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Remove cpm_receiver since it is not used

This commit is contained in:
Yu Asabe 2022-03-28 11:16:33 +09:00
parent 1c56a7270f
commit 468667f5bb
2 changed files with 0 additions and 123 deletions
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0
include/autoware_v2x/cpm_receiver.hpp
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123
src/cpm_receiver.cpp
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#include "autoware_v2x/cpm_sender.hpp"
#include "autoware_v2x/time_trigger.hpp"
#include "autoware_v2x/router_context.hpp"
#include "autoware_v2x/positioning.hpp"
#include "autoware_v2x/security.hpp"
#include "autoware_v2x/link_layer.hpp"
#include "autoware_v2x/cpm_application.hpp"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include <vanetza/asn1/cpm.hpp>
#include <vanetza/facilities/cpm_functions.hpp>
#include <sstream>
#include <memory>
#include <GeographicLib/UTMUPS.hpp>
#include <GeographicLib/MGRS.hpp>
namespace gn = vanetza::geonet;
using namespace vanetza;
using namespace vanetza::facilities;
using namespace std::chrono;
namespace v2x
{
V2XNode::V2XNode(const rclcpp::NodeOptions &node_options) :
rclcpp::Node("autoware_v2x_node", node_options),
io_service_(),
trigger_(io_service_),
device_name_("wlp4s0"),
device_(device_name_),
mac_address_(device_.address()),
link_layer_(create_link_layer(io_service_, device_, "ethernet")),
positioning_(create_position_provider(io_service_, trigger_.runtime())),
security_(create_security_entity(trigger_.runtime(), *positioning_)),
mib_(),
context_(mib_, trigger_, *positioning_, security_.get()),
cp_(new CpmApplication(this)),
app_()
{
using std::placeholders::_1;
subscription_ = this->create_subscription<autoware_perception_msgs::msg::DynamicObjectArray>("/perception/object_recognition/detection/objects", 10, std::bind(&V2XNode::objectsCallback, this, _1));
subscription_pos_ = this->create_subscription<tf2_msgs::msg::TFMessage>("/tf", 10, std::bind(&V2XNode::tfCallback, this, _1));
RCLCPP_INFO(get_logger(), "V2X Node Launched");
// device_name_ = "wlp4s0";
// device_(device_name_);
// mac_address_ = device_.address();
std::stringstream sout;
sout << mac_address_;
RCLCPP_INFO(get_logger(), "MAC Address: '%s'", sout.str().c_str());
// trigger_(io_service_);
// link_layer_ = create_link_layer(io_service_, device_, "ethernet");
mib_.itsGnLocalGnAddr.mid(mac_address_);
mib_.itsGnLocalGnAddr.is_manually_configured(true);
mib_.itsGnLocalAddrConfMethod = geonet::AddrConfMethod::Managed;
mib_.itsGnSecurity = false;
mib_.itsGnProtocolVersion = 1;
// context_.router_.set_address(mib_.itsGnLocalGnAddr);
context_.updateMIB(mib_);
// positioning_ = create_position_provider(io_service_, trigger_.runtime());
// security_ = create_security_entity(trigger_.runtime(), *positioning_);
// RouterContext context(mib_, trigger_, *positioning_, security_.get());
// RouterContext context_(mib_, trigger_, *positioning_, security_.get());
context_.set_link_layer(link_layer_.get());
// std::unique_ptr<CpmApplication> cp_ { new CpmApplication(this) };
// app_ = std::move(cp_);
context_.enable(cp_.get());
// io_service_.run();
// // Print MAC Address to logger
// std::stringstream sout;
// sout << mac_address;
// RCLCPP_INFO(get_logger(), "MAC Address: '%s'", sout.str().c_str());
}
void V2XNode::objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg)
{
// RCLCPP_INFO(get_logger(), "I heard: '%s'", msg->data.c_str());
RCLCPP_INFO(get_logger(), "V2X: %d objects detected!", msg->objects.size());
// Send CPM
cp_->send(msg, this, pos_lat_, pos_lon_);
}
void V2XNode::tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg) {
// RCLCPP_INFO(get_logger(), "Ego Position: (%f, %f, %f)", msg->transforms[0].transform.translation.x, msg->transforms[0].transform.translation.y, msg->transforms[0].transform.translation.z);
float x = msg->transforms[0].transform.translation.x;
float y = msg->transforms[0].transform.translation.y;
float z = msg->transforms[0].transform.translation.z;
char mgrs[20];
int zone, prec;
bool northp;
double x_mgrs, y_mgrs;
double lat, lon;
sprintf(mgrs, "54SVE%.5d%.5d", (int)x, (int)y);
RCLCPP_INFO(get_logger(), "MGRS: %s", mgrs);
GeographicLib::MGRS::Reverse(mgrs, zone, northp, x_mgrs, y_mgrs, prec);
GeographicLib::UTMUPS::Reverse(zone, northp, x_mgrs, y_mgrs, lat, lon);
pos_lat_ = lat;
pos_lon_ = lon;
RCLCPP_INFO(get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
}
}
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(v2x::V2XNode)