etsi_its_messages 1.0.0
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denm_getters.h
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1/*
2=============================================================================
3MIT License
4
5Copyright (c) 2023-2024 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
32#pragma once
33
34namespace etsi_its_denm_msgs::access {
35
36#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
37
44inline uint32_t getStationID(const DENM& denm) { return getStationID(denm.header); }
45
52inline TimestampIts getReferenceTime(const DENM& denm) { return denm.denm.management.reference_time; }
53
60inline uint64_t getReferenceTimeValue(const DENM& denm) { return getReferenceTime(denm).value; }
61
68inline uint8_t getStationType(const DENM& denm) { return denm.denm.management.station_type.value; }
69
76inline double getLatitude(const DENM& denm) { return getLatitude(denm.denm.management.event_position.latitude); }
77
84inline double getLongitude(const DENM& denm) { return getLongitude(denm.denm.management.event_position.longitude); }
85
92inline double getAltitude(const DENM& denm) { return getAltitude(denm.denm.management.event_position.altitude); }
93
102inline double getHeading(const Heading& heading) { return ((double)heading.heading_value.value) * 1e-1; }
103
110inline double getHeading(const DENM& denm) {
111 if (denm.denm.location_is_present) {
112 if (denm.denm.location.event_position_heading_is_present) {
113 return getHeading(denm.denm.location.event_position_heading);
114 } else {
115 throw std::invalid_argument("Heading is not present!");
116 }
117 } else {
118 throw std::invalid_argument("LocationContainer is not present!");
119 }
120}
121
128inline bool getIsHeadingPresent(const DENM& denm) {
129 if (denm.denm.location_is_present) {
130 return denm.denm.location.event_position_heading_is_present;
131 } else {
132 throw std::invalid_argument("LocationContainer is not present!");
133 }
134}
135
142inline double getSpeed(const DENM& denm) {
143 if (denm.denm.location_is_present) {
144 if (denm.denm.location.event_speed_is_present) {
145 return getSpeed(denm.denm.location.event_speed);
146 } else {
147 throw std::invalid_argument("Speed is not present!");
148 }
149 } else {
150 throw std::invalid_argument("LocationContainer is not present!");
151 }
152}
153
160inline bool getIsSpeedPresent(const DENM& denm) {
161 if (denm.denm.location_is_present) {
162 return denm.denm.location.event_speed_is_present;
163 } else {
164 throw std::invalid_argument("LocationContainer is not present!");
165 }
166}
167
176inline gm::PointStamped getUTMPosition(const DENM& denm, int& zone, bool& northp) {
177 return getUTMPosition(denm.denm.management.event_position, zone, northp);
178}
179
186inline gm::PointStamped getUTMPosition(const DENM& denm) {
187 int zone;
188 bool northp;
189 return getUTMPosition(denm.denm.management.event_position, zone, northp);
190}
191
198inline uint8_t getCauseCode(const DENM& denm) { return denm.denm.situation.event_type.cause_code.value; }
199
206inline uint8_t getSubCauseCode(const DENM& denm) { return denm.denm.situation.event_type.sub_cause_code.value; }
207
216inline std::string getCauseCodeType(const DENM& denm) {
217 if (denm.denm.situation_is_present) {
218 int cause_code = getCauseCode(denm);
219 std::string cause_code_type = "undefined";
220
221 if (cause_code == CauseCodeType().TRAFFIC_CONDITION)
222 cause_code_type = "traffic condition";
223 else if (cause_code == CauseCodeType().ACCIDENT)
224 cause_code_type = "accident";
225 else if (cause_code == CauseCodeType().ROADWORKS)
226 cause_code_type = "roadworks";
227 else if (cause_code == CauseCodeType().IMPASSABILITY)
228 cause_code_type = "impassibility";
229 else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_ADHESION)
230 cause_code_type = "adverse weather condition - adhesion";
231 else if (cause_code == CauseCodeType().AQUAPLANNNING)
232 cause_code_type = "aquaplanning";
233 else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_SURFACE_CONDITION)
234 cause_code_type = "hazardous location - surface condition";
235 else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_OBSTACLE_ON_THE_ROAD)
236 cause_code_type = "hazardous location - obstacle on the road";
237 else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_ANIMAL_ON_THE_ROAD)
238 cause_code_type = "hazardous location - animal on the road";
239 else if (cause_code == CauseCodeType().HUMAN_PRESENCE_ON_THE_ROAD)
240 cause_code_type = "human presence on the road";
241 else if (cause_code == CauseCodeType().WRONG_WAY_DRIVING)
242 cause_code_type = "wrong way driving";
243 else if (cause_code == CauseCodeType().RESCUE_AND_RECOVERY_WORK_IN_PROGRESS)
244 cause_code_type = "rescue and recovery in progress";
245 else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_EXTREME_WEATHER_CONDITION)
246 cause_code_type = "adverse weather condition - extreme weather condition";
247 else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_VISIBILITY)
248 cause_code_type = "adverse weather condition - visibility";
249 else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_PRECIPITATION)
250 cause_code_type = "adverse weather condition - precipitation";
251 else if (cause_code == CauseCodeType().SLOW_VEHICLE)
252 cause_code_type = "slow vehicle";
253 else if (cause_code == CauseCodeType().DANGEROUS_END_OF_QUEUE)
254 cause_code_type = "dangerous end of queue";
255 else if (cause_code == CauseCodeType().VEHICLE_BREAKDOWN)
256 cause_code_type = "vehicle breakdown";
257 else if (cause_code == CauseCodeType().POST_CRASH)
258 cause_code_type = "post crash";
259 else if (cause_code == CauseCodeType().HUMAN_PROBLEM)
260 cause_code_type = "human problem";
261 else if (cause_code == CauseCodeType().STATIONARY_VEHICLE)
262 cause_code_type = "stationary vehicle";
263 else if (cause_code == CauseCodeType().EMERGENCY_VEHICLE_APPROACHING)
264 cause_code_type = "emergency vehicle approaching";
265 else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_DANGEROUS_CURVE)
266 cause_code_type = "hazardous location - dangerous curve";
267 else if (cause_code == CauseCodeType().COLLISION_RISK)
268 cause_code_type = "collision risk";
269 else if (cause_code == CauseCodeType().SIGNAL_VIOLATION)
270 cause_code_type = "signal violation";
271 else if (cause_code == CauseCodeType().DANGEROUS_SITUATION)
272 cause_code_type = "dangerous situation";
273
274 return cause_code_type;
275 } else {
276 throw std::invalid_argument("SituationContainer is not present!");
277 }
278}
279
288inline std::string getSubCauseCodeType(const DENM& denm) {
289 if (denm.denm.situation_is_present) {
290 int cause_code = getCauseCode(denm);
291 int sub_cause_code = getSubCauseCode(denm);
292 std::string sub_cause_code_type = "undefined";
293 if (cause_code == CauseCodeType().TRAFFIC_CONDITION) {
294 if (sub_cause_code == 0)
295 sub_cause_code_type = "unavailable";
296 else if (sub_cause_code == 1)
297 sub_cause_code_type = "not defined";
298 else if (sub_cause_code == 2)
299 sub_cause_code_type = "traffic jam slowly increasing";
300 else if (sub_cause_code == 3)
301 sub_cause_code_type = "traffic jam increasing";
302 else if (sub_cause_code == 4)
303 sub_cause_code_type = "traffic jam strongly increasing";
304 else if (sub_cause_code == 5)
305 sub_cause_code_type = "traffic stationary";
306 else if (sub_cause_code == 6)
307 sub_cause_code_type = "traffic jam slightly decreasing";
308 else if (sub_cause_code == 7)
309 sub_cause_code_type = "traffic jam decreasing";
310 else if (sub_cause_code == 8)
311 sub_cause_code_type = "traffic jam strongly decreasing";
312 } else if (cause_code == CauseCodeType().ACCIDENT) {
313 if (sub_cause_code == 0)
314 sub_cause_code_type = "unavailable";
315 else if (sub_cause_code >= 1 && sub_cause_code <= 7)
316 sub_cause_code_type = "not defined";
317 else if (sub_cause_code == 8)
318 sub_cause_code_type = "assistance requested (e-Call)";
319 } else if (cause_code == CauseCodeType().ROADWORKS) {
320 if (sub_cause_code == 0)
321 sub_cause_code_type = "unavailable";
322 else if (sub_cause_code >= 1 && sub_cause_code <= 3)
323 sub_cause_code_type = "not defined";
324 else if (sub_cause_code == 4)
325 sub_cause_code_type = "short-term stationary roadworks";
326 else if (sub_cause_code == 5)
327 sub_cause_code_type = "street cleaning";
328 else if (sub_cause_code == 6)
329 sub_cause_code_type = "winter service";
330 } else if (cause_code == CauseCodeType().IMPASSABILITY)
331 sub_cause_code_type = "not defined";
332 else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_ADHESION) {
333 if (sub_cause_code == 0)
334 sub_cause_code_type = "unavailable";
335 else if (sub_cause_code >= 1 && sub_cause_code <= 10)
336 sub_cause_code_type = "not defined";
337 } else if (cause_code == CauseCodeType().AQUAPLANNNING)
338 sub_cause_code_type = "not defined";
339 else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_SURFACE_CONDITION) {
340 if (sub_cause_code == 0)
341 sub_cause_code_type = "unavailable";
342 else if (sub_cause_code >= 1 && sub_cause_code <= 9)
343 sub_cause_code_type = "not defined";
344 } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_OBSTACLE_ON_THE_ROAD) {
345 if (sub_cause_code == 0)
346 sub_cause_code_type = "unavailable";
347 else if (sub_cause_code >= 1 && sub_cause_code <= 7)
348 sub_cause_code_type = "not defined";
349 } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_ANIMAL_ON_THE_ROAD) {
350 if (sub_cause_code == 0)
351 sub_cause_code_type = "unavailable";
352 else if (sub_cause_code >= 1 && sub_cause_code <= 4)
353 sub_cause_code_type = "not defined";
354 } else if (cause_code == CauseCodeType().HUMAN_PRESENCE_ON_THE_ROAD) {
355 if (sub_cause_code == 0)
356 sub_cause_code_type = "unavailable";
357 else if (sub_cause_code >= 1 && sub_cause_code <= 3)
358 sub_cause_code_type = "not defined";
359 } else if (cause_code == CauseCodeType().WRONG_WAY_DRIVING) {
360 if (sub_cause_code == 0)
361 sub_cause_code_type = "unavailable";
362 else if (sub_cause_code == 1)
363 sub_cause_code_type = "vehicle driving in wrong lane";
364 else if (sub_cause_code == 2)
365 sub_cause_code_type = "vehicle driving in wrong driving direction";
366 } else if (cause_code == CauseCodeType().RESCUE_AND_RECOVERY_WORK_IN_PROGRESS) {
367 if (sub_cause_code == 0)
368 sub_cause_code_type = "unavailable";
369 else if (sub_cause_code >= 1 && sub_cause_code <= 5)
370 sub_cause_code_type = "not defined";
371 } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_EXTREME_WEATHER_CONDITION) {
372 if (sub_cause_code == 0)
373 sub_cause_code_type = "unavailable";
374 else if (sub_cause_code >= 1 && sub_cause_code <= 6)
375 sub_cause_code_type = "not defined";
376 } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_VISIBILITY) {
377 if (sub_cause_code == 0)
378 sub_cause_code_type = "unavailable";
379 else if (sub_cause_code >= 1 && sub_cause_code <= 8)
380 sub_cause_code_type = "not defined";
381 } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_PRECIPITATION) {
382 if (sub_cause_code == 0)
383 sub_cause_code_type = "unavailable";
384 else if (sub_cause_code >= 1 && sub_cause_code <= 3)
385 sub_cause_code_type = "not defined";
386 } else if (cause_code == CauseCodeType().SLOW_VEHICLE) {
387 if (sub_cause_code == 0)
388 sub_cause_code_type = "unavailable";
389 else if (sub_cause_code >= 1 && sub_cause_code <= 8)
390 sub_cause_code_type = "not defined";
391 } else if (cause_code == CauseCodeType().DANGEROUS_END_OF_QUEUE) {
392 if (sub_cause_code == 0)
393 sub_cause_code_type = "unavailable";
394 else if (sub_cause_code >= 1 && sub_cause_code <= 8)
395 sub_cause_code_type = "not defined";
396 } else if (cause_code == CauseCodeType().VEHICLE_BREAKDOWN) {
397 if (sub_cause_code == 0)
398 sub_cause_code_type = "unavailable";
399 else if (sub_cause_code == 1)
400 sub_cause_code_type = "lack of fuel";
401 else if (sub_cause_code == 2)
402 sub_cause_code_type = "lack of battery";
403 else if (sub_cause_code == 3)
404 sub_cause_code_type = "engine problem";
405 else if (sub_cause_code == 4)
406 sub_cause_code_type = "transmission problem";
407 else if (sub_cause_code == 5)
408 sub_cause_code_type = "engine cooling problem";
409 else if (sub_cause_code == 6)
410 sub_cause_code_type = "braking system problem";
411 else if (sub_cause_code == 7)
412 sub_cause_code_type = "steering problem";
413 else if (sub_cause_code == 8)
414 sub_cause_code_type = "tyre puncture";
415 } else if (cause_code == CauseCodeType().POST_CRASH) {
416 if (sub_cause_code == 0)
417 sub_cause_code_type = "unavailable";
418 else if (sub_cause_code == 1)
419 sub_cause_code_type = "accident without e-Call triggered";
420 else if (sub_cause_code == 2)
421 sub_cause_code_type = "accident with e-Call manually triggered";
422 else if (sub_cause_code == 3)
423 sub_cause_code_type = "accident with e-Call automatical triggered";
424 else if (sub_cause_code == 4)
425 sub_cause_code_type = "accident with e-Call triggered without a possible access to a cell network";
426 } else if (cause_code == CauseCodeType().HUMAN_PROBLEM) {
427 if (sub_cause_code == 0)
428 sub_cause_code_type = "unavailable";
429 else if (sub_cause_code == 1)
430 sub_cause_code_type = "glycaemia problem";
431 else if (sub_cause_code == 2)
432 sub_cause_code_type = "heart problem";
433 } else if (cause_code == CauseCodeType().STATIONARY_VEHICLE) {
434 if (sub_cause_code == 0)
435 sub_cause_code_type = "unavailable";
436 else if (sub_cause_code == 1)
437 sub_cause_code_type = "human problem";
438 else if (sub_cause_code == 2)
439 sub_cause_code_type = "vehicle breakdown";
440 else if (sub_cause_code == 3)
441 sub_cause_code_type = "post crash";
442 else if (sub_cause_code == 4)
443 sub_cause_code_type = "public transport stop";
444 else if (sub_cause_code == 5)
445 sub_cause_code_type = "carrying dangerous goods";
446 } else if (cause_code == CauseCodeType().EMERGENCY_VEHICLE_APPROACHING) {
447 if (sub_cause_code == 0)
448 sub_cause_code_type = "unavailable";
449 else if (sub_cause_code == 1)
450 sub_cause_code_type = "emergency vehicle approaching";
451 else if (sub_cause_code == 2)
452 sub_cause_code_type = "prioritized vehicle approaching";
453 } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_DANGEROUS_CURVE) {
454 if (sub_cause_code == 0)
455 sub_cause_code_type = "unavailable";
456 else if (sub_cause_code == 1)
457 sub_cause_code_type = "dangerous left turn curve";
458 else if (sub_cause_code == 2)
459 sub_cause_code_type = "dangerous right turn curve";
460 else if (sub_cause_code == 3)
461 sub_cause_code_type = "multiple curves starting with unknown turning direction";
462 else if (sub_cause_code == 4)
463 sub_cause_code_type = "multiple curves starting with left turn";
464 else if (sub_cause_code == 5)
465 sub_cause_code_type = "multiple curves starting with right turn";
466 } else if (cause_code == CauseCodeType().COLLISION_RISK) {
467 if (sub_cause_code == 0)
468 sub_cause_code_type = "unavailable";
469 else if (sub_cause_code == 1)
470 sub_cause_code_type = "longitudinal collision risk";
471 else if (sub_cause_code == 2)
472 sub_cause_code_type = "crossing collision risk";
473 else if (sub_cause_code == 3)
474 sub_cause_code_type = "lateral collision risk";
475 else if (sub_cause_code == 4)
476 sub_cause_code_type = "collision risk involving vulnerable road user";
477 } else if (cause_code == CauseCodeType().SIGNAL_VIOLATION) {
478 if (sub_cause_code == 0)
479 sub_cause_code_type = "unavailable";
480 else if (sub_cause_code == 1)
481 sub_cause_code_type = "stop sign violation";
482 else if (sub_cause_code == 2)
483 sub_cause_code_type = "traffic light violation";
484 else if (sub_cause_code == 3)
485 sub_cause_code_type = "turning regulation violation";
486 } else if (cause_code == CauseCodeType().DANGEROUS_SITUATION) {
487 if (sub_cause_code == 0)
488 sub_cause_code_type = "unavailable";
489 else if (sub_cause_code == 1)
490 sub_cause_code_type = "emergency electronic break lights";
491 else if (sub_cause_code == 2)
492 sub_cause_code_type = "pre-crash system activated";
493 else if (sub_cause_code == 3)
494 sub_cause_code_type = "ESP (electronic stability program) activated";
495 else if (sub_cause_code == 4)
496 sub_cause_code_type = "ABS (anti-lock breaking system) activated";
497 else if (sub_cause_code == 5)
498 sub_cause_code_type = "AEB (automatic emergency breaking) activated";
499 else if (sub_cause_code == 6)
500 sub_cause_code_type = "break warning activated";
501 else if (sub_cause_code == 7)
502 sub_cause_code_type = "collision risk warning activated";
503 }
504 return sub_cause_code_type;
505 } else {
506 throw std::invalid_argument("SituationContainer is not present!");
507 }
508}
509
516inline std::vector<bool> getDrivingLaneStatus(const DrivingLaneStatus& driving_lane_status) {
517 return getBitString(driving_lane_status.value, driving_lane_status.bits_unused);
518}
519
526inline std::vector<bool> getLightBarSirenInUse(const LightBarSirenInUse& light_bar_siren_in_use) {
527 return getBitString(light_bar_siren_in_use.value, light_bar_siren_in_use.bits_unused);
528}
529
530} // namespace etsi_its_denm_msgs::access
etsi_its_cam_msgs::access::getLightBarSirenInUse
std::vector< bool > getLightBarSirenInUse(const LightBarSirenInUse &light_bar_siren_in_use)
Get the Lightbar Siren In Use in form of bool vector.
Definition cam_getters.h:293
etsi_its_cam_msgs::access::getDrivingLaneStatus
std::vector< bool > getDrivingLaneStatus(const DrivingLaneStatus &driving_lane_status)
Get the Driving Lane Status in form of bool vector.
Definition cam_getters.h:273
etsi_its_cam_msgs::access::getBitString
std::vector< bool > getBitString(const std::vector< uint8_t > &buffer, const int bits_unused)
Get a Bit String in form of bool vector.
Definition cam_getters.h:85
cdd_v1-3-1_getters.h
Getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1.
etsi_its_denm_msgs::access::getSubCauseCode
uint8_t getSubCauseCode(const DENM &denm)
Get the Sub Cause Code object.
Definition denm_getters.h:313
etsi_its_denm_msgs::access::getSubCauseCodeType
std::string getSubCauseCodeType(const DENM &denm)
Get the Sub Cause Code Type object.
Definition denm_getters.h:395
etsi_its_denm_msgs::access::getCauseCode
uint8_t getCauseCode(const DENM &denm)
Get the Cause Code object.
Definition denm_getters.h:305
etsi_its_denm_msgs::access::getIsHeadingPresent
bool getIsHeadingPresent(const DENM &denm)
Get the IsHeadingPresent object.
Definition denm_getters.h:235
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