cpm_ts_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>
#include <etsi_its_msgs_utils/impl/constants.h>
 
namespace etsi_its_cpm_ts_msgs::access {
 
#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
 
inline void setItsPduHeader(CollectivePerceptionMessage& cpm, const uint32_t station_id,
                            const uint8_t protocol_version = 0) {
  setItsPduHeader(cpm.header, MessageId::CPM, station_id, protocol_version);
}
 
inline void setReferenceTime(
    CollectivePerceptionMessage& cpm, const uint64_t unix_nanosecs,
    const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {
  TimestampIts t_its;
  setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);
  throwIfOutOfRange(t_its.value, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");
  cpm.payload.management_container.reference_time = t_its;
}
 
inline void setReferencePosition(CollectivePerceptionMessage& cpm, const double latitude, const double longitude,
                                 const double altitude = AltitudeValue::UNAVAILABLE) {
  setReferencePosition(cpm.payload.management_container.reference_position, latitude, longitude, altitude);
}
 
inline void setFromUTMPosition(CollectivePerceptionMessage& cpm, const gm::PointStamped& utm_position, const int& zone,
                               const bool& northp) {
  setFromUTMPosition(cpm.payload.management_container.reference_position, utm_position, zone, northp);
}
 
inline void setIdOfPerceivedObject(PerceivedObject& object, const uint16_t id) {
  object.object_id.value = id;
  object.object_id_is_present = true;
}
 
inline void setMeasurementDeltaTimeOfPerceivedObject(PerceivedObject& object, const int16_t delta_time = 0) {
  if (delta_time < DeltaTimeMilliSecondSigned::MIN || delta_time > DeltaTimeMilliSecondSigned::MAX) {
    throw std::invalid_argument("MeasurementDeltaTime out of range");
  } else {
    object.measurement_delta_time.value = delta_time;
  }
}
 
inline void setCartesianCoordinateWithConfidence(CartesianCoordinateWithConfidence& coordinate, const double value,
                                                 const double confidence = std::numeric_limits<double>::infinity()) {
  // limit value range
  if (value < CartesianCoordinateLarge::NEGATIVE_OUT_OF_RANGE) {
    coordinate.value.value = CartesianCoordinateLarge::NEGATIVE_OUT_OF_RANGE;
  } else if (value > CartesianCoordinateLarge::POSITIVE_OUT_OF_RANGE) {
    coordinate.value.value = CartesianCoordinateLarge::POSITIVE_OUT_OF_RANGE;
  } else {
    coordinate.value.value = static_cast<int32_t>(value);
  }
 
  // limit confidence range
  if (confidence == std::numeric_limits<double>::infinity()) {
    coordinate.confidence.value = CoordinateConfidence::UNAVAILABLE;
  } else if (confidence > CoordinateConfidence::MAX || confidence < CoordinateConfidence::MIN) {
    coordinate.confidence.value = CoordinateConfidence::OUT_OF_RANGE;
  } else {
    coordinate.confidence.value = static_cast<uint16_t>(confidence);
  }
}
 
inline void setPositionOfPerceivedObject(PerceivedObject& object, const gm::Point& point,
                                         const double x_std = std::numeric_limits<double>::infinity(),
                                         const double y_std = std::numeric_limits<double>::infinity(),
                                         const double z_std = std::numeric_limits<double>::infinity()) {
  setCartesianCoordinateWithConfidence(object.position.x_coordinate, point.x * 100, x_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  setCartesianCoordinateWithConfidence(object.position.y_coordinate, point.y * 100, y_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  if (point.z != 0.0) {
    setCartesianCoordinateWithConfidence(object.position.z_coordinate, point.z * 100, z_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
    object.position.z_coordinate_is_present = true;
  }
}
 
inline void setUTMPositionOfPerceivedObject(CollectivePerceptionMessage& cpm, PerceivedObject& object,
                                            const gm::PointStamped& utm_position,
                                            const double x_std = std::numeric_limits<double>::infinity(),
                                            const double y_std = std::numeric_limits<double>::infinity(),
                                            const double z_std = std::numeric_limits<double>::infinity()) {
  gm::PointStamped reference_position = getUTMPosition(cpm);
  if (utm_position.header.frame_id != reference_position.header.frame_id) {
    throw std::invalid_argument("UTM-Position frame_id (" + utm_position.header.frame_id +
                                ") does not match the reference position frame_id (" + reference_position.header.frame_id +
                                ")");
  }
  setCartesianCoordinateWithConfidence(object.position.x_coordinate,
                                       (utm_position.point.x - reference_position.point.x) * 100, x_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  setCartesianCoordinateWithConfidence(object.position.y_coordinate,
                                       (utm_position.point.y - reference_position.point.y) * 100, y_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  if (utm_position.point.z != 0.0) {
    setCartesianCoordinateWithConfidence(object.position.z_coordinate,
                                         (utm_position.point.z - reference_position.point.z) * 100, z_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
    object.position.z_coordinate_is_present = true;
  }
}
 
inline void setVelocityComponent(VelocityComponent& velocity, const double value,
                                 const double confidence = std::numeric_limits<double>::infinity()) {
  // limit value range
  if (value < VelocityComponentValue::NEGATIVE_OUT_OF_RANGE) {
    velocity.value.value = VelocityComponentValue::NEGATIVE_OUT_OF_RANGE;
  } else if (value > VelocityComponentValue::POSITIVE_OUT_OF_RANGE) {
    velocity.value.value = VelocityComponentValue::POSITIVE_OUT_OF_RANGE;
  } else {
    velocity.value.value = static_cast<int16_t>(value);
  }
 
  // limit confidence range
  if(confidence == std::numeric_limits<double>::infinity()) {
    velocity.confidence.value = SpeedConfidence::UNAVAILABLE;
  } else if (confidence > SpeedConfidence::MAX || confidence < SpeedConfidence::MIN) {
    velocity.confidence.value = SpeedConfidence::OUT_OF_RANGE;
  } else {
    velocity.confidence.value = static_cast<uint8_t>(confidence);
  }
}
 
inline void setVelocityOfPerceivedObject(PerceivedObject& object, const gm::Vector3& cartesian_velocity,
                                         const double x_std = std::numeric_limits<double>::infinity(),
                                         const double y_std = std::numeric_limits<double>::infinity(),
                                         const double z_std = std::numeric_limits<double>::infinity()) {
  object.velocity.choice = Velocity3dWithConfidence::CHOICE_CARTESIAN_VELOCITY;
  setVelocityComponent(object.velocity.cartesian_velocity.x_velocity, cartesian_velocity.x * 100, x_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  setVelocityComponent(object.velocity.cartesian_velocity.y_velocity, cartesian_velocity.y * 100, y_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  if (cartesian_velocity.z != 0.0) {
    setVelocityComponent(object.velocity.cartesian_velocity.z_velocity, cartesian_velocity.z * 100, z_std * 100 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
    object.velocity.cartesian_velocity.z_velocity_is_present = true;
  }
  object.velocity_is_present = true;
}
 
inline void setAccelerationComponent(AccelerationComponent& acceleration, const double value,
                                     const double confidence = std::numeric_limits<double>::infinity()) {
  // limit value range
  if (value < AccelerationValue::NEGATIVE_OUT_OF_RANGE) {
    acceleration.value.value = AccelerationValue::NEGATIVE_OUT_OF_RANGE;
  } else if (value > AccelerationValue::POSITIVE_OUT_OF_RANGE) {
    acceleration.value.value = AccelerationValue::POSITIVE_OUT_OF_RANGE;
  } else {
    acceleration.value.value = static_cast<int16_t>(value);
  }
 
  // limit confidence range
  if(confidence == std::numeric_limits<double>::infinity()) {
    acceleration.confidence.value = AccelerationConfidence::UNAVAILABLE;
  } else if (confidence > AccelerationConfidence::MAX || confidence < AccelerationConfidence::MIN) {
    acceleration.confidence.value = AccelerationConfidence::OUT_OF_RANGE;
  } else {
    acceleration.confidence.value = static_cast<uint8_t>(confidence);
  }
}
 
inline void setAccelerationOfPerceivedObject(PerceivedObject& object, const gm::Vector3& cartesian_acceleration,
                                             const double x_std = std::numeric_limits<double>::infinity(),
                                             const double y_std = std::numeric_limits<double>::infinity(),
                                             const double z_std = std::numeric_limits<double>::infinity()) {
  object.acceleration.choice = Acceleration3dWithConfidence::CHOICE_CARTESIAN_ACCELERATION;
  setAccelerationComponent(object.acceleration.cartesian_acceleration.x_acceleration, cartesian_acceleration.x * 10,
                           x_std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  setAccelerationComponent(object.acceleration.cartesian_acceleration.y_acceleration, cartesian_acceleration.y * 10,
                           y_std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  if (cartesian_acceleration.z != 0.0) {
    setAccelerationComponent(object.acceleration.cartesian_acceleration.z_acceleration, cartesian_acceleration.z * 10,
                             z_std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
    object.acceleration.cartesian_acceleration.z_acceleration_is_present = true;
  }
  object.acceleration_is_present = true;
}
 
inline void setYawOfPerceivedObject(PerceivedObject& object, const double yaw,
                                    double yaw_std = std::numeric_limits<double>::infinity()) {
  // wrap angle to range [0, 360)
  double yaw_in_degrees = yaw * 180 / M_PI;
  while (yaw_in_degrees >= 360.0) yaw_in_degrees -= 360.0;
  while (yaw_in_degrees < 0.0) yaw_in_degrees += 360.0;
  object.angles.z_angle.value.value = yaw_in_degrees * 10;
 
  if(yaw_std == std::numeric_limits<double>::infinity()) {
    object.angles.z_angle.confidence.value = AngleConfidence::UNAVAILABLE;
  } else {
    yaw_std *= 180.0 / M_PI;
    yaw_std *= 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;  // convert to 0.1 degrees
 
    if (yaw_std > AngleConfidence::MAX || yaw_std < AngleConfidence::MIN) {
      object.angles.z_angle.confidence.value = AngleConfidence::OUT_OF_RANGE;
    } else {
      object.angles.z_angle.confidence.value = static_cast<uint8_t>(yaw_std);
    }
  }
  object.angles_is_present = true;
}
 
inline void setYawRateOfPerceivedObject(PerceivedObject& object, const double yaw_rate,
                                        double yaw_rate_std = std::numeric_limits<double>::infinity()) {
  double yaw_rate_in_degrees = yaw_rate * 180.0 / M_PI;
  // limit value range
  if (yaw_rate_in_degrees < CartesianAngularVelocityComponentValue::NEGATIVE_OUTOF_RANGE) {
    yaw_rate_in_degrees = CartesianAngularVelocityComponentValue::NEGATIVE_OUTOF_RANGE;
  } else if (yaw_rate_in_degrees > CartesianAngularVelocityComponentValue::POSITIVE_OUT_OF_RANGE) {
    yaw_rate_in_degrees = CartesianAngularVelocityComponentValue::POSITIVE_OUT_OF_RANGE;
  }
  
  object.z_angular_velocity.value.value = yaw_rate_in_degrees;
 
  if(yaw_rate_std == std::numeric_limits<double>::infinity()) {
    object.z_angular_velocity.confidence.value = AngularSpeedConfidence::UNAVAILABLE;
  } else {
    yaw_rate_std *= 180.0 / M_PI;
    yaw_rate_std *= etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;  // convert to degrees/s
    // How stupid is this?!
    static const std::map<double, uint8_t> confidence_map = {
        {1.0, AngularSpeedConfidence::DEG_SEC_01},
        {2.0, AngularSpeedConfidence::DEG_SEC_02},
        {5.0, AngularSpeedConfidence::DEG_SEC_05},
        {10.0, AngularSpeedConfidence::DEG_SEC_10},
        {20.0, AngularSpeedConfidence::DEG_SEC_20},
        {50.0, AngularSpeedConfidence::DEG_SEC_50},
        {std::numeric_limits<double>::infinity(), AngularSpeedConfidence::OUT_OF_RANGE},
    };
    for(const auto& [thresh, conf_val] : confidence_map) {
      if (yaw_rate_std <= thresh) {
        object.z_angular_velocity.confidence.value = conf_val;
        break;
      }
    }
  }
 
  object.z_angular_velocity_is_present = true;
}
 
inline void setObjectDimension(ObjectDimension& dimension, const double value,
                               const double confidence = std::numeric_limits<double>::infinity()) {
  // limit value range
  if (value < ObjectDimensionValue::MIN || value > ObjectDimensionValue::MAX) {
    dimension.value.value = ObjectDimensionValue::OUT_OF_RANGE;
  } else {
    dimension.value.value = static_cast<uint16_t>(value);
  }
 
  // limit confidence range
  if (confidence == std::numeric_limits<double>::infinity()) {
    dimension.confidence.value = ObjectDimensionConfidence::UNAVAILABLE;
  } else   if (confidence > ObjectDimensionConfidence::MAX || confidence < ObjectDimensionConfidence::MIN) {
    dimension.confidence.value = ObjectDimensionConfidence::OUT_OF_RANGE;
  } else {
    dimension.confidence.value = static_cast<uint8_t>(confidence);
  }
 
}
 
inline void setXDimensionOfPerceivedObject(PerceivedObject& object, const double value,
                                           const double std = std::numeric_limits<double>::infinity()) {
  setObjectDimension(object.object_dimension_x, value * 10, std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  object.object_dimension_x_is_present = true;
}
 
inline void setYDimensionOfPerceivedObject(PerceivedObject& object, const double value,
                                           const double std = std::numeric_limits<double>::infinity()) {
  setObjectDimension(object.object_dimension_y, value * 10, std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  object.object_dimension_y_is_present = true;
}
 
inline void setZDimensionOfPerceivedObject(PerceivedObject& object, const double value,
                                           const double std = std::numeric_limits<double>::infinity()) {
  setObjectDimension(object.object_dimension_z, value * 10, std * 10 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR);
  object.object_dimension_z_is_present = true;
}
 
inline void setDimensionsOfPerceivedObject(PerceivedObject& object, const gm::Vector3& dimensions,
                                           const double x_std = std::numeric_limits<double>::infinity(),
                                           const double y_std = std::numeric_limits<double>::infinity(),
                                           const double z_std = std::numeric_limits<double>::infinity()) {
  setXDimensionOfPerceivedObject(object, dimensions.x, x_std);
  setYDimensionOfPerceivedObject(object, dimensions.y, y_std);
  setZDimensionOfPerceivedObject(object, dimensions.z, z_std);
}
 
inline void initPerceivedObject(PerceivedObject& object, const gm::Point& point, const int16_t delta_time = 0) {
  setPositionOfPerceivedObject(object, point);
  setMeasurementDeltaTimeOfPerceivedObject(object, delta_time);
}
 
inline void initPerceivedObjectWithUTMPosition(CollectivePerceptionMessage& cpm, PerceivedObject& object,
                                               const gm::PointStamped& point, const int16_t delta_time = 0) {
  setUTMPositionOfPerceivedObject(cpm, object, point);
  setMeasurementDeltaTimeOfPerceivedObject(object, delta_time);
}
 
inline void initPerceivedObjectContainer(WrappedCpmContainer& container, const uint8_t n_objects = 0) {
  container.container_id.value = WrappedCpmContainer::CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER;
  container.container_data_perceived_object_container.number_of_perceived_objects.value = n_objects;
}
 
inline void addPerceivedObjectToContainer(WrappedCpmContainer& container, const PerceivedObject& perceived_object) {
  if (container.container_id.value == WrappedCpmContainer::CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER) {
    container.container_data_perceived_object_container.perceived_objects.array.push_back(perceived_object);
    container.container_data_perceived_object_container.number_of_perceived_objects.value =
        container.container_data_perceived_object_container.perceived_objects.array.size();
  } else {
    throw std::invalid_argument("Container is not a PerceivedObjectContainer");
  }
}
 
inline void addContainerToCPM(CollectivePerceptionMessage& cpm, const WrappedCpmContainer& container) {
  // check for maximum number of containers
  if (cpm.payload.cpm_containers.value.array.size() < WrappedCpmContainers::MAX_SIZE) {
    cpm.payload.cpm_containers.value.array.push_back(container);
  } else {
    throw std::invalid_argument("Maximum number of CPM-Containers reached");
  }
}
 
inline void setWGSRefPosConfidence(CollectivePerceptionMessage& cpm, const std::array<double, 4>& covariance_matrix) {
  setWGSPosConfidenceEllipse(cpm.payload.management_container.reference_position.position_confidence_ellipse,
                             covariance_matrix);
}
 
inline void initSensorInformationContainer(WrappedCpmContainer& container) {
  container.container_id.value = WrappedCpmContainer::CHOICE_CONTAINER_DATA_SENSOR_INFORMATION_CONTAINER;
  container.container_data_sensor_information_container.array = std::vector<SensorInformation>();
}
 
inline void setSensorID(SensorInformation& sensor_information, const uint8_t sensor_id = 0) {
  throwIfOutOfRange(sensor_id, Identifier1B::MIN, Identifier1B::MAX, "SensorID");
  sensor_information.sensor_id.value = sensor_id;
}
 
inline void setSensorType(SensorInformation& sensor_information, const uint8_t sensor_type = SensorType::UNDEFINED) {
  throwIfOutOfRange(sensor_type, SensorType::MIN, SensorType::MAX, "SensorType");
  sensor_information.sensor_type.value = sensor_type;
}
 
inline void addSensorInformationToContainer(WrappedCpmContainer& container, const SensorInformation& sensor_information) {
  if (container.container_id.value == WrappedCpmContainer::CHOICE_CONTAINER_DATA_SENSOR_INFORMATION_CONTAINER) {
    // check for maximum number of SensorInformation entries
    if (container.container_data_sensor_information_container.array.size() < SensorInformationContainer::MAX_SIZE ) {
      throwIfOutOfRange(sensor_information.sensor_id.value, Identifier1B::MIN, Identifier1B::MAX, "SensorID");
      throwIfOutOfRange(sensor_information.sensor_type.value, SensorType::MIN, SensorType::MAX, "SensorType");
      container.container_data_sensor_information_container.array.push_back(sensor_information);
    } else {
      throw std::invalid_argument("Maximum number of entries SensorInformationContainers reached");
    }
  } else {
    throw std::invalid_argument("Container is not a SensorInformationContainer");
  }
}
 
inline void addSensorInformationContainerToCPM(CollectivePerceptionMessage& cpm, const WrappedCpmContainer& container) {
  if (container.container_id.value == WrappedCpmContainer::CHOICE_CONTAINER_DATA_SENSOR_INFORMATION_CONTAINER) {
    throwIfOutOfRange(container.container_data_sensor_information_container.array.size(),
      SensorInformationContainer::MIN_SIZE, SensorInformationContainer::MAX_SIZE, "SensorInformationContainer array size"
    );
    addContainerToCPM(cpm, container);
  } else {
    throw std::invalid_argument("Container is not a SensorInformationContainer");
  }
}
 
}  // namespace etsi_its_cpm_ts_msgs::access