cam_utils.h

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/*
=============================================================================
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
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copies or substantial portions of the Software.
 
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=============================================================================
*/

 
#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/constants.h>
 
#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_UTILS_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_UTILS_H

inline TimestampIts getTimestampITSFromGenerationDeltaTime(const GenerationDeltaTime& generation_delta_time,
                                                           const TimestampIts& timestamp_estimate) {
  TimestampIts t_its;
  t_its.value = std::floor(timestamp_estimate.value / 65536) * 65536 + generation_delta_time.value;
  throwIfOutOfRange(t_its.value, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");
  return t_its;
}

inline uint64_t getUnixNanosecondsFromGenerationDeltaTime(
    const GenerationDeltaTime& generation_delta_time, const TimestampIts& timestamp_estimate,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second) {
  TimestampIts t_its = getTimestampITSFromGenerationDeltaTime(generation_delta_time, timestamp_estimate);
  return t_its.value * 1e6 + etsi_its_msgs::UNIX_SECONDS_2004 * 1e9 - n_leap_seconds * 1e9;
}

inline uint64_t getUnixNanosecondsFromGenerationDeltaTime(
    const GenerationDeltaTime& generation_delta_time, const uint64_t unix_timestamp_estimate,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second) {
  TimestampIts t_its;
  setTimestampITS(t_its, unix_timestamp_estimate, n_leap_seconds);
  return getUnixNanosecondsFromGenerationDeltaTime(generation_delta_time, t_its, n_leap_seconds);
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_UTILS_H