77 lines
2.3 KiB
C++
77 lines
2.3 KiB
C++
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#include "autoware_v2x/application.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include <vanetza/btp/header.hpp>
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#include <vanetza/btp/header_conversion.hpp>
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#include <cassert>
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using namespace vanetza;
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Application::DataConfirm Application::request(const DataRequest &request, DownPacketPtr packet, rclcpp::Node* node)
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{
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// RCLCPP_INFO(node->get_logger(), "Inside Application::request 0");
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DataConfirm confirm(DataConfirm::ResultCode::Rejected_Unspecified);
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// RCLCPP_INFO(node->get_logger(), "Inside Application::request 1");
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if (packet) {
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// RCLCPP_INFO(node->get_logger(), "Inside Application::request 2");
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}
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if (router_ && packet)
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{
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// RCLCPP_INFO(node->get_logger(), "Inside Application::request 3");
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btp::HeaderB btp_header;
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btp_header.destination_port = this->port();
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btp_header.destination_port_info = host_cast<uint16_t>(0);
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packet->layer(OsiLayer::Transport) = btp_header;
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switch (request.transport_type)
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{
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case geonet::TransportType::SHB:
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// RCLCPP_INFO(node->get_logger(), "Inside Application::request 4");
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confirm = router_->request(request_shb(request), std::move(packet));
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break;
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case geonet::TransportType::GBC:
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confirm = router_->request(request_gbc(request), std::move(packet));
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break;
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default:
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// TODO remaining transport types are not implemented
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break;
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}
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}
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return confirm;
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}
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void initialize_request(const Application::DataRequest &generic, geonet::DataRequest &geonet)
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{
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geonet.upper_protocol = geonet::UpperProtocol::BTP_B;
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geonet.communication_profile = generic.communication_profile;
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geonet.its_aid = generic.its_aid;
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if (generic.maximum_lifetime)
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{
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geonet.maximum_lifetime = generic.maximum_lifetime.get();
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}
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geonet.repetition = generic.repetition;
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geonet.traffic_class = generic.traffic_class;
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}
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geonet::GbcDataRequest Application::request_gbc(const DataRequest &generic)
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{
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assert(router_);
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geonet::GbcDataRequest gbc(router_->get_mib());
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initialize_request(generic, gbc);
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gbc.destination = boost::get<geonet::Area>(generic.destination);
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return gbc;
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}
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geonet::ShbDataRequest Application::request_shb(const DataRequest &generic)
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{
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assert(router_);
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geonet::ShbDataRequest shb(router_->get_mib());
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initialize_request(generic, shb);
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return shb;
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}
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Application::PromiscuousHook *Application::promiscuous_hook()
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{
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return nullptr;
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}
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