etsi_its_messages v3.2.1
 
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Enumerations | Functions
spatem_ts_utils.h File Reference

Utility functions for the ETSI ITS SPATEM. More...

#include <ctime>

Go to the source code of this file.

Enumerations

enum  time_mark_value_interpretation { normal , undefined , over_an_hour , leap_second }
 

Functions

uint64_t etsi_its_spatem_ts_msgs::access::getUnixSecondsOfYear (const uint64_t unixSecond)
 Get the unix seconds of the beginning of a year that corresponds to a given unix timestamp.
 
uint64_t etsi_its_spatem_ts_msgs::access::getUnixNanosecondsFromMinuteOfTheYear (const MinuteOfTheYear &moy, const uint64_t unix_nanoseconds_estimate)
 Get the unix nanoseconds from MinuteOfTheYear object.
 
float etsi_its_spatem_ts_msgs::access::interpretTimeIntervalConfidenceAsFloat (const uint16_t encoded_probability)
 Interprets the TimeIntervalConfidence type as a float value (see etsi definition)
 
std::array< float, 4 > etsi_its_spatem_ts_msgs::access::interpretMovementPhaseStateAsColor (const uint8_t value)
 Interprets the MovementPhaseState type as a color (see etsi definition)
 
time_mark_value_interpretation etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueType (const uint16_t time)
 Interprets the type of a TimeMark message See etsi ASNI1 - IS TS 103 301 documentation for for the encoding of "TimeMark".
 
int64_t etsi_its_spatem_ts_msgs::access::interpretTimeMarkDeltaTimeAsNanoSeconds (const uint16_t time, const uint64_t nanosec)
 Calculates the delta between the encoded time mark and the current timestamp.
 
float etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueAsSeconds (const uint16_t time, const int32_t seconds, const uint32_t nanosec)
 Calculates the delta between the encoded time mark and the current timestamp.
 
std::string etsi_its_spatem_ts_msgs::access::parseTimeMarkValueToString (const uint16_t time, const int32_t seconds, const uint32_t nanosec)
 Converts a value from message type TimeMarkValue into a string representation.
 

Detailed Description

Utility functions for the ETSI ITS SPATEM.

Definition in file spatem_ts_utils.h.

Enumeration Type Documentation

◆ time_mark_value_interpretation

enum etsi_its_spatem_ts_msgs::access::time_mark_value_interpretation

Definition at line 53 of file spatem_ts_utils.h.

53{ normal, undefined, over_an_hour, leap_second };

Function Documentation

◆ getUnixNanosecondsFromMinuteOfTheYear()

uint64_t etsi_its_spatem_ts_msgs::access::getUnixNanosecondsFromMinuteOfTheYear ( const MinuteOfTheYear & moy,
const uint64_t unix_nanoseconds_estimate )
inline

Get the unix nanoseconds from MinuteOfTheYear object.

Parameters
moygiven MinuteOfTheYear object
unix_nanoseconds_estimateunix timestamp to derive the current year from in nanoseconds
Returns
uint64_t unix timestamp according to the given MinuteOfTheYear in nanoseconds

Definition at line 86 of file spatem_ts_utils.h.

86 {
87 return ((uint64_t)(moy.value*60) + getUnixSecondsOfYear(unix_nanoseconds_estimate*1e-9))*1e9;
88 }
etsi_its_spatem_ts_msgs::access::getUnixSecondsOfYear
uint64_t getUnixSecondsOfYear(const uint64_t unixSecond)
Get the unix seconds of the beginning of a year that corresponds to a given unix timestamp.
Definition spatem_ts_utils.h:61

◆ getUnixSecondsOfYear()

uint64_t etsi_its_spatem_ts_msgs::access::getUnixSecondsOfYear ( const uint64_t unixSecond)
inline

Get the unix seconds of the beginning of a year that corresponds to a given unix timestamp.

Parameters
unixSecondtimestamp that defines the year for that the unix seconds for the beginning of the year should be derived
Returns
uint64_t unix seconds of the beginning of the year

Definition at line 61 of file spatem_ts_utils.h.

61 {
62
63 // Get current time as a time_point
64 time_t ts = static_cast<time_t>(unixSecond); // Convert uint64_t to time_t
65
66 struct tm* timeinfo;
67 timeinfo = gmtime(&ts);
68
69 // Set the timeinfo to the beginning of the year
70 timeinfo->tm_sec = 0;
71 timeinfo->tm_min = 0;
72 timeinfo->tm_hour = 0;
73 timeinfo->tm_mday = 1;
74 timeinfo->tm_mon = 0;
75
76 return timegm(timeinfo); // Convert struct tm back to Unix timestamp
77 }

◆ interpretMovementPhaseStateAsColor()

std::array< float, 4 > etsi_its_spatem_ts_msgs::access::interpretMovementPhaseStateAsColor ( const uint8_t value)
inline

Interprets the MovementPhaseState type as a color (see etsi definition)

Parameters
valueEncoded color value from msg type MovementPhaseState
Returns
4-dimensional array with color values as follows: r, g, b, a, each of these values within a range between [0, 1]

Definition at line 160 of file spatem_ts_utils.h.

161 {
162 std::array<float, 4> color;
163
164 switch (value) {
165
166 case MovementPhaseState::UNAVAILABLE:
167 color = COLOR_GREY;
168 break;
169
170 case MovementPhaseState::DARK:
171 color = COLOR_GREY;
172 break;
173 case MovementPhaseState::STOP_THEN_PROCEED:
174 color = COLOR_RED;
175 break;
176 case MovementPhaseState::STOP_AND_REMAIN:
177 color = COLOR_RED;
178 break;
179 case MovementPhaseState::PRE_MOVEMENT:
180 color = COLOR_ORANGE;
181 break;
182 case MovementPhaseState::PERMISSIVE_MOVEMENT_ALLOWED:
183 color = COLOR_GREEN;
184 break;
185 case MovementPhaseState::PROTECTED_MOVEMENT_ALLOWED:
186 color = COLOR_GREEN;
187 break;
188 case MovementPhaseState::PERMISSIVE_CLEARANCE:
189 color = COLOR_ORANGE;
190 break;
191 case MovementPhaseState::PROTECTED_CLEARANCE:
192 color = COLOR_ORANGE;
193 break;
194 case MovementPhaseState::CAUTION_CONFLICTING_TRAFFIC:
195 color = COLOR_ORANGE;
196 break;
197 default:
198 color = COLOR_GREY;
199 break;
200 }
201
202 return color;
203}

◆ interpretTimeIntervalConfidenceAsFloat()

float etsi_its_spatem_ts_msgs::access::interpretTimeIntervalConfidenceAsFloat ( const uint16_t encoded_probability)
inline

Interprets the TimeIntervalConfidence type as a float value (see etsi definition)

Parameters
encoded_probabilityValue from msg type TimeIntervalConfidence
Returns
confidence as float value [0, 1]

Definition at line 96 of file spatem_ts_utils.h.

96 {
97 float probability = 0;
98
99 switch (encoded_probability)
100 {
101 case 0:
102 probability = 0.21;
103 break;
104 case 1:
105 probability = 0.36;
106 break;
107 case 2:
108 probability = 0.47;
109 break;
110 case 3:
111 probability = 0.56;
112 break;
113 case 4:
114 probability = 0.62;
115 break;
116 case 5:
117 probability = 0.68;
118 break;
119 case 6:
120 probability = 0.73;
121 break;
122 case 7:
123 probability = 0.77;
124 break;
125 case 8:
126 probability = 0.81;
127 break;
128 case 9:
129 probability = 0.85;
130 break;
131 case 10:
132 probability = 0.88;
133 break;
134 case 11:
135 probability = 0.91;
136 break;
137 case 12:
138 probability = 0.94;
139 break;
140 case 13:
141 probability = 0.96;
142 break;
143 case 14:
144 probability = 0.98;
145 break;
146 case 15:
147 probability = 1.0;
148 break;
149 }
150
151 return probability;
152 }

◆ interpretTimeMarkDeltaTimeAsNanoSeconds()

int64_t etsi_its_spatem_ts_msgs::access::interpretTimeMarkDeltaTimeAsNanoSeconds ( const uint16_t time,
const uint64_t nanosec )
inline

Calculates the delta between the encoded time mark and the current timestamp.

Parameters
timeEncoded time value since the start of the last full hour in 0.1 seconds
nanosecTimestamp in nanoseconds
Returns
Delta time between the time stamp and the next time mark in nanoseconds

Definition at line 237 of file spatem_ts_utils.h.

237 {
238 // calculate elapsed nanoseconds since the start of the last full hour in nanoseconds
239 int64_t abs_time_hour_nanosec = ((nanosec) % (HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS));
240 int64_t abs_time_decoded_nanosec = static_cast<int64_t>(time) * FACTOR_ETSI_TIMEMARK_TO_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS;
241 int64_t rel_time_until_change = abs_time_decoded_nanosec - abs_time_hour_nanosec;
242
243 // adjust relative time if a jump to the next hour occurs (relative time inside the interval [-30:00, 30:00] )
244 if (rel_time_until_change < - HALF_HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS) {
245 rel_time_until_change += HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS;
246 }
247
248 return rel_time_until_change;
249}

◆ interpretTimeMarkValueAsSeconds()

float etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueAsSeconds ( const uint16_t time,
const int32_t seconds,
const uint32_t nanosec )
inline

Calculates the delta between the encoded time mark and the current timestamp.

Parameters
timeEncoded time value since the start of the last full hour in 0.1 seconds
secondsTimestamp in seconds
nanosecTimestamp in nanoseconds
Returns
Delta time between the time stamp and the next time mark in nanoseconds

Definition at line 259 of file spatem_ts_utils.h.

259 {
260 // calculate elapsed seconds since the start of the last full hour
261 float abs_time_hour = ((int)(seconds)) % HOUR_IN_SECONDS + (float)nanosec * 1e-9;
262 float rel_time_until_change = (float)time * FACTOR_ETSI_TIMEMARK_TO_SECONDS - abs_time_hour;
263
264 // adjust relative time if a jump to the next hour occurs (relative time inside the interval [-30:00, 30:00] )
265 if (rel_time_until_change < - HALF_HOUR_IN_SECONDS) {
266 rel_time_until_change += HOUR_IN_SECONDS;
267 }
268
269 return rel_time_until_change;
270}

◆ interpretTimeMarkValueType()

time_mark_value_interpretation etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueType ( const uint16_t time)
inline

Interprets the type of a TimeMark message See etsi ASNI1 - IS TS 103 301 documentation for for the encoding of "TimeMark".

Parameters
timeThe value inside the TimeMark message
Returns
Type as time_mark_value_interpretation

Definition at line 211 of file spatem_ts_utils.h.

211 {
212 time_mark_value_interpretation type;
213
214 if (time == 36001) {
215 // value is undefined or unknown
216 type = time_mark_value_interpretation::undefined;
217 } else if (time == 36000) {
218 // used to indicate time >3600 seconds
219 type = time_mark_value_interpretation::over_an_hour;
220 } else if (time >= 35991 && time <= 35999) {
221 // leap second
222 type = time_mark_value_interpretation::leap_second;
223 } else { // time >= 0 && time <= 36000
224 type = time_mark_value_interpretation::normal;
225 }
226
227 return type;
228}

◆ parseTimeMarkValueToString()

std::string etsi_its_spatem_ts_msgs::access::parseTimeMarkValueToString ( const uint16_t time,
const int32_t seconds,
const uint32_t nanosec )
inline

Converts a value from message type TimeMarkValue into a string representation.

Parameters
timeTime in 0.1 seconds until the next change occours in the future, counting from the last started hour
secondsElapsed seconds since the start of the last full hour (timestamp)
nanosecElapsed nanoseconds since the start of the last full hour (timestamp)
Returns
Decoded String representation of the encoded time

Definition at line 280 of file spatem_ts_utils.h.

281{
282 time_mark_value_interpretation time_type = interpretTimeMarkValueType(time);
283
284 std::string text_content;
285
286 switch (time_type) {
287 case time_mark_value_interpretation::undefined:
288 text_content = "undefined";
289 break;
290 case time_mark_value_interpretation::over_an_hour:
291 text_content = ">36000s";
292 break;
293 case time_mark_value_interpretation::leap_second:
294 text_content = "leap second";
295 break;
296 case time_mark_value_interpretation::normal:
297 float rel_time_until_change = interpretTimeMarkValueAsSeconds(time, seconds, nanosec);
298
299 // set displayed precision to 0.1
300 std::stringstream ss;
301 ss << std::fixed << std::setprecision(1) << rel_time_until_change << "s";
302 text_content = ss.str();
303 break;
304 }
305
306 return text_content;
307}
etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueAsSeconds
float interpretTimeMarkValueAsSeconds(const uint16_t time, const int32_t seconds, const uint32_t nanosec)
Calculates the delta between the encoded time mark and the current timestamp.
Definition spatem_ts_utils.h:259
etsi_its_spatem_ts_msgs::access::interpretTimeMarkValueType
time_mark_value_interpretation interpretTimeMarkValueType(const uint16_t time)
Interprets the type of a TimeMark message See etsi ASNI1 - IS TS 103 301 documentation for for the en...
Definition spatem_ts_utils.h:211