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fix bug

This commit is contained in:
Yu Asabe 2021-11-17 17:58:41 +09:00
parent 13fde9edd9
commit 56a06b388e
1 changed files with 40 additions and 37 deletions
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77
src/cpm_application.cpp
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@ -74,9 +74,8 @@ namespace v2x
{ {
asn1::PacketVisitor<asn1::Cpm> visitor; asn1::PacketVisitor<asn1::Cpm> visitor;
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(), "[INDICATE] Received decodable CPM content");
RCLCPP_INFO(node_->get_logger(), "Received decodable CPM content");
asn1::Cpm message = *cpm; asn1::Cpm message = *cpm;
ItsPduHeader_t &header = message->header; ItsPduHeader_t &header = message->header;
@ -104,41 +103,45 @@ namespace v2x
// Get PerceivedObjects // Get PerceivedObjects
receivedObjectsStack.clear(); receivedObjectsStack.clear();
PerceivedObjectContainer_t *&poc = message->cpm.cpmParameters.perceivedObjectContainer; PerceivedObjectContainer_t *&poc = message->cpm.cpmParameters.perceivedObjectContainer;
for (int i = 0; i < poc->list.count; ++i)
{
// RCLCPP_INFO(node_->get_logger(), "cpm: %d", poc->list.array[i]->objectID);
CpmApplication::Object object;
double x1 = poc->list.array[i]->xDistance.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;
y1 = y1 / 100.0;
object.position_x = x_mgrs + (cos(orientation) * x1 - sin(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_y = poc->list.array[i]->planarObjectDimension1->value;
object.shape_z = poc->list.array[i]->verticalObjectDimension->value;
object.yawAngle = poc->list.array[i]->yawAngle->value; if (poc != NULL) {
double yaw_radian = (M_PI * object.yawAngle / 10) / 180; for (int i = 0; i < poc->list.count; ++i) {
RCLCPP_INFO(node_->get_logger(), "[INDICATE] Object: #%d", poc->list.array[i]->objectID);
tf2::Quaternion quat; CpmApplication::Object object;
quat.setRPY(0, 0, yaw_radian); double x1 = poc->list.array[i]->xDistance.value;
object.orientation_x = quat.x(); double y1 = poc->list.array[i]->yDistance.value;
object.orientation_y = quat.y(); // RCLCPP_INFO(node_->get_logger(), "cpm object: xDistance: %f, yDistance: %f", x1, y1);
object.orientation_z = quat.z(); x1 = x1 / 100.0;
object.orientation_w = quat.w(); y1 = y1 / 100.0;
object.position_x = x_mgrs + (cos(orientation) * x1 - sin(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_y = poc->list.array[i]->planarObjectDimension1->value;
object.shape_z = poc->list.array[i]->verticalObjectDimension->value;
receivedObjectsStack.push_back(object); object.yawAngle = poc->list.array[i]->yawAngle->value;
double yaw_radian = (M_PI * object.yawAngle / 10) / 180;
tf2::Quaternion quat;
quat.setRPY(0, 0, yaw_radian);
object.orientation_x = quat.x();
object.orientation_y = quat.y();
object.orientation_z = quat.z();
object.orientation_w = quat.w();
receivedObjectsStack.push_back(object);
}
node_->publishObjects(&receivedObjectsStack);
} else {
RCLCPP_INFO(node_->get_logger(), "[INDICATE] Empty POC");
} }
node_->publishObjects(&receivedObjectsStack); } else {
} RCLCPP_INFO(node_->get_logger(), "[INDICATE] Received broken content");
else
{
RCLCPP_INFO(node_->get_logger(), "Received broken content");
} }
} }
@ -229,7 +232,7 @@ namespace v2x
{ {
sending_ = true; sending_ = true;
RCLCPP_INFO(node_->get_logger(), "Sending CPM..."); RCLCPP_INFO(node_->get_logger(), "[SEND] Sending CPM...");
vanetza::asn1::Cpm message; vanetza::asn1::Cpm message;
@ -313,13 +316,13 @@ 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(), "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);
} }
} else { } else {
cpm.cpmParameters.perceivedObjectContainer = NULL; cpm.cpmParameters.perceivedObjectContainer = NULL;
RCLCPP_INFO(node_->get_logger(), "Empty POC"); RCLCPP_INFO(node_->get_logger(), "[SEND] Empty POC");
} }
Application::DownPacketPtr packet{new DownPacket()}; Application::DownPacketPtr packet{new DownPacket()};
@ -337,7 +340,7 @@ namespace v2x
Application::DataConfirm confirm = Application::request(request, std::move(payload), node_); Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
if (!confirm.accepted()) { if (!confirm.accepted()) {
throw std::runtime_error("CPM application data request failed"); throw std::runtime_error("[SEND] CPM application data request failed");
} }
// try { // try {