cdd_getters_common.h

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/*
=============================================================================
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Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
 
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#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
 
#include <GeographicLib/UTMUPS.hpp>
 
inline uint32_t getStationID(const ItsPduHeader& header) { return header.station_id.value; }
 
inline double getLatitude(const Latitude& latitude) { return ((double)latitude.value) * 1e-7; }
 
inline double getLongitude(const Longitude& longitude) { return ((double)longitude.value) * 1e-7; }
 
inline double getAltitude(const Altitude& altitude) { return ((double)altitude.altitude_value.value) * 1e-2; }
 
inline double getSpeed(const Speed& speed) { return ((double)speed.speed_value.value) * 1e-2; }
 
inline std::vector<bool> getBitString(const std::vector<uint8_t>& buffer, const int bits_unused) {
  // bit string size
  const int bits_per_byte = 8;
  const int n_bytes = buffer.size();
  const int n_bits = n_bytes * bits_per_byte;
  std::vector<bool> bits;
  bits.resize(n_bits - bits_unused, 0);
 
  // loop over bytes in reverse order
  for (int byte_idx = n_bytes - 1; byte_idx >= 0; byte_idx--) {
    // loop over bits in a byte
    for (int bit_idx_in_byte = 0; bit_idx_in_byte < bits_per_byte; bit_idx_in_byte++) {
      // map bit index in byte to bit index in total bitstring
      int bit_idx = (n_bytes - byte_idx - 1) * bits_per_byte + bit_idx_in_byte;
      if (byte_idx == 0 && bit_idx >= n_bits - bits_unused) break;
 
      // extract bit from bitstring and set output array entry appropriately
      bool byte_has_true_bit = buffer[byte_idx] & (1 << bit_idx_in_byte);
      if (byte_has_true_bit) bits[bit_idx] = 1;
    }
  }
  return bits;
}
 
template <typename T>
inline gm::PointStamped getUTMPosition(const T& reference_position, int& zone, bool& northp) {
  gm::PointStamped utm_point;
  double latitude = getLatitude(reference_position.latitude);
  double longitude = getLongitude(reference_position.longitude);
  utm_point.point.z = getAltitude(reference_position.altitude);
  try {
    GeographicLib::UTMUPS::Forward(latitude, longitude, zone, northp, utm_point.point.x, utm_point.point.y);
    std::string hemisphere;
    if (northp) {
      hemisphere = "N";
    } else {
      hemisphere = "S";
    }
    utm_point.header.frame_id = "utm_" + std::to_string(zone) + hemisphere;
  } catch (GeographicLib::GeographicErr& e) {
    throw std::invalid_argument(e.what());
  }
  return utm_point;
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H