108 lines
2.8 KiB
C++
108 lines
2.8 KiB
C++
#ifndef CAM_APPLICATION_HPP_EUIC2VFR
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#define CAM_APPLICATION_HPP_EUIC2VFR
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#include "autoware_v2x/application.hpp"
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#include "rclcpp/rclcpp.hpp"
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#include <boost/asio/io_service.hpp>
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#include <boost/asio/steady_timer.hpp>
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#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
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#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
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#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
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#include "autoware_adapi_v1_msgs/msg/vehicle_dimensions.hpp"
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#include "autoware_v2x/positioning.hpp"
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#include <vanetza/asn1/cam.hpp>
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namespace v2x
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{
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class V2XNode;
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class CamApplication : public Application
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{
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public:
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CamApplication(V2XNode *node, vanetza::Runtime &, bool is_sender);
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PortType port() override;
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void indicate(const DataIndication &, UpPacketPtr) override;
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void set_interval(vanetza::Clock::duration);
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void getVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions);
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void updateVelocityReport(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr);
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void updateGearReport(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr);
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void updateSteeringReport(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr);
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void updateMGRS(double *, double *);
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void updateRP(double *, double *, double *);
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void updateGenerationTime(int *, long *);
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void updateHeading(double *);
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void send();
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private:
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void schedule_timer();
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void on_timer(vanetza::Clock::time_point);
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V2XNode *node_;
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vanetza::Runtime &runtime_;
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vanetza::Clock::duration cam_interval_;
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struct VehicleDimensions {
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float wheel_radius;
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float wheel_width;
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float wheel_base;
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float wheel_tread;
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float front_overhang;
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float rear_overhang;
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float left_overhang;
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float right_overhang;
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float height;
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};
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VehicleDimensions vehicleDimensions_;
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struct Ego_station {
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double mgrs_x;
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double mgrs_y;
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double latitude;
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double longitude;
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double altitude;
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double heading;
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};
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Ego_station ego_;
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struct VelocityReport {
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rclcpp::Time stamp;
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float heading_rate;
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float lateral_velocity;
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float longitudinal_velocity;
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float longitudinal_acceleration;
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};
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VelocityReport velocityReport_;
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struct GearReport {
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rclcpp::Time stamp;
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uint8_t report;
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};
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GearReport gearReport_;
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struct SteeringReport {
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rclcpp::Time stamp;
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float steering_tire_angle;
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};
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SteeringReport steeringReport_;
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int generationTime_;
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long gdt_timestamp_;
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double objectConfidenceThreshold_;
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bool updating_velocity_report_;
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bool updating_gear_report_;
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bool updating_steering_report_;
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bool sending_;
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bool is_sender_;
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bool reflect_packet_;
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bool include_all_persons_and_animals_;
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int cam_num_;
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int received_cam_num_;
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bool use_dynamic_generation_rules_;
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};
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}
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#endif /* CAM_APPLICATION_HPP_EUIC2VFR */
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