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Merge pull request #3 from yuasabe/cpm-receiver 

Major updates
This commit is contained in:
Yu Asabe 2021-11-11 00:22:08 +09:00 committed by GitHub
parent e8f497e139 e8238701ae
commit 6bc9151b8f
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 387 additions and 370 deletions
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25
include/autoware_v2x/cpm_application.hpp
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@ -8,10 +8,13 @@
#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
#include "autoware_v2x/positioning.hpp"
namespace v2x
{
class V2XNode;
class CpmApplication : public Application
{
public:
CpmApplication(rclcpp::Node *node, vanetza::Runtime&);
CpmApplication(V2XNode *node, vanetza::Runtime &);
PortType port() override;
void indicate(const DataIndication &, UpPacketPtr) override;
void set_interval(vanetza::Clock::duration);
@ -22,14 +25,8 @@ public:
void updateHeading(double *);
void send();
private:
void schedule_timer();
void on_timer(vanetza::Clock::time_point);
rclcpp::Node* node_;
vanetza::Runtime& runtime_;
vanetza::Clock::duration cpm_interval_;
struct Object {
struct Object
{
int objectID; // 0-255
rclcpp::Time timestamp;
double position_x;
@ -47,6 +44,15 @@ private:
int timeOfMeasurement;
};
std::vector<CpmApplication::Object> objectsStack;
std::vector<CpmApplication::Object> receivedObjectsStack;
private:
void schedule_timer();
void on_timer(vanetza::Clock::time_point);
V2XNode *node_;
vanetza::Runtime &runtime_;
vanetza::Clock::duration cpm_interval_;
double ego_x_;
double ego_y_;
@ -59,5 +65,6 @@ private:
bool updating_objects_stack_;
bool sending_;
};
}
#endif /* CPM_APPLICATION_HPP_EUIC2VFR */

7
include/autoware_v2x/v2x_app.hpp
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@ -13,23 +13,26 @@
#include "autoware_v2x/positioning.hpp"
#include "autoware_v2x/security.hpp"
#include "autoware_v2x/router_context.hpp"
// #include "autoware_v2x/v2x_node.hpp"
namespace v2x
{
class V2XNode;
class V2XApp
{
public:
V2XApp(rclcpp::Node*);
V2XApp(V2XNode *);
void start();
void objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr);
void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr);
CpmApplication *cp;
// V2XNode *v2x_node;
private:
friend class CpmApplication;
friend class Application;
rclcpp::Node* node_;
V2XNode* node_;
bool tf_received_;
bool cp_started_;
};

26
include/autoware_v2x/v2x_node.hpp
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@ -1,3 +1,6 @@
#ifndef V2X_NODE_HPP_EUIC2VFR
#define V2X_NODE_HPP_EUIC2VFR
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
@ -19,34 +22,23 @@ namespace v2x
public:
explicit V2XNode(const rclcpp::NodeOptions &node_options);
V2XApp *app;
void publishObjects(std::vector<CpmApplication::Object> *);
private:
void objectsCallback(
const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg);
void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg);
// friend class CpmApplication;
// friend class Application;
rclcpp::Subscription<autoware_perception_msgs::msg::DynamicObjectArray>::SharedPtr subscription_;
rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscription_pos_;
rclcpp::Publisher<autoware_perception_msgs::msg::DynamicObjectArray>::SharedPtr publisher_;
// std::unique_ptr<CpmApplication> cp_;
// std::unique_ptr<Application> app_;
// boost::asio::io_service io_service_;
// TimeTrigger trigger_;
// vanetza::Runtime& runtime_;
// const char *device_name_;
// EthernetDevice device_;
// vanetza::MacAddress mac_address_;
// std::unique_ptr<LinkLayer> link_layer_;
// vanetza::geonet::MIB mib_;
// std::unique_ptr<vanetza::PositionProvider> positioning_;
// std::unique_ptr<vanetza::security::SecurityEntity> security_;
// RouterContext context_;
rclcpp::Time received_time;
bool cpm_received;
double pos_lat_;
double pos_lon_;
// vanetza::PositionFix reference_position_;
};
}
#endif

82
src/cpm_application.cpp
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@ -2,6 +2,7 @@
#include "autoware_v2x/positioning.hpp"
#include "autoware_v2x/security.hpp"
#include "autoware_v2x/link_layer.hpp"
#include "autoware_v2x/v2x_node.hpp"
#include "rclcpp/rclcpp.hpp"
#include <vanetza/btp/ports.hpp>
@ -13,6 +14,9 @@
#include <iostream>
#include <sstream>
#include <exception>
#include <GeographicLib/UTMUPS.hpp>
#include <GeographicLib/MGRS.hpp>
#include <string>
#define _USE_MATH_DEFINES
#include <math.h>
@ -21,7 +25,9 @@ using namespace vanetza;
using namespace vanetza::facilities;
using namespace std::chrono;
CpmApplication::CpmApplication(rclcpp::Node *node, Runtime &rt) :
namespace v2x
{
CpmApplication::CpmApplication(V2XNode *node, Runtime &rt) :
node_(node),
runtime_(rt),
ego_x_(0),
@ -72,9 +78,41 @@ void CpmApplication::indicate(const DataIndication &indication, UpPacketPtr pack
ItsPduHeader_t &header = message->header;
CpmManagementContainer_t &management = message->cpm.cpmParameters.managementContainer;
double lat = management.referencePosition.latitude;
double lon = management.referencePosition.longitude;
double lat = management.referencePosition.latitude / 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;
bool northp;
double x, y;
GeographicLib::UTMUPS::Forward(lat, lon, zone, northp, x, y);
GeographicLib::MGRS::Forward(zone, northp, x, y, lat, 5, mgrs);
int x_mgrs = std::stoi(mgrs.substr(5, 5));
int y_mgrs = std::stoi(mgrs.substr(10, 5));
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;
int heading = ovc.heading.headingValue;
double orientation = 1.5708 - (M_PI * heading / 10) / 180;
RCLCPP_INFO(node_->get_logger(), "cpm: heading = %d, orientation = %f", heading, orientation);
// Get PerceivedObjects
receivedObjectsStack.clear();
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;
object.position_x = x_mgrs - (cos(orientation) * x1 - sin(orientation) * y1);
object.position_y = y_mgrs - (sin(orientation) * x1 + cos(orientation) * y1);
receivedObjectsStack.push_back(object);
}
node_->publishObjects(&receivedObjectsStack);
}
else
{
@ -82,15 +120,16 @@ void CpmApplication::indicate(const DataIndication &indication, UpPacketPtr pack
}
}
void CpmApplication::updateMGRS(double *x, double *y) {
RCLCPP_INFO(node_->get_logger(), "Update MGRS");
void CpmApplication::updateMGRS(double *x, double *y)
{
// RCLCPP_INFO(node_->get_logger(), "Update MGRS");
ego_x_ = *x;
ego_y_ = *y;
}
void CpmApplication::updateRP(double *lat, double *lon, double *altitude)
{
RCLCPP_INFO(node_->get_logger(), "Update RP");
// RCLCPP_INFO(node_->get_logger(), "Update RP");
ego_lat_ = *lat;
ego_lon_ = *lon;
ego_altitude_ = *altitude;
@ -98,13 +137,13 @@ void CpmApplication::updateRP(double *lat, double *lon, double *altitude)
void CpmApplication::updateGenerationDeltaTime(int *gdt)
{
RCLCPP_INFO(node_->get_logger(), "Update GDT");
// RCLCPP_INFO(node_->get_logger(), "Update GDT");
generationDeltaTime_ = *gdt;
}
void CpmApplication::updateHeading(double *yaw)
{
RCLCPP_INFO(node_->get_logger(), "Update Heading : %f", *yaw);
// RCLCPP_INFO(node_->get_logger(), "Update Heading : %f", *yaw);
ego_heading_ = *yaw;
}
@ -115,12 +154,13 @@ void CpmApplication::updateObjectsStack(const autoware_perception_msgs::msg::Dyn
if (sending_)
{
RCLCPP_INFO(node_->get_logger(), "updateObjectsStack Skipped...");
return;
}
if (msg->objects.size() > 0)
{
RCLCPP_INFO(node_->get_logger(), "At least 1 object detected");
// RCLCPP_INFO(node_->get_logger(), "At least 1 object detected");
// Initialize ObjectsStack
// std::vector<CpmApplication::Object> objectsStack;
@ -142,7 +182,7 @@ void CpmApplication::updateObjectsStack(const autoware_perception_msgs::msg::Dyn
object.orientation_w = obj.state.pose_covariance.pose.orientation.w;
object.xDistance = (int)((object.position_x - ego_x_) * cos(-ego_heading_) - (object.position_y - ego_y_) * sin(-ego_heading_)) * 100;
object.yDistance = (int)((object.position_x - ego_x_) * sin(-ego_heading_) + (object.position_y - ego_y_) * cos(-ego_heading_)) * 100;
RCLCPP_INFO(node_->get_logger(), "xDistance: %d, yDistance: %d", object.xDistance, object.yDistance);
// RCLCPP_INFO(node_->get_logger(), "xDistance: %d, yDistance: %d", object.xDistance, object.yDistance);
object.timeOfMeasurement = 100;
objectsStack.push_back(object);
++i;
@ -155,7 +195,7 @@ void CpmApplication::updateObjectsStack(const autoware_perception_msgs::msg::Dyn
void CpmApplication::send()
{
sending_ = true;
if (!updating_objects_stack_)
if (!updating_objects_stack_ && objectsStack.size() > 0)
{
RCLCPP_INFO(node_->get_logger(), "Sending CPM...");
@ -203,16 +243,13 @@ void CpmApplication::send()
ovc.speed.speedValue = 0;
ovc.speed.speedConfidence = 1;
// ovc.heading.headingValue = (int) (1.5708 - ego_heading_) * M_PI / 180;
RCLCPP_INFO(node_->get_logger(), "headingValue...");
// RCLCPP_INFO(node_->get_logger(), "headingValue...");
ovc.heading.headingValue = (int)std::fmod((1.5708 - ego_heading_) * 180 / M_PI, 360.0) * 10;
ovc.heading.headingConfidence = 1;
RCLCPP_INFO(node_->get_logger(), "PerceviedObjectContainer...");
// RCLCPP_INFO(node_->get_logger(), "PerceviedObjectContainer...");
PerceivedObjectContainer_t *&poc = cpm.cpmParameters.perceivedObjectContainer;
poc = vanetza::asn1::allocate<PerceivedObjectContainer_t>();
// cpm.cpmParameters.perceivedObjectContainer = poc;
// PerceivedObjectContainer_t pocc = *poc;
// RCLCPP_INFO(node->get_logger(), "Allocated poc");
for (CpmApplication::Object object : objectsStack)
{
@ -229,32 +266,22 @@ void CpmApplication::send()
pObj->ySpeed.confidence = 1;
ASN_SEQUENCE_ADD(poc, pObj);
RCLCPP_INFO(node_->get_logger(), "ADD: %d, %d, %d, %d, %d, %d", pObj->objectID, pObj->timeOfMeasurement, pObj->xDistance.value, pObj->yDistance.value, pObj->xSpeed.value, pObj->ySpeed.value);
// RCLCPP_INFO(node_->get_logger(), "ADD: %d, %d, %d, %d, %d, %d", pObj->objectID, pObj->timeOfMeasurement, pObj->xDistance.value, pObj->yDistance.value, pObj->xSpeed.value, pObj->ySpeed.value);
}
RCLCPP_INFO(node_->get_logger(), "1");
Application::DownPacketPtr packet{new DownPacket()};
RCLCPP_INFO(node_->get_logger(), "2");
std::unique_ptr<geonet::DownPacket> payload{new geonet::DownPacket()};
RCLCPP_INFO(node_->get_logger(), "3");
// std::shared_ptr<asn1::Cpm> message_p = std::make_shared<asn1::Cpm>(message);
// std::unique_ptr<convertible::byte_buffer> buffer { new convertible::byte_buffer_impl<asn1::Cpm>(&message)};
payload->layer(OsiLayer::Application) = std::move(message);
RCLCPP_INFO(node_->get_logger(), "4");
Application::DataRequest request;
request.its_aid = aid::CP;
request.transport_type = geonet::TransportType::SHB;
request.communication_profile = geonet::CommunicationProfile::ITS_G5;
// RCLCPP_INFO(node->get_logger(), "Packet Size: %d", payload->size());
// RCLCPP_INFO(node->get_logger(), "Going to Application::request...");
RCLCPP_INFO(node_->get_logger(), "5");
Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
RCLCPP_INFO(node_->get_logger(), "6");
if (!confirm.accepted())
{
throw std::runtime_error("CPM application data request failed");
@ -263,3 +290,4 @@ void CpmApplication::send()
sending_ = false;
// RCLCPP_INFO(node->get_logger(), "Application::request END");
}
}

19
src/v2x_app.cpp
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@ -1,4 +1,5 @@
#include "autoware_v2x/v2x_app.hpp"
#include "autoware_v2x/v2x_node.hpp"
#include "autoware_v2x/time_trigger.hpp"
#include "autoware_v2x/router_context.hpp"
#include "autoware_v2x/positioning.hpp"
@ -29,7 +30,7 @@ using namespace std::chrono;
namespace v2x
{
V2XApp::V2XApp(rclcpp::Node *node) :
V2XApp::V2XApp(V2XNode *node) :
node_(node),
tf_received_(false),
cp_started_(false)
@ -37,14 +38,14 @@ namespace v2x
}
void V2XApp::objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg) {
RCLCPP_INFO(node_->get_logger(), "V2XApp: msg received");
// RCLCPP_INFO(node_->get_logger(), "V2XApp: msg received");
if (tf_received_ && cp_started_) {
cp->updateObjectsStack(msg);
}
}
void V2XApp::tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg) {
RCLCPP_INFO(node_->get_logger(), "V2XApp: tf msg received");
// RCLCPP_INFO(node_->get_logger(), "V2XApp: tf msg received");
tf_received_ = true;
double x = msg->transforms[0].transform.translation.x;
@ -71,15 +72,15 @@ namespace v2x
double x_mgrs, y_mgrs;
double lat, lon;
sprintf(mgrs, "54SVE%.5d%.5d", (int)x, (int)y);
RCLCPP_INFO(node_->get_logger(), "MGRS: %s", mgrs);
// RCLCPP_INFO(node_->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);
RCLCPP_INFO(node_->get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f, %f, %f, %f", rot_x, rot_y, rot_z, rot_w);
RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f %f %f", roll, pitch, yaw);
RCLCPP_INFO(node_->get_logger(), "Timestamp: %d, GDT: %d", timestamp, gdt);
// RCLCPP_INFO(node_->get_logger(), "Ego Position Lat/Lon: %f, %f", lat, lon);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f, %f, %f, %f", rot_x, rot_y, rot_z, rot_w);
// RCLCPP_INFO(node_->get_logger(), "Ego Orientation: %f %f %f", roll, pitch, yaw);
// RCLCPP_INFO(node_->get_logger(), "Timestamp: %d, GDT: %d", timestamp, gdt);
if (cp && cp_started_) {
cp->updateMGRS(&x, &y);
@ -95,7 +96,7 @@ namespace v2x
boost::asio::io_service io_service;
TimeTrigger trigger(io_service);
const char* device_name = "wlp4s0";
const char* device_name = "vmnet1";
EthernetDevice device(device_name);
vanetza::MacAddress mac_address = device.address();

112
src/v2x_node.cpp
View File

@ -25,88 +25,74 @@ 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_),
// runtime_(new Runtime(Clock::at(boost::posix_time::microsec_clock::universal_time()))),
// 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_(),
// cp_(new CpmApplication(this, runtime_)),
// context_(mib_, trigger_, *positioning_, security_.get()),
// app_()
V2XNode::V2XNode(const rclcpp::NodeOptions &node_options) : rclcpp::Node("autoware_v2x_node", node_options), received_time(this->now()), cpm_received(false)
{
using std::placeholders::_1;
subscription_ = this->create_subscription<autoware_perception_msgs::msg::DynamicObjectArray>("/perception/object_recognition/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();
publisher_ = create_publisher<autoware_perception_msgs::msg::DynamicObjectArray>("/perception/object_recognition/objects", rclcpp::QoS{10});
// 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_(mib_, trigger_, *positioning_, security_.get()),
// 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();
// boost::thread(boost::bind(&boost::asio::io_service::run, &io_service_));
app = new V2XApp(this);
boost::thread v2xApp(boost::bind(&V2XApp::start, app));
// boost::thread v2xApp(V2XApp);
// boost::thread v2xApp(&V2XApp, this);
// // Print MAC Address to logger
// std::stringstream sout;
// sout << mac_address;
// RCLCPP_INFO(get_logger(), "MAC Address: '%s'", sout.str().c_str());
RCLCPP_INFO(get_logger(), "V2X Node Launched");
}
void V2XNode::publishObjects(std::vector<CpmApplication::Object> *objectsStack) {
autoware_perception_msgs::msg::DynamicObjectArray output_dynamic_object_msg;
std_msgs::msg::Header header;
rclcpp::Time current_time = this->now();
received_time = current_time;
output_dynamic_object_msg.header.frame_id = "map";
output_dynamic_object_msg.header.stamp = current_time;
for (CpmApplication::Object obj : *objectsStack) {
autoware_perception_msgs::msg::DynamicObject object;
autoware_perception_msgs::msg::Semantic semantic;
autoware_perception_msgs::msg::Shape shape;
autoware_perception_msgs::msg::State state;
semantic.type = autoware_perception_msgs::msg::Semantic::CAR;
semantic.confidence = 0.99;
shape.type = autoware_perception_msgs::msg::Shape::BOUNDING_BOX;
shape.dimensions.x = 2;
shape.dimensions.y = 5.0;
shape.dimensions.z = 2.5;
state.pose_covariance.pose.position.x = obj.position_x;
state.pose_covariance.pose.position.y = obj.position_y;
state.pose_covariance.pose.position.z = 0.2;
object.semantic = semantic;
object.shape = shape;
object.state = state;
output_dynamic_object_msg.objects.push_back(object);
}
cpm_received = true;
publisher_->publish(output_dynamic_object_msg);
}
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_);
// cp_->updateObjectsStack(msg, this);
rclcpp::Time current_time = this->now();
// RCLCPP_INFO(get_logger(), "%ld", current_time.nanoseconds() - received_time.nanoseconds());
if (cpm_received) {
// if time difference is more than 10ms
if (current_time - received_time > rclcpp::Duration(std::chrono::nanoseconds(10000000))) {
app->objectsCallback(msg);
}
cpm_received = false;
} else {
app->objectsCallback(msg);
}
}
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);
app->tfCallback(msg);
}
}