cdd_setters_common.h

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/*
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#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H
 
#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/constants.h>
#include <GeographicLib/UTMUPS.hpp>
#include <cstring>

inline void setTimestampITS(
    TimestampIts& timestamp_its, const uint64_t unix_nanosecs,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second) {
  uint64_t t_its = unix_nanosecs * 1e-6 + (uint64_t)(n_leap_seconds * 1e3) - etsi_its_msgs::UNIX_SECONDS_2004 * 1e3;
  throwIfOutOfRange(t_its, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");
  timestamp_its.value = t_its;
}

inline void setLatitude(Latitude& latitude, const double deg) {
  int64_t angle_in_10_micro_degree = (int64_t)std::round(deg * 1e7);
  throwIfOutOfRange(angle_in_10_micro_degree, Latitude::MIN, Latitude::MAX, "Latitude");
  latitude.value = angle_in_10_micro_degree;
}

inline void setLongitude(Longitude& longitude, const double deg) {
  int64_t angle_in_10_micro_degree = (int64_t)std::round(deg * 1e7);
  throwIfOutOfRange(angle_in_10_micro_degree, Longitude::MIN, Longitude::MAX, "Longitude");
  longitude.value = angle_in_10_micro_degree;
}

inline void setAltitudeValue(AltitudeValue& altitude, const double value) {
  int64_t alt_in_cm = (int64_t)std::round(value * 1e2);
  if (alt_in_cm >= AltitudeValue::MIN && alt_in_cm <= AltitudeValue::MAX) {
    altitude.value = alt_in_cm;
  } else if (alt_in_cm < AltitudeValue::MIN) {
    altitude.value = AltitudeValue::MIN;
  } else if (alt_in_cm > AltitudeValue::MAX) {
    altitude.value = AltitudeValue::MAX;
  }
}

inline void setAltitude(Altitude& altitude, const double value) {
  altitude.altitude_confidence.value = AltitudeConfidence::UNAVAILABLE;
  setAltitudeValue(altitude.altitude_value, value);
}

inline void setSpeedValue(SpeedValue& speed, const double value) {
  uint16_t speed_val = (uint16_t)std::round(value * 1e2);
  throwIfOutOfRange(speed_val, SpeedValue::MIN, SpeedValue::MAX, "SpeedValue");
  speed.value = speed_val;
}

inline void setSpeed(Speed& speed, const double value) {
  speed.speed_confidence.value = SpeedConfidence::UNAVAILABLE;
  setSpeedValue(speed.speed_value, value);
}

template <typename T>
inline void setReferencePosition(T& ref_position, const double latitude, const double longitude,
                                 const double altitude = AltitudeValue::UNAVAILABLE) {
  setLatitude(ref_position.latitude, latitude);
  setLongitude(ref_position.longitude, longitude);
  if (altitude != AltitudeValue::UNAVAILABLE) {
    setAltitude(ref_position.altitude, altitude);
  } else {
    ref_position.altitude.altitude_value.value = AltitudeValue::UNAVAILABLE;
    ref_position.altitude.altitude_confidence.value = AltitudeConfidence::UNAVAILABLE;
  }
  // TODO: set confidence values
}

template <typename T>
inline void setFromUTMPosition(T& reference_position, const gm::PointStamped& utm_position, const int zone,
                               const bool northp) {
  std::string required_frame_prefix = "utm_";
  if (utm_position.header.frame_id.rfind(required_frame_prefix, 0) != 0) {
    throw std::invalid_argument("Frame-ID of UTM Position '" + utm_position.header.frame_id +
                                "' does not start with required prefix '" + required_frame_prefix + "'!");
  }
  double latitude, longitude;
  try {
    GeographicLib::UTMUPS::Reverse(zone, northp, utm_position.point.x, utm_position.point.y, latitude, longitude);
  } catch (GeographicLib::GeographicErr& e) {
    throw std::invalid_argument(e.what());
  }
  setReferencePosition(reference_position, latitude, longitude, utm_position.point.z);
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H