mcm_setters.h File Reference

Setter functions for the UULM MCM (TR). More...

#include <etsi_its_msgs_utils/impl/checks.h>

Go to the source code of this file.

Functions
void	etsi_its_mcm_uulm_msgs::access::setItsPduHeader (MCM &mcm, const uint32_t station_id, const uint8_t protocol_version=2)
	Sets the ITS PDU header for the given MCM message.
void	etsi_its_mcm_uulm_msgs::access::setGenerationDeltaTime (MCM &mcm, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
	Set the Generation Delta Time object.
void	etsi_its_mcm_uulm_msgs::access::setStationType (MCM &mcm, const int value)
	Set the StationType for a MCM.
void	etsi_its_mcm_uulm_msgs::access::setLatitude (Latitude &latitude, const double deg)
	Set the Latitude object.
void	etsi_its_mcm_uulm_msgs::access::setLongitude (Longitude &longitude, const double deg)
	Set the Longitude object.
void	etsi_its_mcm_uulm_msgs::access::setAltitudeValue (AltitudeValue &altitude, const double value)
	Set the AltitudeValue object.
void	etsi_its_mcm_uulm_msgs::access::setAltitude (Altitude &altitude, const double value)
	Set the Altitude object.
void	etsi_its_mcm_uulm_msgs::access::setReferencePosition (MCM &mcm, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
	Set the ReferencePosition for an MCM.
void	etsi_its_mcm_uulm_msgs::access::setFromUTMPosition (MCM &mcm, const gm::PointStamped &utm_position, const int zone, const bool northp)
	Set the ReferencePosition of a MCM from a given UTM-Position.
void	etsi_its_mcm_uulm_msgs::access::setSpeedValue (SpeedValue &speed, const double value)
	Set the SpeedValue object.
void	etsi_its_mcm_uulm_msgs::access::setHeadingValue (HeadingValue &heading, const double value)
	Set the HeadingValue object.
template<typename T>
void	etsi_its_mcm_uulm_msgs::access::setRoadUserDimension (T &dim, const double value)
	Sets the dimension value for a road user (width or length).
void	etsi_its_mcm_uulm_msgs::access::setRoadUserState (RoadUserContainer &road_user_container, const uint8_t type, const double speed, const double heading, const double length, const double width)
	Sets the state of a road user in the given container.
void	etsi_its_mcm_uulm_msgs::access::setCartesianCoordinateLarge (CartesianCoordinateLarge &coordinate, const double value)
	Sets the value of a CartesianCoordinateLarge object.
void	etsi_its_mcm_uulm_msgs::access::setWaypoint (Waypoint &waypoint, const double x, const double y)
	Sets the coordinates of a Waypoint object.

Detailed Description

Setter functions for the UULM MCM (TR).

Definition in file mcm_setters.h.

Function Documentation

setAltitude()

void etsi_its_mcm_uulm_msgs::access::setAltitude ( Altitude & altitude, const double value )

inline

Set the Altitude object.

Parameters

altitude	object to set
value	Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 109 of file mcm_setters.h.

                                                                {
  altitude.altitude_confidence.value = AltitudeConfidence::UNAVAILABLE;
  setAltitudeValue(altitude.altitude_value, value);
}

setAltitudeValue()

void etsi_its_mcm_uulm_msgs::access::setAltitudeValue ( AltitudeValue & altitude, const double value )

inline

Set the AltitudeValue object.

Parameters

altitude	object to set
value	AltitudeValue value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 92 of file mcm_setters.h.

                                                                          {
  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;
  }
}

setCartesianCoordinateLarge()

void etsi_its_mcm_uulm_msgs::access::setCartesianCoordinateLarge ( CartesianCoordinateLarge & coordinate, const double value )

inline

Sets the value of a CartesianCoordinateLarge object.

If the converted value is outside the valid range, sets the value to NEGATIVE_OUT_OF_RANGE or POSITIVE_OUT_OF_RANGE accordingly.

Parameters

coordinate	Reference to the CartesianCoordinateLarge object to set.
value	The coordinate value in meters.

Definition at line 249 of file mcm_setters.h.

                                                                                                  {
  auto coord_value = std::round(value * 1e2);  // convert m to cm
  if (coord_value < CartesianCoordinateLarge::MIN) {
    coord_value = CartesianCoordinateLarge::NEGATIVE_OUT_OF_RANGE;
  } else if (coord_value > CartesianCoordinateLarge::MAX) {
    coord_value = CartesianCoordinateLarge::POSITIVE_OUT_OF_RANGE;
  }
  coordinate.value = static_cast<decltype(coordinate.value)>(coord_value);
}

setFromUTMPosition()

void etsi_its_mcm_uulm_msgs::access::setFromUTMPosition ( MCM & mcm, const gm::PointStamped & utm_position, const int zone, const bool northp )

inline

Set the ReferencePosition of a MCM 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>'

Parameters

[out]	mcm	MCM to set the ReferencePosition
[in]	utm_position	geometry_msgs::PointStamped describing the given utm position
[in]	zone	the UTM zone (zero means UPS) of the given position
[in]	northp	hemisphere (true means north, false means south)

Definition at line 159 of file mcm_setters.h.

                                                                                                                {
  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(mcm, latitude, longitude, utm_position.point.z);
}

setGenerationDeltaTime()

void etsi_its_mcm_uulm_msgs::access::setGenerationDeltaTime ( MCM & mcm, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second )

inline

Set the Generation Delta Time object.

Parameters

mcm	MCM to set the GenerationDeltaTime-Value for
unix_nanosecs	Timestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_seconds	Number of leap seconds since 2004 for the given timestamp (Defaults to the todays number of leap seconds since 2004.)

Definition at line 40 of file mcm_setters.h.

                                                                                                   {
  uint64_t t_its = unix_nanosecs * 1e-6 + (uint64_t)(n_leap_seconds * 1e3) - etsi_its_msgs::UNIX_SECONDS_2004 * 1e3;
  uint16_t gdt_value = t_its % 65536;
  throwIfOutOfRange(gdt_value, GenerationDeltaTime::MIN, GenerationDeltaTime::MAX, "GenerationDeltaTime");
  mcm.mcm.generation_delta_time.value = gdt_value;
}

setHeadingValue()

void etsi_its_mcm_uulm_msgs::access::setHeadingValue ( HeadingValue & heading, const double value )

inline

Set the HeadingValue object.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading	object to set
value	Heading value in degree as decimal number

Definition at line 196 of file mcm_setters.h.

                                                                       {
  int64_t deg = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(deg, HeadingValue::MIN, HeadingValue::MAX, "HeadingValue");
  heading.value = deg;
}

setItsPduHeader()

void etsi_its_mcm_uulm_msgs::access::setItsPduHeader ( MCM & mcm, const uint32_t station_id, const uint8_t protocol_version = 2 )

inline

Sets the ITS PDU header for the given MCM message.

Parameters

mcm	Reference to the MCM message whose header will be set.
station_id	The unique identifier of the ITS station.
protocol_version	The protocol version to use (default is 2).

Exceptions

std::out_of_range

if the protocol_version is outside the valid range defined by OrdinalNumber1B::MIN and OrdinalNumber1B::MAX.

Definition at line 26 of file mcm_setters.h.

                                                                                                   {
  mcm.header.message_id.value = MessageId::MCM;
  mcm.header.station_id.value = station_id;
  throwIfOutOfRange(protocol_version, OrdinalNumber1B::MIN, OrdinalNumber1B::MAX, "ProtocolVersion");
  mcm.header.protocol_version.value = protocol_version;
}

setLatitude()

void etsi_its_mcm_uulm_msgs::access::setLatitude ( Latitude & latitude, const double deg )

inline

Set the Latitude object.

Parameters

latitude	object to set
deg	Latitude value in degree as decimal number

Definition at line 68 of file mcm_setters.h.

                                                              {
  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;
}

setLongitude()

void etsi_its_mcm_uulm_msgs::access::setLongitude ( Longitude & longitude, const double deg )

inline

Set the Longitude object.

Parameters

longitude	object to set
deg	Longitude value in degree as decimal number

Definition at line 80 of file mcm_setters.h.

                                                                 {
  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;
}

setReferencePosition()

void etsi_its_mcm_uulm_msgs::access::setReferencePosition ( MCM & mcm, const double latitude, const double longitude, const double altitude = AltitudeValue::UNAVAILABLE )

inline

Set the ReferencePosition for an MCM.

If the altitude is not provided, it is set to AltitudeValue::UNAVAILABLE. Resets all Confidence values to UNAVAILABLE.

Parameters

mcm	MCM object to set the reference position in.
latitude	The latitude value position in degree as decimal number.
longitude	The longitude value in degree as decimal number.
altitude	The altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 125 of file mcm_setters.h.

                                                                                 {
  setLatitude(mcm.mcm.mcm_parameters.basic_container.reference_position.latitude, latitude);
  setLongitude(mcm.mcm.mcm_parameters.basic_container.reference_position.longitude, longitude);
  if (altitude != AltitudeValue::UNAVAILABLE) {
    setAltitude(mcm.mcm.mcm_parameters.basic_container.reference_position.altitude, altitude);
  } else {
    mcm.mcm.mcm_parameters.basic_container.reference_position.altitude.altitude_value.value =
        AltitudeValue::UNAVAILABLE;
    mcm.mcm.mcm_parameters.basic_container.reference_position.altitude.altitude_confidence.value =
        AltitudeConfidence::UNAVAILABLE;
  }
 
  // reset PositionConfidenceEllipse to unavailable
  mcm.mcm.mcm_parameters.basic_container.reference_position.position_confidence_ellipse.semi_major_axis_length.value =
      SemiAxisLength::UNAVAILABLE;
  mcm.mcm.mcm_parameters.basic_container.reference_position.position_confidence_ellipse.semi_minor_axis_length.value =
      SemiAxisLength::UNAVAILABLE;
  mcm.mcm.mcm_parameters.basic_container.reference_position.position_confidence_ellipse.semi_major_axis_orientation
      .value = Wgs84AngleValue::UNAVAILABLE;
}

setRoadUserDimension()

template<typename T>

void etsi_its_mcm_uulm_msgs::access::setRoadUserDimension ( T & dim, const double value )

inline

Sets the dimension value for a road user (width or length).

Template Parameters

T	Type representing the road user dimension, which must have static MIN and MAX members and a value member.

Parameters

dim	Reference to the dimension object to be set.
value	The dimension value (in meters) to be set.

Exceptions

std::exception

if the scaled value is out of the allowed range.

Definition at line 212 of file mcm_setters.h.

                                                             {
  int64_t dim_value = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(dim_value, T::MIN, T::MAX, "RoadUserDimension (Width/Length)");
  dim.value = dim_value;
}

setRoadUserState()

void etsi_its_mcm_uulm_msgs::access::setRoadUserState ( RoadUserContainer & road_user_container, const uint8_t type, const double speed, const double heading, const double length, const double width )

inline

Sets the state of a road user in the given container.

This function updates the road user type, speed, heading, length, and width of the specified RoadUserContainer object.

Parameters

road_user_container	Reference to the RoadUserContainer to update.
type	The type of the road user (as a uint8_t value).
speed	The speed of the road user (in m/s).
heading	The heading of the road user (in degrees).
length	The length of the road user (in meters).
width	The width of the road user (in meters).

Definition at line 231 of file mcm_setters.h.

                                                                                            {
  road_user_container.road_user_state.road_user_type.value = type;
  setSpeedValue(road_user_container.road_user_state.speed, speed);
  setHeadingValue(road_user_container.road_user_state.heading, heading);
  setRoadUserDimension(road_user_container.road_user_state.length, length);
  setRoadUserDimension(road_user_container.road_user_state.width, width);
}

setSpeedValue()

void etsi_its_mcm_uulm_msgs::access::setSpeedValue ( SpeedValue & speed, const double value )

inline

Set the SpeedValue object.

Parameters

speed	object to set
value	SpeedValue in m/s as decimal number

Definition at line 182 of file mcm_setters.h.

                                                                 {
  auto speed_val = std::round(value * 1e2);
  throwIfOutOfRange(speed_val, SpeedValue::MIN, SpeedValue::MAX, "SpeedValue");
  speed.value = static_cast<decltype(speed.value)>(speed_val);
}

setStationType()

void etsi_its_mcm_uulm_msgs::access::setStationType ( MCM & mcm, const int value )

inline

Set the StationType for a MCM.

Parameters

mcm	MCM-Message to set the station_type value
value	station_type value to set

Definition at line 57 of file mcm_setters.h.

                                                      {
  throwIfOutOfRange(value, TrafficParticipantType::MIN, TrafficParticipantType::MAX, "StationType");
  mcm.mcm.mcm_parameters.basic_container.station_type.value = value;
}

setWaypoint()

void etsi_its_mcm_uulm_msgs::access::setWaypoint ( Waypoint & waypoint, const double x, const double y )

inline

Sets the coordinates of a Waypoint object.

Parameters

waypoint	Reference to the Waypoint object to be modified.
x	The x-coordinate value to set (in meters as decimal number).
y	The y-coordinate value to set (in meters as decimal number).

Definition at line 266 of file mcm_setters.h.

                                                                            {
  setCartesianCoordinateLarge(waypoint.x_distance, x);
  setCartesianCoordinateLarge(waypoint.y_distance, y);
}