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Update T_R1R2 logging

This commit is contained in:
Yu Asabe 2022-01-20 19:39:51 +09:00
parent b631397fa2
commit c91415eba9
1 changed files with 4 additions and 1 deletions
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5
src/cpm_application.cpp
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@ -87,7 +87,10 @@ namespace v2x
const auto time_now = duration_cast<milliseconds> (runtime_.now().time_since_epoch()); const auto time_now = duration_cast<milliseconds> (runtime_.now().time_since_epoch());
uint16_t gdt = time_now.count(); uint16_t gdt = time_now.count();
int gdt_diff = (65536 + (gdt - gdt_cpm) % 65536) % 65536; int gdt_diff = (65536 + (gdt - gdt_cpm) % 65536) % 65536;
RCLCPP_INFO(node_->get_logger(), "[indicate] gdt: %ld,%u,%d", gdt_cpm, gdt, gdt_diff); RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT_CPM: %ld", gdt_cpm);
RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] GDT: %u", gdt);
RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_R1R2: %d", gdt_diff);
CpmManagementContainer_t &management = message->cpm.cpmParameters.managementContainer; CpmManagementContainer_t &management = message->cpm.cpmParameters.managementContainer;
double lat = management.referencePosition.latitude / 1.0e7; double lat = management.referencePosition.latitude / 1.0e7;