etsi_its_messages v3.3.0
 
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cam_setters_common.h
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1/*
2=============================================================================
3MIT License
4
5Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University
6
7Permission is hereby granted, free of charge, to any person obtaining a copy
8of this software and associated documentation files (the "Software"), to deal
9in the Software without restriction, including without limitation the rights
10to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
11copies of the Software, and to permit persons to whom the Software is
12furnished to do so, subject to the following conditions:
13
14The above copyright notice and this permission notice shall be included in all
15copies or substantial portions of the Software.
16
17THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
18IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
19FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
20AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
21LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
22OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
23SOFTWARE.
24=============================================================================
25*/
26
31
32#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
33#define ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
34
37#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>
38
47 GenerationDeltaTime& generation_delta_time, const uint64_t unix_nanosecs,
48 const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
49 TimestampIts t_its;
50 setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);
51 uint16_t gdt_value = t_its.value % 65536;
52 throwIfOutOfRange(gdt_value, GenerationDeltaTime::MIN, GenerationDeltaTime::MAX, "GenerationDeltaTime");
53 generation_delta_time.value = gdt_value;
54}
55
64 CAM& cam, const uint64_t unix_nanosecs,
65 const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
66 setGenerationDeltaTime(cam.cam.generation_delta_time, unix_nanosecs, n_leap_seconds);
67}
68
75inline void setStationType(CAM& cam, const uint8_t value) {
76 setStationType(cam.cam.cam_parameters.basic_container.station_type, value);
77}
78
89inline void setHeading(CAM& cam, const double heading_val, const double confidence = std::numeric_limits<double>::infinity()) {
90 setHeadingCDD(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading,
91 heading_val, confidence);
92}
93
101
102inline void setYawRate(CAM& cam, const double yaw_rate_val,
103 const double confidence = std::numeric_limits<double>::infinity()) {
104 setYawRateCDD(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.yaw_rate,
105 yaw_rate_val, confidence);
106}
107
114inline void setVehicleWidth(VehicleWidth& vehicle_width, const double value) {
115 int64_t width = (int64_t)std::round(value * 1e1);
116 throwIfOutOfRange(width, VehicleWidth::MIN, VehicleWidth::MAX, "VehicleWidthValue");
117 vehicle_width.value = width;
118}
119
126inline void setVehicleLengthValue(VehicleLengthValue& vehicle_length, const double value) {
127 int64_t length = (int64_t)std::round(value * 1e1);
128 throwIfOutOfRange(length, VehicleLengthValue::MIN, VehicleLengthValue::MAX, "VehicleLengthValue");
129 vehicle_length.value = length;
130}
131
140inline void setVehicleLength(VehicleLength& vehicle_length, const double value) {
141 vehicle_length.vehicle_length_confidence_indication.value = VehicleLengthConfidenceIndication::UNAVAILABLE;
142 setVehicleLengthValue(vehicle_length.vehicle_length_value, value);
143}
144
152inline void setVehicleDimensions(CAM& cam, const double vehicle_length, const double vehicle_width) {
154 cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_length,
155 vehicle_length);
156 setVehicleWidth(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_width,
157 vehicle_width);
158}
159
166inline void setSpeed(CAM& cam, const double speed_val, const double confidence = SpeedConfidence::UNAVAILABLE) {
167 setSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed, speed_val, confidence);
168}
169
178inline void setLongitudinalAcceleration(CAM& cam, const double lon_accel, const double confidence = std::numeric_limits<double>::infinity()) {
180 cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration,
181 lon_accel, confidence);
182}
183
192inline void setLateralAcceleration(CAM& cam, const double lat_accel, const double confidence = std::numeric_limits<double>::infinity()) {
194 cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.lateral_acceleration,
195 lat_accel, confidence);
196 cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency
197 .lateral_acceleration_is_present = true;
198}
199
211inline void setReferencePosition(CAM& cam, const double latitude, const double longitude,
212 const double altitude = AltitudeValue::UNAVAILABLE) {
213 setReferencePosition(cam.cam.cam_parameters.basic_container.reference_position, latitude, longitude, altitude);
214}
215
228inline void setFromUTMPosition(CAM& cam, const gm::PointStamped& utm_position, const int& zone, const bool& northp) {
229 setFromUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, utm_position, zone, northp);
230}
231
238inline void setExteriorLights(ExteriorLights& exterior_lights, const std::vector<bool>& bits) {
239 setBitString(exterior_lights, bits);
240}
241
248inline void setExteriorLights(CAM& cam, const std::vector<bool>& exterior_lights) {
249 if (ExteriorLights::SIZE_BITS != exterior_lights.size()) {
250 throw std::invalid_argument("Vector has wrong size. (" + std::to_string(exterior_lights.size()) +
251 " != " + std::to_string(ExteriorLights::SIZE_BITS) + ")");
252 }
253 if (cam.cam.cam_parameters.low_frequency_container_is_present) {
254 if (cam.cam.cam_parameters.low_frequency_container.choice ==
255 LowFrequencyContainer::CHOICE_BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY) {
257 cam.cam.cam_parameters.low_frequency_container.basic_vehicle_container_low_frequency.exterior_lights,
258 exterior_lights);
259 } else {
260 throw std::invalid_argument("LowFrequencyContainer is not BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY!");
261 }
262 } else {
263 throw std::invalid_argument("LowFrequencyContainer is not present!");
264 }
265}
266
273inline void setAccelerationControl(AccelerationControl& acceleration_control, const std::vector<bool>& bits) {
274 setBitString(acceleration_control, bits);
275}
276
283inline void setDrivingLaneStatus(DrivingLaneStatus& driving_lane_status, const std::vector<bool>& bits) {
284 setBitString(driving_lane_status, bits);
285}
286
293inline void setSpecialTransportType(SpecialTransportType& special_transport_type, const std::vector<bool>& bits) {
294 setBitString(special_transport_type, bits);
295}
296
303inline void setLightBarSirenInUse(LightBarSirenInUse& light_bar_siren_in_use, const std::vector<bool>& bits) {
304 setBitString(light_bar_siren_in_use, bits);
305}
306
313inline void setEmergencyPriority(EmergencyPriority& emergency_priority, const std::vector<bool>& bits) {
314 setBitString(emergency_priority, bits);
315}
316
317#endif // ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
void setLongitudinalAcceleration(CAM &cam, const double lon_accel, const double confidence=std::numeric_limits< double >::infinity())
Set the longitudinal acceleration.
void setVehicleLength(VehicleLength &vehicle_length, const double value)
Set the VehicleLength object.
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 setVehicleDimensions(CAM &cam, const double vehicle_length, const double vehicle_width)
Set the vehicle dimensions.
void setVehicleLengthValue(VehicleLengthValue &vehicle_length, const double value)
Set the VehicleLengthValue object.
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.rbegin() ->second)
Set the GenerationDeltaTime-Value.
void setYawRate(CAM &cam, const double yaw_rate_val, const double confidence=std::numeric_limits< double >::infinity())
Set the Yaw Rate for a CAM.
void setLateralAcceleration(CAM &cam, const double lat_accel, const double confidence=std::numeric_limits< double >::infinity())
Set the lateral acceleration.
void setExteriorLights(ExteriorLights &exterior_lights, const std::vector< bool > &bits)
Set the Exterior Lights by a vector of bools.
void setStationType(CAM &cam, const uint8_t value)
Set the StationType for a CAM.
void setAccelerationControl(AccelerationControl &acceleration_control, const std::vector< bool > &bits)
Set the Acceleration Control by a vector of bools.
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 setVehicleWidth(VehicleWidth &vehicle_width, const double value)
Set the VehicleWidth object.
void setEmergencyPriority(EmergencyPriority &emergency_priority, const std::vector< bool > &bits)
Set the Emergency Priority by a vector of bools.
void setSpeed(CAM &cam, const double speed_val, const double confidence=SpeedConfidence::UNAVAILABLE)
Set the vehicle speed.
void setReferencePosition(CAM &cam, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
Set the ReferencePosition for a CAM.
void setDrivingLaneStatus(DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
Set the Driving Lane Status by a vector of bools.
void setHeading(CAM &cam, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
Set the Heading for a CAM.
void setTimestampITS(TimestampIts &timestamp_its, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
Set the TimestampITS object.
void setYawRateCDD(YawRate &yaw_rate, const double value, double confidence=std::numeric_limits< double >::infinity())
Set the Yaw Rate object.
void setHeadingCDD(Heading &heading, const double value, double confidence=std::numeric_limits< double >::infinity())
Set the Heading object.
Sanity-check functions etc.
void throwIfOutOfRange(const T1 &val, const T2 &min, const T2 &max, const std::string val_desc)
Throws an exception if a given value is out of a defined range.
Definition checks.h:46
File containing constants that are used in the context of ETIS ITS Messages.
const std::map< uint64_t, uint16_t > LEAP_SECOND_INSERTIONS_SINCE_2004
std::map that stores all leap second insertions since 2004 with the corresponding unix-date of the in...
Definition constants.h:45