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Positional fixes, refactoring, is_sender

This commit is contained in:
Yu Asabe 2022-02-27 12:26:28 +09:00
parent 60eea65de3
commit 1238dea54d
2 changed files with 48 additions and 41 deletions
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2
include/autoware_v2x/cpm_application.hpp
View File

@ -14,7 +14,7 @@ namespace v2x
class CpmApplication : public Application class CpmApplication : public Application
{ {
public: public:
CpmApplication(V2XNode *node, vanetza::Runtime &); CpmApplication(V2XNode *node, vanetza::Runtime &, bool is_sender);
PortType port() override; PortType port() override;
void indicate(const DataIndication &, UpPacketPtr) override; void indicate(const DataIndication &, UpPacketPtr) override;
void set_interval(vanetza::Clock::duration); void set_interval(vanetza::Clock::duration);

85
src/cpm_application.cpp
View File

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