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Add new interfaces

This commit is contained in:
Yu Asabe 2022-03-30 14:51:13 +09:00
parent 4fa5ea4c7e
commit 92a0dcacf7
1 changed files with 16 additions and 5 deletions
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21
include/autoware_v2x/cpm_application.hpp
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@ -19,7 +19,8 @@ namespace v2x
std::string uuidToHexString(const unique_identifier_msgs::msg::UUID&); std::string uuidToHexString(const unique_identifier_msgs::msg::UUID&);
void indicate(const DataIndication &, UpPacketPtr) override; void indicate(const DataIndication &, UpPacketPtr) override;
void set_interval(vanetza::Clock::duration); 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 updateMGRS(double *, double *);
void updateRP(double *, double *, double *); void updateRP(double *, double *, double *);
void updateGenerationDeltaTime(int *, long long *); void updateGenerationDeltaTime(int *, long long *);
@ -27,8 +28,10 @@ namespace v2x
void send(); void send();
struct Object { struct Object {
int objectID; // 0-255 std::string uuid;
rclcpp::Time timestamp; int objectID; // 0-255 for CPM
vanetza::Clock::time_point timestamp;
rclcpp::Time timestamp_ros;
double position_x; double position_x;
double position_y; double position_y;
double position_z; double position_z;
@ -36,6 +39,10 @@ namespace v2x
double orientation_y; double orientation_y;
double orientation_z; double orientation_z;
double orientation_w; double orientation_w;
double twist_linear_x;
double twist_linear_y;
double twist_angular_x;
double twist_angular_y;
int shape_x; int shape_x;
int shape_y; int shape_y;
int shape_z; int shape_z;
@ -46,8 +53,9 @@ namespace v2x
int yawAngle; int yawAngle;
vanetza::PositionFix position; vanetza::PositionFix position;
int timeOfMeasurement; int timeOfMeasurement;
bool to_send;
}; };
std::vector<CpmApplication::Object> objectsStack; std::vector<CpmApplication::Object> objectsList;
std::vector<CpmApplication::Object> receivedObjectsStack; std::vector<CpmApplication::Object> receivedObjectsStack;
private: private:
@ -72,10 +80,13 @@ namespace v2x
int generationDeltaTime_; int generationDeltaTime_;
long long gdt_timestamp_; long long gdt_timestamp_;
bool updating_objects_stack_; double objectConfidenceThreshold_;
bool updating_objects_list_;
bool sending_; bool sending_;
bool is_sender_; bool is_sender_;
bool reflect_packet_; bool reflect_packet_;
bool include_all_persons_and_animals_;
}; };
} }