mcm_setters.h

Go to the documentation of this file.

/*
=============================================================================
MIT License
 
Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=============================================================================
*/

 
#pragma once
 
#include <etsi_its_msgs_utils/impl/checks.h>
 
namespace etsi_its_mcm_uulm_msgs::access {
 
// ---------- header ----------

inline void setItsPduHeader(MCM& mcm, const uint32_t station_id, const uint8_t protocol_version = 2) {
  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;
}

inline void setGenerationDeltaTime(
    MCM& mcm, const uint64_t unix_nanosecs,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
  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;
}
 
// ---------- basic_container ----------

inline void setStationType(MCM& mcm, const int value) {
  throwIfOutOfRange(value, TrafficParticipantType::MIN, TrafficParticipantType::MAX, "StationType");
  mcm.mcm.mcm_parameters.basic_container.station_type.value = value;
}

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 setReferencePosition(MCM& mcm, const double latitude, const double longitude,
                                 const double altitude = AltitudeValue::UNAVAILABLE) {
  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;
}

inline void setFromUTMPosition(MCM& mcm, 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(mcm, latitude, longitude, utm_position.point.z);
}
 
// ---------- road_user_container ----------

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

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;
}

template <typename T>
inline void setRoadUserDimension(T& dim, const double value) {
  int64_t dim_value = (int64_t)std::round(value * 1e1);
  throwIfOutOfRange(dim_value, T::MIN, T::MAX, "RoadUserDimension (Width/Length)");
  dim.value = dim_value;
}

inline void setRoadUserState(RoadUserContainer& road_user_container, const uint8_t type, const double speed,
                             const double heading, const double length, const double width) {
  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);
}

inline void setCartesianCoordinateLarge(CartesianCoordinateLarge& coordinate, const double value) {
  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);
}

inline void setWaypoint(Waypoint& waypoint, const double x, const double y) {
  setCartesianCoordinateLarge(waypoint.x_distance, x);
  setCartesianCoordinateLarge(waypoint.y_distance, y);
}
 
}  // namespace etsi_its_mcm_uulm_msgs::access