Positional fixes, refactoring, is_sender
This commit is contained in:
Yu Asabe
parent
60eea65de3
commit
1238dea54d
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@ -14,7 +14,7 @@ namespace v2x
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class CpmApplication : public Application
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{
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public:
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CpmApplication(V2XNode *node, vanetza::Runtime &);
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CpmApplication(V2XNode *node, vanetza::Runtime &, bool is_sender);
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PortType port() override;
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void indicate(const DataIndication &, UpPacketPtr) override;
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void set_interval(vanetza::Clock::duration);
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@ -21,6 +21,9 @@
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#include <GeographicLib/MGRS.hpp>
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#include <string>
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#include <boost/units/cmath.hpp>
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#include <boost/units/systems/si/prefixes.hpp>
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#define _USE_MATH_DEFINES
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#include <math.h>
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@ -29,17 +32,17 @@ using namespace vanetza::facilities;
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using namespace std::chrono;
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namespace v2x {
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CpmApplication::CpmApplication(V2XNode *node, Runtime &rt) :
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CpmApplication::CpmApplication(V2XNode *node, Runtime &rt, bool is_sender) :
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node_(node),
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runtime_(rt),
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ego_(),
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generationDeltaTime_(0),
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updating_objects_stack_(false),
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sending_(false),
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is_sender_(true),
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is_sender_(is_sender),
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reflect_packet_(false)
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{
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RCLCPP_INFO(node_->get_logger(), "CpmApplication started...");
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RCLCPP_INFO(node_->get_logger(), "CpmApplication started. is_sender: %d", is_sender_);
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set_interval(milliseconds(100));
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}
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@ -68,10 +71,10 @@ namespace v2x {
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std::shared_ptr<const asn1::Cpm> cpm = boost::apply_visitor(visitor, *packet);
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if (cpm) {
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] Received decodable CPM content");
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] Received decodable CPM content");
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_receive_r1 %ld", current_time.nanoseconds());
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_receive_r1 %ld", current_time.nanoseconds());
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asn1::Cpm message = *cpm;
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ItsPduHeader_t &header = message->header;
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@ -81,37 +84,36 @@ namespace v2x {
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const auto time_now = duration_cast<milliseconds> (runtime_.now().time_since_epoch());
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uint16_t gdt = time_now.count();
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int gdt_diff = (65536 + (gdt - gdt_cpm) % 65536) % 65536;
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT_CPM: %ld", gdt_cpm);
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT: %u", gdt);
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_R1R2: %d", gdt_diff);
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT_CPM: %ld", gdt_cpm);
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT: %u", gdt);
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_R1R2: %d", gdt_diff);
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CpmManagementContainer_t &management = message->cpm.cpmParameters.managementContainer;
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double lat = management.referencePosition.latitude / 1.0e7;
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double lon = management.referencePosition.longitude / 1.0e7;
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// RCLCPP_INFO(node_->get_logger(), "cpm.(reference position) = %f, %f", lat, lon);
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std::string mgrs;
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int zone;
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int grid_num_x = 4;
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int grid_num_y = 39;
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int grid_size = 100000;
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bool northp;
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double x, y;
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GeographicLib::UTMUPS::Forward(lat, lon, zone, northp, x, y);
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// GeographicLib::MGRS::Forward(zone, northp, x, y, lat, 5, mgrs);
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GeographicLib::UTMUPS::Forward(lat, lon, zone, northp, x, y);
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double x_mgrs = x - grid_num_x * grid_size;
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double y_mgrs = y - grid_num_y * grid_size;
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// RCLCPP_INFO(node_->get_logger(), "cpm.(RP).mgrs = %s, %d, %d", mgrs.c_str(), x_mgrs, y_mgrs);
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// Calculate orientation from Heading
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OriginatingVehicleContainer_t &ovc = message->cpm.cpmParameters.stationDataContainer->choice.originatingVehicleContainer;
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// Calculate ego-vehicle orientation (radians) from heading (degree).
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// orientation: True-East, counter-clockwise angle. (0.1 degree accuracy)
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int heading = ovc.heading.headingValue;
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// double orientation = 1.5708 - (M_PI * heading / 10) / 180;
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double orientation = (90.0 - heading / 10.0) * M_PI / 180;
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if (orientation < 0.0) orientation += (2 * M_PI);
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// RCLCPP_INFO(node_->get_logger(), "cpm: heading = %d, orientation = %f", heading, orientation);
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double orientation = (90.0 - (double) heading / 10.0) * M_PI / 180.0;
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if (orientation < 0.0) orientation += (2.0 * M_PI);
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// double orientation = heading / 10.0;
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] heading: %d", heading);
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] orientation: %f", orientation);
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// Get PerceivedObjects
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receivedObjectsStack.clear();
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@ -120,24 +122,21 @@ namespace v2x {
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if (poc != NULL) {
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for (int i = 0; i < poc->list.count; ++i) {
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Object: #%d", poc->list.array[i]->objectID);
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// RCLCPP_INFO(node_->get_logger(), "[INDICATE] Object: #%d", poc->list.array[i]->objectID);
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CpmApplication::Object object;
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double x1 = poc->list.array[i]->xDistance.value;
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double y1 = poc->list.array[i]->yDistance.value;
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// RCLCPP_INFO(node_->get_logger(), "cpm object: xDistance: %f, yDistance: %f", x1, y1);
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x1 = x1 / 100.0;
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y1 = y1 / 100.0;
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object.position_x = x_mgrs + (cos(orientation) * x1 - sin(orientation) * y1);
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object.position_y = y_mgrs + (sin(orientation) * x1 + cos(orientation) * y1);
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// RCLCPP_INFO(node_->get_logger(), "cpm object: %f, %f, %f, %f", x1, y1, object.position_x, object.position_y);
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object.position_y = y_mgrs + (sin(orientation) * x1 + cos(orientation) * y1);
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object.shape_x = poc->list.array[i]->planarObjectDimension2->value;
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object.shape_y = poc->list.array[i]->planarObjectDimension1->value;
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object.shape_z = poc->list.array[i]->verticalObjectDimension->value;
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object.yawAngle = poc->list.array[i]->yawAngle->value;
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double yaw_radian = (M_PI * object.yawAngle / 10) / 180;
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double yaw_radian = (M_PI * object.yawAngle / 10.0) / 180.0;
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tf2::Quaternion quat;
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quat.setRPY(0, 0, yaw_radian);
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@ -145,6 +144,7 @@ namespace v2x {
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object.orientation_y = quat.y();
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object.orientation_z = quat.z();
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object.orientation_w = quat.w();
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] object.quat: %f, %f, %f, %f", object.orientation_x, object.orientation_y, object.orientation_z, object.orientation_w);
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receivedObjectsStack.push_back(object);
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}
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@ -180,6 +180,7 @@ namespace v2x {
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void CpmApplication::updateMGRS(double *x, double *y) {
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ego_.mgrs_x = *x;
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ego_.mgrs_y = *y;
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateMGRS] ego-vehicle.position: %.10f, %.10f", ego_.mgrs_x, ego_.mgrs_y);
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}
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void CpmApplication::updateRP(double *lat, double *lon, double *altitude) {
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@ -223,10 +224,14 @@ namespace v2x {
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object.shape_x = std::lround(obj.shape.dimensions.x * 10.0);
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object.shape_y = std::lround(obj.shape.dimensions.y * 10.0);
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object.shape_z = std::lround(obj.shape.dimensions.z * 10.0);
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// object.xDistance = std::lround(((object.position_x - ego_x_) * cos(-ego_heading_) - (object.position_y - ego_y_) * sin(-ego_heading_)) * 100.0);
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// object.yDistance = std::lround(((object.position_x - ego_x_) * sin(-ego_heading_) + (object.position_y - ego_y_) * cos(-ego_heading_)) * 100.0);
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object.xDistance = std::lround(((object.position_x - ego_.mgrs_x) * cos(-ego_.heading) - (object.position_y - ego_.mgrs_y) * sin(-ego_.heading)) * 100.0);
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object.yDistance = std::lround(((object.position_x - ego_.mgrs_x) * sin(-ego_.heading) + (object.position_y - ego_.mgrs_y) * cos(-ego_.heading)) * 100.0);
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// xDistance, yDistance: Int (-132768..132767), 0.01 meter accuracy
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object.xDistance = std::lround((
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(object.position_x - ego_.mgrs_x) * cos(-ego_.heading) - (object.position_y - ego_.mgrs_y) * sin(-ego_.heading)
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) * 100.0);
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object.yDistance = std::lround((
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(object.position_x - ego_.mgrs_x) * sin(-ego_.heading) + (object.position_y - ego_.mgrs_y) * cos(-ego_.heading)
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) * 100.0);
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if (object.xDistance < -132768 || object.xDistance > 132767) {
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continue;
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}
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@ -236,6 +241,7 @@ namespace v2x {
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object.xSpeed = 0;
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object.ySpeed = 0;
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// Calculate orientation of detected object
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tf2::Quaternion quat(object.orientation_x, object.orientation_y, object.orientation_z, object.orientation_w);
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tf2::Matrix3x3 matrix(quat);
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double roll, pitch, yaw;
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@ -245,6 +251,8 @@ namespace v2x {
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} else {
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object.yawAngle = std::lround((yaw * 180.0 / M_PI) * 10.0); // 0 - 3600
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}
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateObjectsStack] object.yawAngle: %d", object.yawAngle);
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateObjectsStack] object.quat: %f, %f, %f, %f", object.orientation_x, object.orientation_y, object.orientation_z, object.orientation_w);
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long long msg_timestamp_sec = msg->header.stamp.sec;
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long long msg_timestamp_nsec = msg->header.stamp.nanosec;
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@ -260,12 +268,12 @@ namespace v2x {
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objectsStack.push_back(object);
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++i;
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RCLCPP_INFO(node_->get_logger(), "Added to stack: #%d (%d, %d) (%d, %d) (%d, %d, %d) (%f: %d)", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_x, object.shape_y, object.shape_z, yaw, object.yawAngle);
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// RCLCPP_INFO(node_->get_logger(), "Added to stack: #%d (%d, %d) (%d, %d) (%d, %d, %d) (%f: %d)", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_x, object.shape_y, object.shape_z, yaw, object.yawAngle);
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}
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}
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RCLCPP_INFO(node_->get_logger(), "ObjectsStack: %d objects", objectsStack.size());
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// RCLCPP_INFO(node_->get_logger(), "ObjectsStack: %d objects", objectsStack.size());
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateObjectsStack] [measure] T_objstack_updated %ld", current_time.nanoseconds());
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::updateObjectsStack] [measure] T_objstack_updated %ld", current_time.nanoseconds());
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updating_objects_stack_ = false;
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}
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@ -274,7 +282,7 @@ namespace v2x {
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if (is_sender_) {
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sending_ = true;
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM...");
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM...");
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vanetza::asn1::Cpm message;
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@ -291,12 +299,8 @@ namespace v2x {
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CpmManagementContainer_t &management = cpm.cpmParameters.managementContainer;
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management.stationType = StationType_passengerCar;
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PositionFix fix;
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fix.latitude = ego_.latitude * units::degree;
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fix.longitude = ego_.longitude * units::degree;
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fix.confidence.semi_major = 1.0 * units::si::meter;
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fix.confidence.semi_minor = fix.confidence.semi_major;
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copy(fix, management.referencePosition);
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management.referencePosition.latitude = ego_.latitude * 1e7;
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management.referencePosition.longitude = ego_.longitude * 1e7;
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cpm.cpmParameters.numberOfPerceivedObjects = objectsStack.size();
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StationDataContainer_t *&sdc = cpm.cpmParameters.stationDataContainer;
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@ -305,6 +309,9 @@ namespace v2x {
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OriginatingVehicleContainer_t &ovc = sdc->choice.originatingVehicleContainer;
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ovc.speed.speedValue = 0;
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ovc.speed.speedConfidence = 1;
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// Calculate headingValue of ego-vehicle.
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// Convert ego-vehicle yaw to True-North clockwise angle (heading). 0.1 degree accuracy.
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int heading = std::lround(((-ego_.heading * 180.0 / M_PI) + 90.0) * 10.0);
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if (heading < 0) heading += 3600;
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ovc.heading.headingValue = heading;
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@ -342,7 +349,7 @@ namespace v2x {
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(*(pObj->yawAngle)).value = object.yawAngle;
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(*(pObj->yawAngle)).confidence = 1;
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RCLCPP_INFO(node_->get_logger(), "[SEND] Added: #%d (%d, %d) (%d, %d) (%d, %d, %d) %d", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_y, object.shape_x, object.shape_z, object.yawAngle);
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// RCLCPP_INFO(node_->get_logger(), "[SEND] Added: #%d (%d, %d) (%d, %d) (%d, %d, %d) %d", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_y, object.shape_x, object.shape_z, object.yawAngle);
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ASN_SEQUENCE_ADD(poc, pObj);
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}
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@ -369,7 +376,7 @@ namespace v2x {
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sending_ = false;
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] [measure] T_depart_r1 %ld", current_time.nanoseconds());
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// RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] [measure] T_depart_r1 %ld", current_time.nanoseconds());
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}
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}
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