cam_setters_common.h File Reference

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

#include <etsi_its_msgs_utils/impl/constants.h>

Go to the source code of this file.

Functions
void	setGenerationDeltaTime (GenerationDeltaTime &generation_delta_time, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end() ->second)
	Set the GenerationDeltaTime-Value.
void	setGenerationDeltaTime (CAM &cam, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end() ->second)
	Set the Generation Delta Time object.
void	setStationType (CAM &cam, const uint8_t value)
	Set the StationType for a CAM.
void	setHeadingValue (HeadingValue &heading, const double value)
	Set the HeadingValue object.
void	setHeading (Heading &heading, const double value)
	Set the Heading object.
void	setHeading (CAM &cam, const double heading_val)
	Set the Heading for a CAM.
void	setVehicleWidth (VehicleWidth &vehicle_width, const double value)
	Set the VehicleWidth object.
void	setVehicleLengthValue (VehicleLengthValue &vehicle_length, const double value)
	Set the VehicleLengthValue object.
void	setVehicleLength (VehicleLength &vehicle_length, const double value)
	Set the VehicleLength object.
void	setVehicleDimensions (CAM &cam, const double vehicle_length, const double vehicle_width)
	Set the vehicle dimensions.
void	setSpeed (CAM &cam, const double speed_val)
	Set the vehicle speed.
void	setLongitudinalAcceleration (CAM &cam, const double lon_accel)
	Set the longitudinal acceleration.
void	setLateralAcceleration (CAM &cam, const double lat_accel)
	Set the lateral acceleration.
void	setReferencePosition (CAM &cam, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
	Set the ReferencePosition for a CAM.
void	setFromUTMPosition (CAM &cam, const gm::PointStamped &utm_position, const int &zone, const bool &northp)
	Set the ReferencePosition of a CAM from a given UTM-Position.
void	setExteriorLights (ExteriorLights &exterior_lights, const std::vector< bool > &bits)
	Set the Exterior Lights by a vector of bools.
void	setExteriorLights (CAM &cam, const std::vector< bool > &exterior_lights)
	Set the Exterior Lights by using a vector of bools.
void	setAccelerationControl (AccelerationControl &acceleration_control, const std::vector< bool > &bits)
	Set the Acceleration Control by a vector of bools.
void	setDrivingLaneStatus (DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
	Set the Driving Lane Status by a vector of bools.
void	setSpecialTransportType (SpecialTransportType &special_transport_type, const std::vector< bool > &bits)
	Set the Special Transport Type by a vector of bools.
void	setLightBarSirenInUse (LightBarSirenInUse &light_bar_siren_in_use, const std::vector< bool > &bits)
	Set the Lightbar Siren In Use by a vector of bools.
void	setEmergencyPriority (EmergencyPriority &emergency_priority, const std::vector< bool > &bits)
	Set the Emergency Priority by a vector of bools.

Detailed Description

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

Definition in file cam_setters_common.h.

Function Documentation

setAccelerationControl()

void setAccelerationControl ( AccelerationControl & acceleration_control, const std::vector< bool > & bits )

inline

Set the Acceleration Control by a vector of bools.

Parameters

acceleration_control
bits

Definition at line 280 of file cam_setters_common.h.

                                                                                                           {
  setBitString(acceleration_control, bits);
}

setDrivingLaneStatus()

void setDrivingLaneStatus ( DrivingLaneStatus & driving_lane_status, const std::vector< bool > & bits )

inline

Set the Driving Lane Status by a vector of bools.

Parameters

driving_lane_status
bits

Definition at line 290 of file cam_setters_common.h.

                                                                                                      {
  setBitString(driving_lane_status, bits);
}

setEmergencyPriority()

void setEmergencyPriority ( EmergencyPriority & emergency_priority, const std::vector< bool > & bits )

inline

Set the Emergency Priority by a vector of bools.

Parameters

emergency_priority
bits

Definition at line 320 of file cam_setters_common.h.

                                                                                                     {
  setBitString(emergency_priority, bits);
}

setExteriorLights() [1/2]

void setExteriorLights ( CAM & cam, const std::vector< bool > & exterior_lights )

inline

Set the Exterior Lights by using a vector of bools.

Parameters

cam	CAM to set the exterior lights
exterior_lights	vector of bools to set the exterior lights

Definition at line 255 of file cam_setters_common.h.

                                                                                {
  if (ExteriorLights::SIZE_BITS != exterior_lights.size()) {
    throw std::invalid_argument("Vector has wrong size. (" + std::to_string(exterior_lights.size()) +
                                " != " + std::to_string(ExteriorLights::SIZE_BITS) + ")");
  }
  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) {
      setExteriorLights(
          cam.cam.cam_parameters.low_frequency_container.basic_vehicle_container_low_frequency.exterior_lights,
          exterior_lights);
    } else {
      throw std::invalid_argument("LowFrequencyContainer is not BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY!");
    }
  } else {
    throw std::invalid_argument("LowFrequencyContainer is not present!");
  }
}

setExteriorLights() [2/2]

void setExteriorLights ( ExteriorLights & exterior_lights, const std::vector< bool > & bits )

inline

Set the Exterior Lights by a vector of bools.

Parameters

exterior_lights
bits

Definition at line 245 of file cam_setters_common.h.

                                                                                            {
  setBitString(exterior_lights, bits);
}

setFromUTMPosition()

void setFromUTMPosition ( CAM & cam, const gm::PointStamped & utm_position, const int & zone, const bool & northp )

inline

Set the ReferencePosition of a CAM from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'

Parameters

[out]	cam	CAM for which to set the ReferencePosition
[in]	utm_position	geometry_msgs::PointStamped describing the given utm position
[in]	zone	the UTM zone (zero means UPS) of the given position
[in]	northp	hemisphere (true means north, false means south)

Definition at line 235 of file cam_setters_common.h.

                                                                                                                  {
  setFromUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, utm_position, zone, northp);
}

setGenerationDeltaTime() [1/2]

void setGenerationDeltaTime ( CAM & cam, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second )

inline

Set the Generation Delta Time object.

Parameters

cam	CAM to set the GenerationDeltaTime-Value for
unix_nanosecs	Timestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_seconds	Number of leap seconds since 2004 for the given timestamp (Default: etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second)

Definition at line 61 of file cam_setters_common.h.

                                                                                                  {
  setGenerationDeltaTime(cam.cam.generation_delta_time, unix_nanosecs, n_leap_seconds);
}

setGenerationDeltaTime() [2/2]

void setGenerationDeltaTime ( GenerationDeltaTime & generation_delta_time, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second )

inline

Set the GenerationDeltaTime-Value.

Parameters

generation_delta_time	GenerationDeltaTime to set the GenerationDeltaTime-Value for
unix_nanosecs	Timestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_seconds	Number of leap seconds since 2004 for the given timestamp (Default: etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second)

Definition at line 44 of file cam_setters_common.h.

                                                                                                  {
  TimestampIts t_its;
  setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);
  uint16_t gdt_value = t_its.value % 65536;
  throwIfOutOfRange(gdt_value, GenerationDeltaTime::MIN, GenerationDeltaTime::MAX, "GenerationDeltaTime");
  generation_delta_time.value = gdt_value;
}

setHeading() [1/2]

void setHeading ( CAM & cam, const double heading_val )

inline

Set the Heading for a CAM.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West HeadingConfidence is set to UNAVAILABLE

Parameters

cam	CAM to set the ReferencePosition
value	Heading value in degree as decimal number

Definition at line 114 of file cam_setters_common.h.

                                                           {
  setHeading(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading,
             heading_val);
}

setHeading() [2/2]

void setHeading ( Heading & heading, const double value )

inline

Set the Heading object.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West HeadingConfidence is set to UNAVAILABLE

Parameters

heading	object to set
value	Heading value in degree as decimal number

Definition at line 100 of file cam_setters_common.h.

                                                             {
  heading.heading_confidence.value = HeadingConfidence::UNAVAILABLE;
  setHeadingValue(heading.heading_value, value);
}

setHeadingValue()

void setHeadingValue ( HeadingValue & heading, const double value )

inline

Set the HeadingValue object.

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

Parameters

heading	object to set
value	Heading value in degree as decimal number

Definition at line 85 of file cam_setters_common.h.

                                                                       {
  int64_t deg = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(deg, HeadingValue::MIN, HeadingValue::MAX, "HeadingValue");
  heading.value = deg;
}

setLateralAcceleration()

void setLateralAcceleration ( CAM & cam, const double lat_accel )

inline

Set the lateral acceleration.

Parameters

cam	CAM to set the acceleration value s
lat_accel	lateral acceleration to set in m/s^2 as decimal number (left is positiv), if not available use 16.1 m/s^2

Definition at line 199 of file cam_setters_common.h.

                                                                     {
  setLateralAcceleration(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.lateral_acceleration,
      lat_accel);
  cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency
      .lateral_acceleration_is_present = true;
}

setLightBarSirenInUse()

void setLightBarSirenInUse ( LightBarSirenInUse & light_bar_siren_in_use, const std::vector< bool > & bits )

inline

Set the Lightbar Siren In Use by a vector of bools.

Parameters

light_bar_siren_in_use
bits

Definition at line 310 of file cam_setters_common.h.

                                                                                                           {
  setBitString(light_bar_siren_in_use, bits);
}

setLongitudinalAcceleration()

void setLongitudinalAcceleration ( CAM & cam, const double lon_accel )

inline

Set the longitudinal acceleration.

Parameters

cam	CAM to set the acceleration value s
lon_accel	longitudinal acceleration to set in m/s^2 as decimal number (braking is negative), if not available use 16.1 m/s^2

Definition at line 187 of file cam_setters_common.h.

                                                                          {
  setLongitudinalAcceleration(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration,
      lon_accel);
}

setReferencePosition()

void setReferencePosition ( CAM & cam, const double latitude, const double longitude, const double altitude = AltitudeValue::UNAVAILABLE )

inline

Set the ReferencePosition for a CAM.

This function sets the latitude, longitude, and altitude of the CAMs reference position. If the altitude is not provided, it is set to AltitudeValue::UNAVAILABLE.

Parameters

cam	CAM to set the ReferencePosition
latitude	The latitude value position in degree as decimal number.
longitude	The longitude value in degree as decimal number.
altitude	The altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 218 of file cam_setters_common.h.

                                                                                   {
  setReferencePosition(cam.cam.cam_parameters.basic_container.reference_position, latitude, longitude, altitude);
}

setSpecialTransportType()

void setSpecialTransportType ( SpecialTransportType & special_transport_type, const std::vector< bool > & bits )

inline

Set the Special Transport Type by a vector of bools.

Parameters

special_transport_type
bits

Definition at line 300 of file cam_setters_common.h.

                                                                                                               {
  setBitString(special_transport_type, bits);
}

setSpeed()

void setSpeed ( CAM & cam, const double speed_val )

inline

Set the vehicle speed.

Parameters

cam	CAM to set the speed value
speed_val	speed value to set in m/s as decimal number

Definition at line 177 of file cam_setters_common.h.

                                                       {
  setSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed, speed_val);
}

setStationType()

void setStationType ( CAM & cam, const uint8_t value )

inline

Set the StationType for a CAM.

Parameters

cam	CAM-Message to set the station_type value
value	station_type value to set

Definition at line 73 of file cam_setters_common.h.

                                                          {
  setStationType(cam.cam.cam_parameters.basic_container.station_type, value);
}

setVehicleDimensions()

void setVehicleDimensions ( CAM & cam, const double vehicle_length, const double vehicle_width )

inline

Set the vehicle dimensions.

Parameters

cam	CAM to set the vehicle dimensions
vehicle_length	vehicle length in meter as decimal number
vehicle_width	vehicle width in meter as decimal number

Definition at line 163 of file cam_setters_common.h.

                                                                                                    {
  setVehicleLength(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_length,
      vehicle_length);
  setVehicleWidth(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_width,
                  vehicle_width);
}

setVehicleLength()

void setVehicleLength ( VehicleLength & vehicle_length, const double value )

inline

Set the VehicleLength object.

VehicleLengthConfidenceIndication is set to UNAVAILABLE

Parameters

vehicle_length	object to set
value	VehicleLengthValue in meter as decimal number

Definition at line 151 of file cam_setters_common.h.

                                                                                {
  vehicle_length.vehicle_length_confidence_indication.value = VehicleLengthConfidenceIndication::UNAVAILABLE;
  setVehicleLengthValue(vehicle_length.vehicle_length_value, value);
}

setVehicleLengthValue()

void setVehicleLengthValue ( VehicleLengthValue & vehicle_length, const double value )

inline

Set the VehicleLengthValue object.

Parameters

vehicle_length	object to set
value	VehicleLengthValue in meter as decimal number

Definition at line 137 of file cam_setters_common.h.

                                                                                          {
  int64_t length = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(length, VehicleLengthValue::MIN, VehicleLengthValue::MAX, "VehicleLengthValue");
  vehicle_length.value = length;
}

setVehicleWidth()

void setVehicleWidth ( VehicleWidth & vehicle_width, const double value )

inline

Set the VehicleWidth object.

Parameters

vehicle_width	object to set
value	VehicleWidth in meter as decimal number

Definition at line 125 of file cam_setters_common.h.

                                                                             {
  int64_t width = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(width, VehicleWidth::MIN, VehicleWidth::MAX, "VehicleWidthValue");
  vehicle_width.value = width;
}