spatem_ts_utils.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.
=============================================================================
*/

 
#include <ctime>
 
#pragma once
 
namespace etsi_its_spatem_ts_msgs {
 
namespace access {
 
  static constexpr  std::array<float, 4> COLOR_GREY {0.5, 0.5, 0.5, 1.0};
  static constexpr  std::array<float, 4> COLOR_GREEN {0.18, 0.79, 0.21, 1.0};
  static constexpr  std::array<float, 4> COLOR_ORANGE {0.9, 0.7, 0.09, 1.0};
  static constexpr  std::array<float, 4> COLOR_RED {0.8, 0.2, 0.2, 1.0};
 
  static constexpr int HOUR_IN_SECONDS = 3600;
  static constexpr int HALF_HOUR_IN_SECONDS = 1800;
  static constexpr int64_t FACTOR_SECONDS_TO_NANOSECONDS = 1000000000LL;
 
  // ETSI Timemark value equals 0.1 seconds and 10e8 nanoseconds
  static constexpr int64_t FACTOR_ETSI_TIMEMARK_TO_NANOSECONDS = 100000000LL;
  static constexpr float FACTOR_ETSI_TIMEMARK_TO_SECONDS = 0.1f;
 
  enum time_mark_value_interpretation { normal, undefined, over_an_hour, leap_second };

  inline uint64_t getUnixSecondsOfYear(const uint64_t unixSecond) {
 
    // Get current time as a time_point
    time_t ts = static_cast<time_t>(unixSecond); // Convert uint64_t to time_t
 
    struct tm* timeinfo;
    timeinfo = gmtime(&ts);
 
    // Set the timeinfo to the beginning of the year
    timeinfo->tm_sec = 0;
    timeinfo->tm_min = 0;
    timeinfo->tm_hour = 0;
    timeinfo->tm_mday = 1;
    timeinfo->tm_mon = 0;
 
    return timegm(timeinfo); // Convert struct tm back to Unix timestamp
  }

  inline uint64_t getUnixNanosecondsFromMinuteOfTheYear(const MinuteOfTheYear& moy, const uint64_t unix_nanoseconds_estimate) {
    return ((uint64_t)(moy.value*60) + getUnixSecondsOfYear(unix_nanoseconds_estimate*1e-9))*1e9;
  }

  inline float interpretTimeIntervalConfidenceAsFloat(const uint16_t encoded_probability) {
    float probability = 0;
 
    switch (encoded_probability)
    {
      case 0:
        probability = 0.21;
        break;
      case 1:
        probability = 0.36;
        break;
      case 2: 
        probability = 0.47;
        break;
      case 3:
        probability = 0.56;
        break;
      case 4:
        probability = 0.62;
        break;
      case 5: 
        probability = 0.68;
        break;
      case 6:
        probability = 0.73;
        break;
      case 7:
        probability = 0.77;
        break;
      case 8:
        probability = 0.81;
        break;
      case 9:
        probability = 0.85;
        break;
      case 10:
        probability = 0.88;
        break;
      case 11:
        probability = 0.91;
        break;
      case 12:
        probability = 0.94;
        break;
      case 13:
        probability = 0.96;
        break;
      case 14:
        probability = 0.98;
        break; 
      case 15:
        probability = 1.0;
        break;
    }
 
    return probability;
  }

  inline std::array<float, 4> interpretMovementPhaseStateAsColor(const uint8_t value)
  {
    std::array<float, 4> color;
 
    switch (value) {
 
      case MovementPhaseState::UNAVAILABLE:
        color = COLOR_GREY;
        break;
 
      case MovementPhaseState::DARK:
        color = COLOR_GREY;
        break;
      case MovementPhaseState::STOP_THEN_PROCEED:
        color = COLOR_RED;
        break;
      case MovementPhaseState::STOP_AND_REMAIN:
        color = COLOR_RED;
        break;
      case MovementPhaseState::PRE_MOVEMENT:
        color = COLOR_ORANGE;
        break;
      case MovementPhaseState::PERMISSIVE_MOVEMENT_ALLOWED:
        color = COLOR_GREEN;
        break;
      case MovementPhaseState::PROTECTED_MOVEMENT_ALLOWED:
        color = COLOR_GREEN;
        break;
      case MovementPhaseState::PERMISSIVE_CLEARANCE:
        color = COLOR_ORANGE;
        break;
      case MovementPhaseState::PROTECTED_CLEARANCE:
        color = COLOR_ORANGE;
        break;
      case MovementPhaseState::CAUTION_CONFLICTING_TRAFFIC:
        color = COLOR_ORANGE;
        break;
      default:
        color = COLOR_GREY;
        break;
  }
 
  return color;
}

inline time_mark_value_interpretation interpretTimeMarkValueType(const uint16_t time) {
  time_mark_value_interpretation type;
 
  if (time == 36001) {
    // value is undefined or unknown
    type = time_mark_value_interpretation::undefined;
  } else if (time == 36000) {
    // used to indicate time >3600 seconds
    type = time_mark_value_interpretation::over_an_hour;
  } else if (time >= 35991 && time <= 35999) {
    // leap second
    type = time_mark_value_interpretation::leap_second;
  } else { // time >= 0 && time <= 36000
    type = time_mark_value_interpretation::normal;
  }
 
  return type;
}

 inline int64_t interpretTimeMarkValueAsNanoSeconds(const uint16_t time, const uint64_t nanosec) {
  // calculate elapsed nanoseconds since the start of the last full hour in nanoseconds 
  int64_t abs_time_hour_nanosec = ((nanosec) % (HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS));
  int64_t abs_time_decoded_nanosec = static_cast<int64_t>(time) * FACTOR_ETSI_TIMEMARK_TO_SECONDS;
  int64_t rel_time_until_change =  abs_time_decoded_nanosec - abs_time_hour_nanosec;
 
  // adjust relative time if a jump to the next hour occurs (relative time inside the interval [-30:00, 30:00] )
  if (rel_time_until_change < - HALF_HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS) {
    rel_time_until_change += HOUR_IN_SECONDS * FACTOR_SECONDS_TO_NANOSECONDS;
  }
 
  return rel_time_until_change;
}

inline float interpretTimeMarkValueAsSeconds(const uint16_t time, const int32_t seconds, const uint32_t nanosec) {
  // calculate elapsed seconds since the start of the last full hour  
  float abs_time_hour = ((int)(seconds)) % HOUR_IN_SECONDS + (float)nanosec * 1e-9;
  float rel_time_until_change = (float)time * FACTOR_ETSI_TIMEMARK_TO_SECONDS - abs_time_hour;
 
  // adjust relative time if a jump to the next hour occurs (relative time inside the interval [-30:00, 30:00] )
  if (rel_time_until_change < - HALF_HOUR_IN_SECONDS) {
    rel_time_until_change += HOUR_IN_SECONDS;
  }
 
  return rel_time_until_change;
}

inline std::string parseTimeMarkValueToString(const uint16_t time, const int32_t seconds, const uint32_t nanosec)
{
  time_mark_value_interpretation time_type = interpretTimeMarkValueType(time);
 
  std::string text_content;
 
  switch (time_type) {
    case time_mark_value_interpretation::undefined:
      text_content = "undefined";
      break;
    case time_mark_value_interpretation::over_an_hour:
      text_content = ">36000s";
      break;
    case time_mark_value_interpretation::leap_second:
      text_content = "leap second";
      break;
    case time_mark_value_interpretation::normal:
      float rel_time_until_change = interpretTimeMarkValueAsSeconds(time, seconds, nanosec);
 
      // set displayed precision to 0.1
      std::stringstream ss;
      ss << std::fixed << std::setprecision(1) << rel_time_until_change << "s";
      text_content = ss.str();
      break;
  }
 
  return text_content;
}
 
} // namespace etsi_its_spatem_ts_msgs
 
} // namespace access