spatem_ts_utils.h

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/*
=============================================================================
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
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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=============================================================================
*/
 
#include <ctime>
 
#pragma once
 
namespace etsi_its_spatem_ts_msgs {
 
namespace access {
 
  const std::array<float, 4> color_grey {0.5, 0.5, 0.5, 1.0};
  const std::array<float, 4> color_green {0.18, 0.79, 0.21, 1.0};
  const std::array<float, 4> color_orange {0.9, 0.7, 0.09, 1.0};
  const std::array<float, 4> color_red {0.8, 0.2, 0.2, 1.0};
 
  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;
}
 
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;
}
 
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)) % 3600 + (float)nanosec * 1e-9;
  float rel_time_until_change = (float)time * 0.1f - abs_time_hour;
            
  return rel_time_until_change;
}
 
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