cam_setters_common.h

Go to the documentation of this file.

/*
=============================================================================
MIT License
 
Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=============================================================================
*/

 
#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
 
#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/constants.h>
#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>

inline 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) {
  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;
}

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

inline void setStationType(CAM& cam, const uint8_t value) {
  setStationType(cam.cam.cam_parameters.basic_container.station_type, value);
}

inline void setHeadingValue(HeadingValue& heading, const double value) {
  int64_t deg = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(deg, HeadingValue::MIN, HeadingValue::MAX, "HeadingValue");
  heading.value = deg;
}

inline void setHeading(Heading& heading, const double value) {
  heading.heading_confidence.value = HeadingConfidence::UNAVAILABLE;
  setHeadingValue(heading.heading_value, value);
}

inline void setHeading(CAM& cam, const double heading_val) {
  setHeading(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading,
             heading_val);
}

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

inline void setVehicleLengthValue(VehicleLengthValue& vehicle_length, const double value) {
  int64_t length = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(length, VehicleLengthValue::MIN, VehicleLengthValue::MAX, "VehicleLengthValue");
  vehicle_length.value = length;
}

inline void setVehicleLength(VehicleLength& vehicle_length, const double value) {
  vehicle_length.vehicle_length_confidence_indication.value = VehicleLengthConfidenceIndication::UNAVAILABLE;
  setVehicleLengthValue(vehicle_length.vehicle_length_value, value);
}

inline void setVehicleDimensions(CAM& cam, const double vehicle_length, const double vehicle_width) {
  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);
}

inline void setSpeed(CAM& cam, const double speed_val) {
  setSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed, speed_val);
}

inline void setLongitudinalAcceleration(CAM& cam, const double lon_accel) {
  setLongitudinalAcceleration(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration,
      lon_accel);
}

inline void setLateralAcceleration(CAM& cam, const double lat_accel) {
  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;
}

inline void setReferencePosition(CAM& cam, const double latitude, const double longitude,
                                 const double altitude = AltitudeValue::UNAVAILABLE) {
  setReferencePosition(cam.cam.cam_parameters.basic_container.reference_position, latitude, longitude, altitude);
}

inline void setFromUTMPosition(CAM& cam, const gm::PointStamped& utm_position, const int& zone, const bool& northp) {
  setFromUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, utm_position, zone, northp);
}

inline void setExteriorLights(ExteriorLights& exterior_lights, const std::vector<bool>& bits) {
  setBitString(exterior_lights, bits);
}

inline void setExteriorLights(CAM& cam, const std::vector<bool>& exterior_lights) {
  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!");
  }
}

inline void setAccelerationControl(AccelerationControl& acceleration_control, const std::vector<bool>& bits) {
  setBitString(acceleration_control, bits);
}

inline void setDrivingLaneStatus(DrivingLaneStatus& driving_lane_status, const std::vector<bool>& bits) {
  setBitString(driving_lane_status, bits);
}

inline void setSpecialTransportType(SpecialTransportType& special_transport_type, const std::vector<bool>& bits) {
  setBitString(special_transport_type, bits);
}

inline void setLightBarSirenInUse(LightBarSirenInUse& light_bar_siren_in_use, const std::vector<bool>& bits) {
  setBitString(light_bar_siren_in_use, bits);
}

inline void setEmergencyPriority(EmergencyPriority& emergency_priority, const std::vector<bool>& bits) {
  setBitString(emergency_priority, bits);
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H