denm_setters.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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#pragma once
 
#include <etsi_its_msgs_utils/impl/constants.h>
 
namespace etsi_its_denm_msgs::access {
 
#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>
#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_setters.h>

 *
 * @param denm DENM-Message to set the ItsPduHeader
 * @param station_id
 * @param protocol_version
 */
inline void setItsPduHeader(DENM& denm, const uint32_t station_id, const uint8_t protocol_version = 0) {
  setItsPduHeader(denm.header, ItsPduHeader::MESSAGE_ID_DENM, station_id, protocol_version);
}

 * @param n_leap_seconds Number of leap seconds since 2004 for the given timestamp  (Default: etsi_its_msgs::N_LEAP_SECONDS)
 */
inline void setReferenceTime(
    DENM& denm, const uint64_t unix_nanosecs,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second) {
  TimestampIts t_its;
  setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);
  throwIfOutOfRange(t_its.value, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");
  denm.denm.management.reference_time = t_its;
}


 * @param denm DENM-Message to set the station_type value
 * @param value station_type value to set
 */
inline void setStationType(DENM& denm, const int value) { setStationType(denm.denm.management.station_type, value); }

 * @param denm DENM to set the ReferencePosition
 * @param latitude The latitude value position in degree as decimal number.
 * @param longitude The longitude value in degree as decimal number.
 * @param altitude The altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).
 */
inline void setReferencePosition(DENM& denm, const double latitude, const double longitude,
                                 const double altitude = AltitudeValue::UNAVAILABLE) {
  setReferencePosition(denm.denm.management.event_position, latitude, longitude, altitude);
}


 *
 * @param heading object to set
 * @param value Heading value in degree as decimal number
 */
inline void setHeadingValue(HeadingValue& heading, const double value) {
  int64_t deg = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(deg, HeadingValue::MIN, HeadingValue::MAX, "HeadingValue");
  heading.value = deg;
}

 *
 * 0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West
 * HeadingConfidence is set to UNAVAILABLE
 *
 * @param heading object to set
 * @param value Heading value in degree as decimal number
 */
inline void setHeading(Heading& heading, const double value) {
  heading.heading_confidence.value = HeadingConfidence::UNAVAILABLE;
  setHeadingValue(heading.heading_value, value);
}

/**
 * @brief Set the IsHeadingPresent object for DENM
 * 
 * @param denm DENM to set IsHeadingPresent
 * @param presence_of_heading IsHeadingPresent-Value (true or false)
 */
inline void setIsHeadingPresent(DENM& denm, bool presence_of_heading) {
  if (denm.denm.location_is_present) {
    denm.denm.location.event_position_heading_is_present = presence_of_heading;
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

 *
 * @param denm DENM to set the ReferencePosition
 * @param value Heading value in degree as decimal number
 */
inline void setHeading(DENM& denm, const double heading_val) {
  if (denm.denm.location_is_present) {
    setHeading(denm.denm.location.event_position_heading, heading_val);
    setIsHeadingPresent(denm, true);
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

 * @brief Set the IsSpeedPresent object for DENM
 * 
 * @param denm DENM to set IsSpeedPresent
 * @param presence_of_heading IsSpeedPresent-Value (true or false)
 */
inline void setIsSpeedPresent(DENM& denm, bool presence_of_speed) {
  if (denm.denm.location_is_present) {
    denm.denm.location.event_speed_is_present = presence_of_speed;
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

/**
 * @brief Set the vehicle speed
 *
 * @param denm DENM to set the speed value
 * @param speed_val speed value to set in m/s as decimal number
 */
inline void setSpeed(DENM& denm, const double speed_val) {
  if (denm.denm.location_is_present) {
    setSpeed(denm.denm.location.event_speed, speed_val);
    setIsSpeedPresent(denm, true);
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

/**
 * @brief Set the ReferencePosition of a DENM from a given UTM-Position
 * 
 * The position is transformed to latitude and longitude by using GeographicLib::UTMUPS
 * The z-Coordinate is directly used as altitude value
 * The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'
 * 
 * @param[out] denm DENM for which to set the ReferencePosition
 * @param[in] utm_position geometry_msgs::PointStamped describing the given utm position
 * @param[in] zone the UTM zone (zero means UPS) of the given position
 * @param[in] northp hemisphere (true means north, false means south)
 */
inline void setFromUTMPosition(DENM& denm, const gm::PointStamped& utm_position, const int& zone, const bool& northp) {
  setFromUTMPosition(denm.denm.management.event_position, utm_position, zone, northp);
}


inline void setDrivingLaneStatus(DrivingLaneStatus& driving_lane_status, const std::vector<bool>& bits) {
  setBitString(driving_lane_status, bits);
}

/**
 * @brief Set the Lightbar Siren In Use by a vector of bools
 *
 * @param light_bar_siren_in_use
 * @param bits
 */
inline void setLightBarSirenInUse(LightBarSirenInUse& light_bar_siren_in_use, const std::vector<bool>& bits) {
  setBitString(light_bar_siren_in_use, bits);
}
 
}  // namespace etsi_its_denm_msgs::access