Update to include packet reflection
This commit is contained in:
yuasabe
parent
c91415eba9
commit
e674134bba
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@ -69,6 +69,8 @@ namespace v2x
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bool updating_objects_stack_;
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bool sending_;
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bool is_sender_;
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bool reflect_packet_;
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};
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}
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@ -41,43 +41,43 @@ namespace v2x
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ego_heading_(0),
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generationDeltaTime_(0),
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updating_objects_stack_(false),
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sending_(false)
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sending_(false),
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is_sender_(true),
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reflect_packet_(false)
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{
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RCLCPP_INFO(node_->get_logger(), "CpmApplication started...");
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set_interval(milliseconds(100));
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}
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void CpmApplication::set_interval(Clock::duration interval)
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{
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void CpmApplication::set_interval(Clock::duration interval) {
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cpm_interval_ = interval;
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runtime_.cancel(this);
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schedule_timer();
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}
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void CpmApplication::schedule_timer()
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{
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void CpmApplication::schedule_timer() {
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runtime_.schedule(cpm_interval_, std::bind(&CpmApplication::on_timer, this, std::placeholders::_1), this);
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}
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void CpmApplication::on_timer(Clock::time_point)
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{
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void CpmApplication::on_timer(Clock::time_point) {
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schedule_timer();
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send();
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}
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CpmApplication::PortType CpmApplication::port()
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{
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CpmApplication::PortType CpmApplication::port() {
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return btp::ports::CPM;
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}
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void CpmApplication::indicate(const DataIndication &indication, UpPacketPtr packet) {
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asn1::PacketVisitor<asn1::Cpm> visitor;
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std::shared_ptr<const asn1::Cpm> cpm = boost::apply_visitor(visitor, *packet);
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if (cpm) {
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Received decodable CPM content");
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] Received decodable CPM content");
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_receive_r2 %ld", current_time.nanoseconds());
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::indicate] [measure] T_receive_r1 %ld", current_time.nanoseconds());
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asn1::Cpm message = *cpm;
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ItsPduHeader_t &header = message->header;
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@ -155,40 +155,52 @@ namespace v2x
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} else {
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Empty POC");
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}
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if (reflect_packet_) {
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Application::DownPacketPtr packet{new DownPacket()};
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std::unique_ptr<geonet::DownPacket> payload{new geonet::DownPacket()};
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payload->layer(OsiLayer::Application) = std::move(message);
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Application::DataRequest request;
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request.its_aid = aid::CP;
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request.transport_type = geonet::TransportType::SHB;
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request.communication_profile = geonet::CommunicationProfile::ITS_G5;
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Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
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if (!confirm.accepted()) {
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throw std::runtime_error("[CpmApplication::indicate] Packet reflection failed");
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}
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}
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} else {
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RCLCPP_INFO(node_->get_logger(), "[INDICATE] Received broken content");
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}
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}
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void CpmApplication::updateMGRS(double *x, double *y)
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{
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// RCLCPP_INFO(node_->get_logger(), "Update MGRS");
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void CpmApplication::updateMGRS(double *x, double *y) {
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ego_x_ = *x;
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ego_y_ = *y;
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}
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void CpmApplication::updateRP(double *lat, double *lon, double *altitude)
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{
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// RCLCPP_INFO(node_->get_logger(), "Update RP");
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void CpmApplication::updateRP(double *lat, double *lon, double *altitude) {
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ego_lat_ = *lat;
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ego_lon_ = *lon;
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ego_altitude_ = *altitude;
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}
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void CpmApplication::updateGenerationDeltaTime(int *gdt, long long *gdt_timestamp)
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{
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void CpmApplication::updateGenerationDeltaTime(int *gdt, long long *gdt_timestamp) {
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generationDeltaTime_ = *gdt;
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gdt_timestamp_ = *gdt_timestamp; // ETSI-epoch milliseconds timestamp
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}
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void CpmApplication::updateHeading(double *yaw)
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{
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// RCLCPP_INFO(node_->get_logger(), "Update Heading : %f", *yaw);
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void CpmApplication::updateHeading(double *yaw) {
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ego_heading_ = *yaw;
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}
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void CpmApplication::updateObjectsStack(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg)
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{
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void CpmApplication::updateObjectsStack(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg) {
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updating_objects_stack_ = true;
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if (sending_) {
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@ -259,134 +271,107 @@ namespace v2x
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}
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void CpmApplication::send() {
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sending_ = true;
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RCLCPP_INFO(node_->get_logger(), "[SEND] Sending CPM...");
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vanetza::asn1::Cpm message;
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if (is_sender_) {
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sending_ = true;
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Sending CPM...");
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// ITS PDU Header
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ItsPduHeader_t &header = message->header;
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header.protocolVersion = 1;
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header.messageID = 14;
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header.stationID = 1;
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vanetza::asn1::Cpm message;
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// const auto time_now = duration_cast<milliseconds>(system_clock::now().time_since_epoch());
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// uint16_t gen_delta_time = time_now.count();
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// ITS PDU Header
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ItsPduHeader_t &header = message->header;
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header.protocolVersion = 1;
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header.messageID = 14;
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header.stationID = 1;
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CollectivePerceptionMessage_t &cpm = message->cpm;
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cpm.generationDeltaTime = generationDeltaTime_ * GenerationDeltaTime_oneMilliSec;
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CollectivePerceptionMessage_t &cpm = message->cpm;
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// auto position = positioning->position_specify(pos_lat, pos_lon);
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// Set GenerationDeltaTime
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cpm.generationDeltaTime = generationDeltaTime_ * GenerationDeltaTime_oneMilliSec;
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CpmManagementContainer_t &management = cpm.cpmParameters.managementContainer;
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management.stationType = StationType_passengerCar;
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// management.referencePosition.latitude = pos_lat;
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// management.referencePosition.longitude = pos_lon;
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// management.referencePosition.positionConfidenceEllipse.semiMajorConfidence = 1.0;
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// management.referencePosition.positionConfidenceEllipse.semiMinorConfidence = 1.0;
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PositionFix fix;
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// fix.timestamp = time_now;
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fix.latitude = ego_lat_ * units::degree;
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fix.longitude = ego_lon_ * units::degree;
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// fix.altitude = ego_altitude_;
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fix.confidence.semi_major = 1.0 * units::si::meter;
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fix.confidence.semi_minor = fix.confidence.semi_major;
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copy(fix, management.referencePosition);
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CpmManagementContainer_t &management = cpm.cpmParameters.managementContainer;
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management.stationType = StationType_passengerCar;
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PositionFix fix;
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fix.latitude = ego_lat_ * units::degree;
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fix.longitude = ego_lon_ * units::degree;
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fix.confidence.semi_major = 1.0 * units::si::meter;
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fix.confidence.semi_minor = fix.confidence.semi_major;
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copy(fix, management.referencePosition);
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cpm.cpmParameters.numberOfPerceivedObjects = objectsStack.size();
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// cpm.cpmParameters.stationDataContainer = NULL;
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// cpm.cpmParameters.perceivedObjectContainer = NULL;
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cpm.cpmParameters.numberOfPerceivedObjects = objectsStack.size();
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StationDataContainer_t *&sdc = cpm.cpmParameters.stationDataContainer;
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sdc = vanetza::asn1::allocate<StationDataContainer_t>();
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sdc->present = StationDataContainer_PR_originatingVehicleContainer;
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OriginatingVehicleContainer_t &ovc = sdc->choice.originatingVehicleContainer;
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ovc.speed.speedValue = 0;
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ovc.speed.speedConfidence = 1;
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int heading = std::lround(((-ego_heading_ * 180 / M_PI) + 90.0) * 10);
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if (heading < 0) heading += 3600;
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ovc.heading.headingValue = heading;
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ovc.heading.headingConfidence = 1;
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StationDataContainer_t *&sdc = cpm.cpmParameters.stationDataContainer;
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sdc = vanetza::asn1::allocate<StationDataContainer_t>();
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// RCLCPP_INFO(node->get_logger(), "Allocated sdc");
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sdc->present = StationDataContainer_PR_originatingVehicleContainer;
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OriginatingVehicleContainer_t &ovc = sdc->choice.originatingVehicleContainer;
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ovc.speed.speedValue = 0;
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ovc.speed.speedConfidence = 1;
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// ovc.heading.headingValue = (int) (1.5708 - ego_heading_) * M_PI / 180;
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// RCLCPP_INFO(node_->get_logger(), "headingValue...");
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// ovc.heading.headingValue = (int)std::fmod((1.5708 - ego_heading_) * 180 / M_PI, 360.0) * 10;
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int heading = std::lround(((-ego_heading_ * 180 / M_PI) + 90.0) * 10);
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if (heading < 0) heading += 3600;
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ovc.heading.headingValue = heading;
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ovc.heading.headingConfidence = 1;
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// RCLCPP_INFO(node_->get_logger(), "[SEND] headingValue: %f %d", ego_heading_, ovc.heading.headingValue);
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if (objectsStack.size() > 0) {
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PerceivedObjectContainer_t *&poc = cpm.cpmParameters.perceivedObjectContainer;
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poc = vanetza::asn1::allocate<PerceivedObjectContainer_t>();
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if (objectsStack.size() > 0) {
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PerceivedObjectContainer_t *&poc = cpm.cpmParameters.perceivedObjectContainer;
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poc = vanetza::asn1::allocate<PerceivedObjectContainer_t>();
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for (CpmApplication::Object object : objectsStack) {
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PerceivedObject *pObj = vanetza::asn1::allocate<PerceivedObject>();
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pObj->objectID = object.objectID;
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pObj->timeOfMeasurement = object.timeOfMeasurement;
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pObj->xDistance.value = object.xDistance;
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pObj->xDistance.confidence = 1;
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pObj->yDistance.value = object.yDistance;
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pObj->yDistance.confidence = 1;
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pObj->xSpeed.value = object.xSpeed;
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pObj->xSpeed.confidence = 1;
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pObj->ySpeed.value = object.ySpeed;
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pObj->ySpeed.confidence = 1;
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for (CpmApplication::Object object : objectsStack) {
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// if (object.xDistance > 10000) continue;
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// if (object.yDistance > 10000) continue;
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pObj->planarObjectDimension1 = vanetza::asn1::allocate<ObjectDimension_t>();
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pObj->planarObjectDimension2 = vanetza::asn1::allocate<ObjectDimension_t>();
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pObj->verticalObjectDimension = vanetza::asn1::allocate<ObjectDimension_t>();
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PerceivedObject *pObj = vanetza::asn1::allocate<PerceivedObject>();
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pObj->objectID = object.objectID;
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pObj->timeOfMeasurement = object.timeOfMeasurement;
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pObj->xDistance.value = object.xDistance;
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pObj->xDistance.confidence = 1;
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pObj->yDistance.value = object.yDistance;
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pObj->yDistance.confidence = 1;
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pObj->xSpeed.value = object.xSpeed;
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pObj->xSpeed.confidence = 1;
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pObj->ySpeed.value = object.ySpeed;
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pObj->ySpeed.confidence = 1;
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(*(pObj->planarObjectDimension1)).value = object.shape_y;
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(*(pObj->planarObjectDimension1)).confidence = 1;
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(*(pObj->planarObjectDimension2)).value = object.shape_x;
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(*(pObj->planarObjectDimension2)).confidence = 1;
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(*(pObj->verticalObjectDimension)).value = object.shape_z;
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(*(pObj->verticalObjectDimension)).confidence = 1;
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pObj->planarObjectDimension1 = vanetza::asn1::allocate<ObjectDimension_t>();
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pObj->planarObjectDimension2 = vanetza::asn1::allocate<ObjectDimension_t>();
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pObj->verticalObjectDimension = vanetza::asn1::allocate<ObjectDimension_t>();
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pObj->yawAngle = vanetza::asn1::allocate<CartesianAngle>();
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(*(pObj->yawAngle)).value = object.yawAngle;
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(*(pObj->yawAngle)).confidence = 1;
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(*(pObj->planarObjectDimension1)).value = object.shape_y;
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(*(pObj->planarObjectDimension1)).confidence = 1;
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(*(pObj->planarObjectDimension2)).value = object.shape_x;
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(*(pObj->planarObjectDimension2)).confidence = 1;
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(*(pObj->verticalObjectDimension)).value = object.shape_z;
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(*(pObj->verticalObjectDimension)).confidence = 1;
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RCLCPP_INFO(node_->get_logger(), "[SEND] Added: #%d (%d, %d) (%d, %d) (%d, %d, %d) %d", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_y, object.shape_x, object.shape_z, object.yawAngle);
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pObj->yawAngle = vanetza::asn1::allocate<CartesianAngle>();
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(*(pObj->yawAngle)).value = object.yawAngle;
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(*(pObj->yawAngle)).confidence = 1;
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RCLCPP_INFO(node_->get_logger(), "[SEND] Added: #%d (%d, %d) (%d, %d) (%d, %d, %d) %d", object.objectID, object.xDistance, object.yDistance, object.xSpeed, object.ySpeed, object.shape_y, object.shape_x, object.shape_z, object.yawAngle);
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ASN_SEQUENCE_ADD(poc, pObj);
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ASN_SEQUENCE_ADD(poc, pObj);
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}
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} else {
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cpm.cpmParameters.perceivedObjectContainer = NULL;
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] Empty POC");
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}
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} else {
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cpm.cpmParameters.perceivedObjectContainer = NULL;
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RCLCPP_INFO(node_->get_logger(), "[SEND] Empty POC");
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Application::DownPacketPtr packet{new DownPacket()};
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std::unique_ptr<geonet::DownPacket> payload{new geonet::DownPacket()};
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payload->layer(OsiLayer::Application) = std::move(message);
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Application::DataRequest request;
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request.its_aid = aid::CP;
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request.transport_type = geonet::TransportType::SHB;
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request.communication_profile = geonet::CommunicationProfile::ITS_G5;
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Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
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if (!confirm.accepted()) {
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throw std::runtime_error("[CpmApplication::send] CPM application data request failed");
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}
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sending_ = false;
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] [measure] T_depart_r1 %ld", current_time.nanoseconds());
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}
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Application::DownPacketPtr packet{new DownPacket()};
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std::unique_ptr<geonet::DownPacket> payload{new geonet::DownPacket()};
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// std::shared_ptr<asn1::Cpm> message_p = std::make_shared<asn1::Cpm>(message);
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// std::unique_ptr<convertible::byte_buffer> buffer { new convertible::byte_buffer_impl<asn1::Cpm>(&message)};
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payload->layer(OsiLayer::Application) = std::move(message);
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Application::DataRequest request;
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request.its_aid = aid::CP;
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request.transport_type = geonet::TransportType::SHB;
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request.communication_profile = geonet::CommunicationProfile::ITS_G5;
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Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
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if (!confirm.accepted()) {
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throw std::runtime_error("[SEND] CPM application data request failed");
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}
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// try {
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// Application::DataConfirm confirm = Application::request(request, std::move(payload), node_);
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// if (!confirm.accepted()) {
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// throw std::runtime_error("CPM application data request failed");
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// }
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// } catch (...) {
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// RCLCPP_INFO(node_->get_logger(), "Request Failed");
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// }
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sending_ = false;
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// RCLCPP_INFO(node->get_logger(), "Application::request END");
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rclcpp::Time current_time = node_->now();
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RCLCPP_INFO(node_->get_logger(), "[CpmApplication::send] [measure] T_depart_r1 %ld", current_time.nanoseconds());
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}
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}
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@ -135,7 +135,7 @@ namespace v2x
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context.set_link_layer(link_layer.get());
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cp = new CpmApplication(node_, trigger.runtime());
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context.enable(cp);
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cp_started_ = true;
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