmergencyPriority & emergency_priority )

inline

Get the Vehicle Role in form of bool vector.

Parameters

vehicle_role

Returns: std::vector<bool>

Definition at line 304 of file cam_getters_common.h.

                                                                                         {
  return getBitString(emergency_priority.value, emergency_priority.bits_unused);
}

◆ getExteriorLights() [1/2]

std::vector< bool > getExteriorLights ( const CAM & cam )

inline

Get Exterior Lights as bool vector.

Parameters

cam	CAM to get the ExteriorLights values from

Returns: std::vector<bool>

Definition at line 244 of file cam_getters_common.h.

                                                         {
  if (cam.cam.cam_parameters.low_frequency_container_is_present) {
    if (cam.cam.cam_parameters.low_frequency_container.choice ==
        LowFrequencyContainer::CHOICE_BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY) {
      return getExteriorLights(
          cam.cam.cam_parameters.low_frequency_container.basic_vehicle_container_low_frequency.exterior_lights);
    } else {
      throw std::invalid_argument("LowFrequencyContainer is not BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY!");
    }
  } else {
    throw std::invalid_argument("LowFrequencyContainer is not present!");
  }
}

◆ getExteriorLights() [2/2]

std::vector< bool > getExteriorLights ( const ExteriorLights & exterior_lights )

inline

Get the Exterior Lights in form of bool vector.

Parameters

exterior_lights

Returns: std::vector<bool>

Definition at line 234 of file cam_getters_common.h.

                                                                                {
  return getBitString(exterior_lights.value, exterior_lights.bits_unused);
}

◆ getGenerationDeltaTime()

GenerationDeltaTime getGenerationDeltaTime ( const CAM & cam )

inline

Get the GenerationDeltaTime.

Parameters

cam	CAM to get the GenerationDeltaTime from

Returns: GenerationDeltaTime the GenerationDeltaTime

Definition at line 51 of file cam_getters_common.h.

51{ return cam.cam.generation_delta_time; }

◆ getGenerationDeltaTimeValue()

uint16_t getGenerationDeltaTimeValue ( const CAM & cam )

inline

Get the GenerationDeltaTime-Value.

Parameters

cam	CAM to get the GenerationDeltaTime-Value from

Returns: uint16_t the GenerationDeltaTime-Value

Definition at line 59 of file cam_getters_common.h.

59{ return getGenerationDeltaTime(cam).value; }

getGenerationDeltaTime

GenerationDeltaTime getGenerationDeltaTime(const CAM &cam)

Get the GenerationDeltaTime.

Definition cam_getters_common.h:51

◆ getHeading() [1/2]

double getHeading ( const CAM & cam )

inline

Get the Heading value of CAM.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

cam	CAM to get the Heading value from

Returns: Heading value in degree as decimal number

Definition at line 117 of file cam_getters_common.h.

                                         {
  return getHeading(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading);
}

◆ getHeading() [2/2]

double getHeading ( const Heading & heading )

inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading to get the Heading value from

Returns: Heading value in degree as decimal number

Definition at line 107 of file cam_getters_common.h.

107{ return ((double)heading.heading_value.value) * 1e-1; }

◆ getLateralAcceleration()

double getLateralAcceleration ( const CAM & cam )

inline

Get the lateral acceleration.

Parameters

cam	CAM to get the lateral acceleration from

Returns: lateral acceleration in m/s^2 as decimal number (left is positive)

Definition at line 188 of file cam_getters_common.h.

                                                     {
  if (cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency
          .lateral_acceleration_is_present) {
    return getLateralAcceleration(
        cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.lateral_acceleration);
  } else {
    throw std::invalid_argument("LateralAcceleration is not present!");
  }
}

◆ getLatitude()

double getLatitude ( const CAM & cam )

inline

Get the Latitude value of CAM.

Parameters

cam	CAM to get the Latitude value from

Returns: Latitude value in degree as decimal number

Definition at line 75 of file cam_getters_common.h.

                                          {
  return getLatitude(cam.cam.cam_parameters.basic_container.reference_position.latitude);
}

◆ getLightBarSirenInUse()

std::vector< bool > getLightBarSirenInUse ( const LightBarSirenInUse & light_bar_siren_in_use )

inline

Get the Lightbar Siren In Use in form of bool vector.

Parameters

light_bar_siren_in_use

Returns: std::vector<bool>

Definition at line 294 of file cam_getters_common.h.

                                                                                               {
  return getBitString(light_bar_siren_in_use.value, light_bar_siren_in_use.bits_unused);
}

◆ getLongitude()

double getLongitude ( const CAM & cam )

inline

Get the Longitude value of CAM.

Parameters

cam	CAM to get the Longitude value from

Returns: Longitude value in degree as decimal number

Definition at line 85 of file cam_getters_common.h.

                                           {
  return getLongitude(cam.cam.cam_parameters.basic_container.reference_position.longitude);
}

◆ getLongitudinalAcceleration()

double getLongitudinalAcceleration ( const CAM & cam )

inline

Get the longitudinal acceleration.

Parameters

cam	CAM to get the longitudinal acceleration from

Returns: longitudinal acceleration in m/s^2 as decimal number (left is positive)

Definition at line 177 of file cam_getters_common.h.

                                                          {
  return getLongitudinalAcceleration(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration);
}

◆ getSpecialTransportType()

std::vector< bool > getSpecialTransportType ( const SpecialTransportType & special_transport_type )

inline

Get the Special Transport Type in form of bool vector.

Parameters

special_transport_type

Returns: std::vector<bool>

Definition at line 284 of file cam_getters_common.h.

                                                                                                   {
  return getBitString(special_transport_type.value, special_transport_type.bits_unused);
}

◆ getSpeed()

double getSpeed ( const CAM & cam )

inline

Get the vehicle speed.

Parameters

cam	CAM to get the speed value from

Returns: speed value in m/s as decimal number

Definition at line 167 of file cam_getters_common.h.

                                       {
  return getSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed);
}

◆ getStationID()

uint32_t getStationID ( const CAM & cam )

inline

Get the Station ID object.

Parameters

cam	CAM to get the StationID value from

Returns: stationID value

Definition at line 43 of file cam_getters_common.h.

43{ return getStationID(cam.header); }

getStationID

uint32_t getStationID(const CAM &cam)

Get the Station ID object.

Definition cam_getters_common.h:43

◆ getStationType()

uint8_t getStationType ( const CAM & cam )

inline

Get the stationType object.

Parameters

cam	CAM to get the stationType value from

Returns: stationType value

Definition at line 67 of file cam_getters_common.h.

67{ return cam.cam.cam_parameters.basic_container.station_type.value; }

◆ getUTMPosition() [1/2]

gm::PointStamped getUTMPosition ( const CAM & cam )

inline

Get the UTM Position defined within the BasicContainer of the CAM.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters

[in] cam CAM to get the UTM Position from

Returns: gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 222 of file cam_getters_common.h.

                                                     {
  int zone;
  bool northp;
  return getUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, zone, northp);
}

◆ getUTMPosition() [2/2]

gm::PointStamped getUTMPosition	(	const CAM &	cam,
		int &	zone,
		bool &	northp )

inline

Get the UTM Position defined within the BasicContainer of the CAM.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters

[in]	cam	CAM to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)

Returns: gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 209 of file cam_getters_common.h.

                                                                              {
  return getUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, zone, northp);
}

◆ getVehicleLength() [1/2]

double getVehicleLength ( const CAM & cam )

inline

Get the Vehicle Length.

Parameters

cam	CAM to get the vehicle length value from

Returns: vehicle length value in meter as decimal number

Definition at line 137 of file cam_getters_common.h.

                                               {
  return getVehicleLength(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_length);
}

◆ getVehicleLength() [2/2]

double getVehicleLength ( const VehicleLength & vehicle_length )

inline

Get the Vehicle Length.

Parameters

vehicleLength to get the vehicle length value from

Returns: vehicle length value in meter as decimal number

Definition at line 127 of file cam_getters_common.h.

                                                                    {
  return ((double)vehicle_length.vehicle_length_value.value) * 1e-1;
}

◆ getVehicleWidth() [1/2]

double getVehicleWidth ( const CAM & cam )

inline

Get the Vehicle Width.

Parameters

cam	CAM to get the vehicle width value from

Returns: vehicle width value in meter as decimal number

Definition at line 156 of file cam_getters_common.h.

                                              {
  return getVehicleWidth(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_width);
}

◆ getVehicleWidth() [2/2]

double getVehicleWidth ( const VehicleWidth & vehicle_width )

inline

Get the Vehicle Width.

Parameters

vehicleWidth to get the vehicle width value from

Returns: vehicle width value in meter as decimal number

Definition at line 148 of file cam_getters_common.h.

148{ return ((double)vehicle_width.value) * 1e-1; }

Functions

Detailed Description

Function Documentation

◆ getAccelerationControl()

◆ getAltitude()

◆ getDrivingLaneStatus()

◆ getEmergencyPriority()

◆ getExteriorLights() [1/2]

◆ getExteriorLights() [2/2]

◆ getGenerationDeltaTime()

◆ getGenerationDeltaTimeValue()

◆ getHeading() [1/2]

◆ getHeading() [2/2]

◆ getLateralAcceleration()

◆ getLatitude()

◆ getLightBarSirenInUse()

◆ getLongitude()

◆ getLongitudinalAcceleration()

◆ getSpecialTransportType()

◆ getSpeed()

◆ getStationID()

◆ getStationType()

◆ getUTMPosition() [1/2]

◆ getUTMPosition() [2/2]

◆ getVehicleLength() [1/2]

◆ getVehicleLength() [2/2]

◆ getVehicleWidth() [1/2]

◆ getVehicleWidth() [2/2]