convertLaneDataAttribute.h

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#pragma once
 
#include <etsi_its_mapem_ts_coding/mapem_ts_LaneDataAttribute.h>
#include <etsi_its_mapem_ts_conversion/convertDeltaAngle.h>
#include <etsi_its_mapem_ts_conversion/convertMergeDivergeNodeAngle.h>
#include <etsi_its_mapem_ts_conversion/convertRoadwayCrownAngle.h>
#include <etsi_its_mapem_ts_conversion/convertSpeedLimitList.h>
#ifdef ROS1
#include <etsi_its_mapem_ts_msgs/LaneDataAttribute.h>
namespace mapem_ts_msgs = etsi_its_mapem_ts_msgs;
#else
#include <etsi_its_mapem_ts_msgs/msg/lane_data_attribute.hpp>
namespace mapem_ts_msgs = etsi_its_mapem_ts_msgs::msg;
#endif
 
 
namespace etsi_its_mapem_ts_conversion {
 
void toRos_LaneDataAttribute(const mapem_ts_LaneDataAttribute_t& in, mapem_ts_msgs::LaneDataAttribute& out) {
  switch (in.present) {
  case mapem_ts_LaneDataAttribute_PR_pathEndPointAngle:
    toRos_DeltaAngle(in.choice.pathEndPointAngle, out.path_end_point_angle);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_PATH_END_POINT_ANGLE;
    break;
  case mapem_ts_LaneDataAttribute_PR_laneCrownPointCenter:
    toRos_RoadwayCrownAngle(in.choice.laneCrownPointCenter, out.lane_crown_point_center);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_CENTER;
    break;
  case mapem_ts_LaneDataAttribute_PR_laneCrownPointLeft:
    toRos_RoadwayCrownAngle(in.choice.laneCrownPointLeft, out.lane_crown_point_left);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_LEFT;
    break;
  case mapem_ts_LaneDataAttribute_PR_laneCrownPointRight:
    toRos_RoadwayCrownAngle(in.choice.laneCrownPointRight, out.lane_crown_point_right);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_RIGHT;
    break;
  case mapem_ts_LaneDataAttribute_PR_laneAngle:
    toRos_MergeDivergeNodeAngle(in.choice.laneAngle, out.lane_angle);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_ANGLE;
    break;
  case mapem_ts_LaneDataAttribute_PR_speedLimits:
    toRos_SpeedLimitList(in.choice.speedLimits, out.speed_limits);
    out.choice = mapem_ts_msgs::LaneDataAttribute::CHOICE_SPEED_LIMITS;
    break;
  default: break;
  }
}
 
void toStruct_LaneDataAttribute(const mapem_ts_msgs::LaneDataAttribute& in, mapem_ts_LaneDataAttribute_t& out) {
  memset(&out, 0, sizeof(mapem_ts_LaneDataAttribute_t));
  switch (in.choice) {
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_PATH_END_POINT_ANGLE:
    toStruct_DeltaAngle(in.path_end_point_angle, out.choice.pathEndPointAngle);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_pathEndPointAngle;
    break;
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_CENTER:
    toStruct_RoadwayCrownAngle(in.lane_crown_point_center, out.choice.laneCrownPointCenter);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_laneCrownPointCenter;
    break;
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_LEFT:
    toStruct_RoadwayCrownAngle(in.lane_crown_point_left, out.choice.laneCrownPointLeft);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_laneCrownPointLeft;
    break;
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_CROWN_POINT_RIGHT:
    toStruct_RoadwayCrownAngle(in.lane_crown_point_right, out.choice.laneCrownPointRight);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_laneCrownPointRight;
    break;
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_LANE_ANGLE:
    toStruct_MergeDivergeNodeAngle(in.lane_angle, out.choice.laneAngle);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_laneAngle;
    break;
  case mapem_ts_msgs::LaneDataAttribute::CHOICE_SPEED_LIMITS:
    toStruct_SpeedLimitList(in.speed_limits, out.choice.speedLimits);
    out.present = mapem_ts_LaneDataAttribute_PR::mapem_ts_LaneDataAttribute_PR_speedLimits;
    break;
  default: break;
  }
}
 
}