From 92a0dcacf7dbea33fd08a6c89378a28a7fed426f Mon Sep 17 00:00:00 2001
From: Yu Asabe <yuasabe@g.ecc.u-tokyo.ac.jp>
Date: Wed, 30 Mar 2022 14:51:13 +0900
Subject: [PATCH] Add new interfaces

---
 include/autoware_v2x/cpm_application.hpp | 21 ++++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/include/autoware_v2x/cpm_application.hpp b/include/autoware_v2x/cpm_application.hpp
index ce85419..6b8efae 100644
--- a/include/autoware_v2x/cpm_application.hpp
+++ b/include/autoware_v2x/cpm_application.hpp
@@ -19,7 +19,8 @@ namespace v2x
         std::string uuidToHexString(const unique_identifier_msgs::msg::UUID&);
         void indicate(const DataIndication &, UpPacketPtr) override;
         void set_interval(vanetza::Clock::duration);
-        void updateObjectsStack(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
+        void setAllObjectsOfPersonsAnimalsToSend(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
+        void updateObjectsList(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
         void updateMGRS(double *, double *);
         void updateRP(double *, double *, double *);
         void updateGenerationDeltaTime(int *, long long *);
@@ -27,8 +28,10 @@ namespace v2x
         void send();
 
         struct Object {
-            int objectID; // 0-255
-            rclcpp::Time timestamp;
+            std::string uuid;
+            int objectID; // 0-255 for CPM
+            vanetza::Clock::time_point timestamp;
+            rclcpp::Time timestamp_ros;
             double position_x;
             double position_y;
             double position_z;
@@ -36,6 +39,10 @@ namespace v2x
             double orientation_y;
             double orientation_z;
             double orientation_w;
+            double twist_linear_x;
+            double twist_linear_y;
+            double twist_angular_x;
+            double twist_angular_y;
             int shape_x;
             int shape_y;
             int shape_z;
@@ -46,8 +53,9 @@ namespace v2x
             int yawAngle;
             vanetza::PositionFix position;
             int timeOfMeasurement;
+            bool to_send;
         };
-        std::vector<CpmApplication::Object> objectsStack;
+        std::vector<CpmApplication::Object> objectsList;
         std::vector<CpmApplication::Object> receivedObjectsStack;
 
     private:
@@ -72,10 +80,13 @@ namespace v2x
         int generationDeltaTime_;
         long long gdt_timestamp_;
 
-        bool updating_objects_stack_;
+        double objectConfidenceThreshold_;
+
+        bool updating_objects_list_;
         bool sending_;
         bool is_sender_;
         bool reflect_packet_;
+        bool include_all_persons_and_animals_;
     };
 }