Fix generationDeltaTime

Signed-off-by: Tiago Garcia <tiago.rgarcia@av.it.pt>

include/autoware_v2x/cam_application.hpp

@@ -23,7 +23,7 @@ public:
   void set_interval(vanetza::Clock::duration);
   void updateMGRS(double *, double *);
   void updateRP(double *, double *, double *);
-  void updateGenerationTime(int *, long *);
+  void updateGenerationDeltaTime(int *, long *);
   void updateHeading(double *);
   void setVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions &);
   void updateVelocityReport(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr);
@@ -130,7 +130,7 @@ private:
   };
   VehicleStatus vehicleStatus_;
 
-  int generationTime_;
+  int generationDeltaTime_;
   long gdt_timestamp_;
 
   double objectConfidenceThreshold_;
@@ -140,7 +140,6 @@ private:
   bool sending_;
   bool is_sender_;
   bool reflect_packet_;
-  bool include_all_persons_and_animals_;
 
   int cam_num_;
   int received_cam_num_;

src/cam_application.cpp

@@ -41,14 +41,13 @@ namespace v2x
     positionConfidenceEllipse_(),
     velocityReport_(),
     vehicleStatus_(),
-    generationTime_(0),
+    generationDeltaTime_(0),
     updating_velocity_report_(false),
     updating_vehicle_status_(false),
     sending_(false),
     is_sender_(is_sender),
     reflect_packet_(false),
     objectConfidenceThreshold_(0.0),
-    include_all_persons_and_animals_(false),
     cam_num_(0),
     received_cam_num_(0),
     use_dynamic_generation_rules_(false)
@@ -96,8 +95,8 @@ namespace v2x
     positionConfidenceEllipse_.y.insert(*lon);
   }
 
-  void CamApplication::updateGenerationTime(int *gdt, long *gdt_timestamp) {
-    generationTime_ = *gdt;
+  void CamApplication::updateGenerationDeltaTime(int *gdt, long *gdt_timestamp) {
+    generationDeltaTime_ = *gdt;
     gdt_timestamp_ = *gdt_timestamp; // ETSI-epoch milliseconds timestamp
   }
 
@@ -175,9 +174,8 @@ namespace v2x
 
     CoopAwareness_t &cam = message->cam;
 
-    // Set GenerationTime
     RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] %ld", gdt_timestamp_);
-    cam.generationDeltaTime = gdt_timestamp_;
+    cam.generationDeltaTime = generationDeltaTime_;
 
     BasicContainer_t &basic_container = cam.camParameters.basicContainer;
     basic_container.stationType = StationType_passengerCar;

src/cpm_application.cpp

@@ -32,7 +32,7 @@ using namespace vanetza;
 using namespace std::chrono;
 
 namespace v2x {
-  CpmApplication::CpmApplication(V2XNode *node, Runtime &rt, bool is_sender) :
+  CpmApplication::CpmApplication(V2XNode *node, Runtime &rt, bool is_sender) :     
     node_(node),
     runtime_(rt),
     ego_(),
@@ -156,7 +156,7 @@ namespace v2x {
           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);
+          object.position_y = y_mgrs + (sin(orientation) * x1 + cos(orientation) * y1);          
           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;
@@ -236,7 +236,7 @@ namespace v2x {
         });
 
         if (found_object == objectsList.end()) {
-
+          
         } else {
           found_object->to_send = true;
         }
@@ -317,7 +317,7 @@ namespace v2x {
             ++cpm_object_id_;
 
           } else {
-
+            
             // Object was already in internal memory
 
             // Object belongs to class person or animal
@@ -327,7 +327,7 @@ namespace v2x {
                 found_object->to_send = true;
                 found_object->to_send_trigger = 5;
               }
-
+              
               // Object has not been included in a CPM in the past 500 ms.
               if (runtime_.now().time_since_epoch().count() - found_object->timestamp.time_since_epoch().count() > 500000) {
                 // Include all objects of class person or animal in the current CPM
@@ -349,7 +349,7 @@ namespace v2x {
                 found_object->to_send = true;
                 found_object->to_send_trigger = 1;
               } else {
-
+                
               }
 
               // Absolute speed changed by more than 0.5 m/s
@@ -359,7 +359,7 @@ namespace v2x {
               if (speed > 0.5) {
                 found_object->to_send = true;
                 found_object->to_send_trigger = 2;
-              }
+              } 
 
               // Orientation of speed vector changed by more than 4 degrees
               double twist_angular_x_diff = (obj.kinematics.initial_twist_with_covariance.twist.angular.x - found_object->twist_angular_x) * 180 / M_PI;
@@ -434,7 +434,7 @@ namespace v2x {
     } else {
       RCLCPP_INFO(node_->get_logger(), "[objectsList] %d,,,,", cpm_num);
     }
-
+    
     // RCLCPP_INFO(node_->get_logger(), "------------------------");
   }
 
@@ -445,7 +445,7 @@ namespace v2x {
       sending_ = true;
 
       printObjectsList(cpm_num_);
-
+      
       // RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM...");
 
       vanetza::asn1::Cpm message;
@@ -578,7 +578,7 @@ namespace v2x {
       RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM with %d objects", perceivedObjectsCount);
 
       insertCpmToCpmTable(message, (char*) "cpm_sent");
-
+      
       std::unique_ptr<geonet::DownPacket> payload{new geonet::DownPacket()};
 
       payload->layer(OsiLayer::Application) = std::move(message);
@@ -618,7 +618,7 @@ namespace v2x {
     }
 
     char* sql_command;
-
+    
     sql_command = (char*) "create table if not exists cpm_sent(id INTEGER PRIMARY KEY, timestamp BIGINT, perceivedObjectCount INTEGER);";
 
     ret = sqlite3_exec(db, sql_command, NULL, NULL, &err);
@@ -661,7 +661,7 @@ namespace v2x {
     }
 
     std::stringstream sql_command;
-
+    
     sql_command << "insert into " << table_name << " (timestamp, perceivedObjectCount) values (" << timestamp << ", " << perceivedObjectCount << ");";
 
     ret = sqlite3_exec(db, sql_command.str().c_str(), NULL, NULL, &err);
@@ -677,4 +677,4 @@ namespace v2x {
     sqlite3_close(db);
     // RCLCPP_INFO(node_->get_logger(), "CpmApplication::insertCpmToCpmTable Finished");
   }
-}
+}

src/v2x_app.cpp

@@ -128,7 +128,7 @@ namespace v2x
       cam->updateMGRS(&x, &y);
       cam->updateRP(&lat, &lon, &z);
       cam->updateHeading(&yaw);
-      cam->updateGenerationTime(&gdt, &timestamp_msec);
+      cam->updateGenerationDeltaTime(&gdt, &timestamp_msec);
     }
   }