cam_setters_common.h
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26 
32 #ifndef ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
33 #define ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
34 
35 #include <etsi_its_msgs_utils/impl/checks.h>
36 #include <etsi_its_msgs_utils/impl/constants.h>
37 #include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>
38 
46 inline void setGenerationDeltaTime(
47  GenerationDeltaTime& generation_delta_time, const uint64_t unix_nanosecs,
48  const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
49  TimestampIts t_its;
50  setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);
51  uint16_t gdt_value = t_its.value % 65536;
52  throwIfOutOfRange(gdt_value, GenerationDeltaTime::MIN, GenerationDeltaTime::MAX, "GenerationDeltaTime");
53  generation_delta_time.value = gdt_value;
54 }
55 
63 inline void setGenerationDeltaTime(
64  CAM& cam, const uint64_t unix_nanosecs,
65  const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
66  setGenerationDeltaTime(cam.cam.generation_delta_time, unix_nanosecs, n_leap_seconds);
67 }
68 
75 inline void setStationType(CAM& cam, const uint8_t value) {
76  setStationType(cam.cam.cam_parameters.basic_container.station_type, value);
77 }
78 
89 inline void setHeading(CAM& cam, const double heading_val, const double confidence = std::numeric_limits<double>::infinity()) {
90  setHeadingCDD(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading,
91  heading_val, confidence);
92 }
93 
100 inline void setVehicleWidth(VehicleWidth& vehicle_width, const double value) {
101  int64_t width = (int64_t)std::round(value * 1e1);
102  throwIfOutOfRange(width, VehicleWidth::MIN, VehicleWidth::MAX, "VehicleWidthValue");
103  vehicle_width.value = width;
104 }
105 
112 inline void setVehicleLengthValue(VehicleLengthValue& vehicle_length, const double value) {
113  int64_t length = (int64_t)std::round(value * 1e1);
114  throwIfOutOfRange(length, VehicleLengthValue::MIN, VehicleLengthValue::MAX, "VehicleLengthValue");
115  vehicle_length.value = length;
116 }
117 
126 inline void setVehicleLength(VehicleLength& vehicle_length, const double value) {
127  vehicle_length.vehicle_length_confidence_indication.value = VehicleLengthConfidenceIndication::UNAVAILABLE;
128  setVehicleLengthValue(vehicle_length.vehicle_length_value, value);
129 }
130 
138 inline void setVehicleDimensions(CAM& cam, const double vehicle_length, const double vehicle_width) {
139  setVehicleLength(
140  cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_length,
141  vehicle_length);
142  setVehicleWidth(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_width,
143  vehicle_width);
144 }
145 
152 inline void setSpeed(CAM& cam, const double speed_val, const double confidence = SpeedConfidence::UNAVAILABLE) {
153  setSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed, speed_val, confidence);
154 }
155 
164 inline void setLongitudinalAcceleration(CAM& cam, const double lon_accel, const double confidence = std::numeric_limits<double>::infinity()) {
165  setLongitudinalAcceleration(
166  cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration,
167  lon_accel, confidence);
168 }
169 
178 inline void setLateralAcceleration(CAM& cam, const double lat_accel, const double confidence = std::numeric_limits<double>::infinity()) {
179  setLateralAcceleration(
180  cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.lateral_acceleration,
181  lat_accel, confidence);
182  cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency
183  .lateral_acceleration_is_present = true;
184 }
185 
197 inline void setReferencePosition(CAM& cam, const double latitude, const double longitude,
198  const double altitude = AltitudeValue::UNAVAILABLE) {
199  setReferencePosition(cam.cam.cam_parameters.basic_container.reference_position, latitude, longitude, altitude);
200 }
201 
214 inline void setFromUTMPosition(CAM& cam, const gm::PointStamped& utm_position, const int& zone, const bool& northp) {
215  setFromUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, utm_position, zone, northp);
216 }
217 
224 inline void setExteriorLights(ExteriorLights& exterior_lights, const std::vector<bool>& bits) {
225  setBitString(exterior_lights, bits);
226 }
227 
234 inline void setExteriorLights(CAM& cam, const std::vector<bool>& exterior_lights) {
235  if (ExteriorLights::SIZE_BITS != exterior_lights.size()) {
236  throw std::invalid_argument("Vector has wrong size. (" + std::to_string(exterior_lights.size()) +
237  " != " + std::to_string(ExteriorLights::SIZE_BITS) + ")");
238  }
239  if (cam.cam.cam_parameters.low_frequency_container_is_present) {
240  if (cam.cam.cam_parameters.low_frequency_container.choice ==
241  LowFrequencyContainer::CHOICE_BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY) {
242  setExteriorLights(
243  cam.cam.cam_parameters.low_frequency_container.basic_vehicle_container_low_frequency.exterior_lights,
244  exterior_lights);
245  } else {
246  throw std::invalid_argument("LowFrequencyContainer is not BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY!");
247  }
248  } else {
249  throw std::invalid_argument("LowFrequencyContainer is not present!");
250  }
251 }
252 
259 inline void setAccelerationControl(AccelerationControl& acceleration_control, const std::vector<bool>& bits) {
260  setBitString(acceleration_control, bits);
261 }
262 
269 inline void setDrivingLaneStatus(DrivingLaneStatus& driving_lane_status, const std::vector<bool>& bits) {
270  setBitString(driving_lane_status, bits);
271 }
272 
279 inline void setSpecialTransportType(SpecialTransportType& special_transport_type, const std::vector<bool>& bits) {
280  setBitString(special_transport_type, bits);
281 }
282 
289 inline void setLightBarSirenInUse(LightBarSirenInUse& light_bar_siren_in_use, const std::vector<bool>& bits) {
290  setBitString(light_bar_siren_in_use, bits);
291 }
292 
299 inline void setEmergencyPriority(EmergencyPriority& emergency_priority, const std::vector<bool>& bits) {
300  setBitString(emergency_priority, bits);
301 }
302 
303 #endif // ETSI_ITS_MSGS_UTILS_IMPL_CAM_CAM_SETTERS_COMMON_H
setSpecialTransportType
void setSpecialTransportType(SpecialTransportType &special_transport_type, const std::vector< bool > &bits)
Set the Special Transport Type by a vector of bools.
Definition: cam_setters_common.h:279
setExteriorLights
void setExteriorLights(ExteriorLights &exterior_lights, const std::vector< bool > &bits)
Set the Exterior Lights by a vector of bools.
Definition: cam_setters_common.h:224
checks.h
Sanity-check functions etc.
setReferencePosition
void setReferencePosition(CAM &cam, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
Set the ReferencePosition for a CAM.
Definition: cam_setters_common.h:197
setEmergencyPriority
void setEmergencyPriority(EmergencyPriority &emergency_priority, const std::vector< bool > &bits)
Set the Emergency Priority by a vector of bools.
Definition: cam_setters_common.h:299
setHeadingCDD
void setHeadingCDD(Heading &heading, const double value, double confidence=std::numeric_limits< double >::infinity())
Set the Heading object.
Definition: cdd_setters_common.h:270
setAccelerationControl
void setAccelerationControl(AccelerationControl &acceleration_control, const std::vector< bool > &bits)
Set the Acceleration Control by a vector of bools.
Definition: cam_setters_common.h:259
setLongitudinalAcceleration
void setLongitudinalAcceleration(CAM &cam, const double lon_accel, const double confidence=std::numeric_limits< double >::infinity())
Set the longitudinal acceleration.
Definition: cam_setters_common.h:164
setVehicleDimensions
void setVehicleDimensions(CAM &cam, const double vehicle_length, const double vehicle_width)
Set the vehicle dimensions.
Definition: cam_setters_common.h:138
setHeading
void setHeading(CAM &cam, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
Set the Heading for a CAM.
Definition: cam_setters_common.h:89
setVehicleLengthValue
void setVehicleLengthValue(VehicleLengthValue &vehicle_length, const double value)
Set the VehicleLengthValue object.
Definition: cam_setters_common.h:112
setDrivingLaneStatus
void setDrivingLaneStatus(DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
Set the Driving Lane Status by a vector of bools.
Definition: cam_setters_common.h:269
setGenerationDeltaTime
void setGenerationDeltaTime(GenerationDeltaTime &generation_delta_time, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
Set the GenerationDeltaTime-Value.
Definition: cam_setters_common.h:46
setVehicleWidth
void setVehicleWidth(VehicleWidth &vehicle_width, const double value)
Set the VehicleWidth object.
Definition: cam_setters_common.h:100
setFromUTMPosition
void setFromUTMPosition(CAM &cam, const gm::PointStamped &utm_position, const int &zone, const bool &northp)
Set the ReferencePosition of a CAM from a given UTM-Position.
Definition: cam_setters_common.h:214
setLightBarSirenInUse
void setLightBarSirenInUse(LightBarSirenInUse &light_bar_siren_in_use, const std::vector< bool > &bits)
Set the Lightbar Siren In Use by a vector of bools.
Definition: cam_setters_common.h:289
constants.h
File containing constants that are used in the context of ETIS ITS Messages.
asn1_primitives_setters.h
setLateralAcceleration
void setLateralAcceleration(CAM &cam, const double lat_accel, const double confidence=std::numeric_limits< double >::infinity())
Set the lateral acceleration.
Definition: cam_setters_common.h:178
setBitString
void setBitString(T &bitstring, const std::vector< bool > &bits)
Set a Bit String by a vector of bools.
Definition: asn1_primitives_setters.h:43
setVehicleLength
void setVehicleLength(VehicleLength &vehicle_length, const double value)
Set the VehicleLength object.
Definition: cam_setters_common.h:126
setTimestampITS
void setTimestampITS(TimestampIts &timestamp_its, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
Set the TimestampITS object.
Definition: cdd_setters_common.h:52
length
TF2SIMD_FORCE_INLINE tf2Scalar length(const Quaternion &q)
etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004
const std::map< uint64_t, uint16_t > LEAP_SECOND_INSERTIONS_SINCE_2004
std::map that stores all leap second insertions since 2004 with the corresponding unix-date of the in...
Definition: constants.h:45
setSpeed
void setSpeed(CAM &cam, const double speed_val, const double confidence=SpeedConfidence::UNAVAILABLE)
Set the vehicle speed.
Definition: cam_setters_common.h:152
setStationType
void setStationType(CAM &cam, const uint8_t value)
Set the StationType for a CAM.
Definition: cam_setters_common.h:75
throwIfOutOfRange
void throwIfOutOfRange(const T1 &val, const T2 &min, const T2 &max, const std::string val_desc)
Throws an exception if a given value is out of a defined range.
Definition: checks.h:46

etsi_its_msgs_utils
Author(s): Jean-Pierre Busch , Guido Küppers , Lennart Reiher
autogenerated on Sun May 18 2025 02:32:12