VCM: reject if in maneuver
This commit is contained in:
emanuel
parent
e92d2b76bb
commit
299013b59e
172
src/vcm.c
172
src/vcm.c
|
|
@ -276,6 +276,12 @@ static int vcm_check_handle_reply(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|||
int rv = 0;
|
||||
|
||||
coordination_t* coordination = &facilities.coordination;
|
||||
|
||||
if (!coordination->session.req) {
|
||||
log_debug("[coordination] unknown reply context - session expired or another ITS-S rejected");
|
||||
return 1;
|
||||
}
|
||||
|
||||
CoordinationReply_t* reply = &vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.reply;
|
||||
|
||||
itss_time_lock();
|
||||
|
|
@ -283,6 +289,19 @@ static int vcm_check_handle_reply(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|||
itss_time_unlock();
|
||||
|
||||
if (neighbour->intersecting) {
|
||||
|
||||
if (reply->acceptedTrajectoriesIds.list.count == 0) {
|
||||
log_debug("[coordination] maneuver %lld rejected by %d", reply->requesterId, vcm->header.stationID);
|
||||
ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
|
||||
coordination->session.req = NULL;
|
||||
coordination->session.ts = itss_time_get();
|
||||
memset(coordination->session.affs, 0, sizeof(coordination->session.affs));
|
||||
memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs));
|
||||
coordination->session.n_affs_trjs = 0;
|
||||
neighbour->intersecting = false;
|
||||
neighbour->proposed = false;
|
||||
return 1;
|
||||
}
|
||||
for (int t = 0; t < reply->acceptedTrajectoriesIds.list.count; ++t) {
|
||||
int tid = *reply->acceptedTrajectoriesIds.list.array[t];
|
||||
if (tid > MC_TRAJECTORIES_N_MAX - 1) {
|
||||
|
|
@ -322,14 +341,13 @@ static int vcm_check_handle_reply(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|||
fin,
|
||||
now_us-neighbour->t_iid);
|
||||
|
||||
neighbour->intersecting = false;
|
||||
neighbour->proposed = false;
|
||||
|
||||
} else {
|
||||
log_info("[vc] received VCM.reply is response to another ITS-S VCM.request");
|
||||
}
|
||||
|
||||
neighbour->intersecting = false;
|
||||
neighbour->proposed = false;
|
||||
|
||||
return rv;
|
||||
}
|
||||
|
||||
|
|
@ -364,7 +382,6 @@ static int intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|||
memcpy(trajectoryA + 1, epv.trajectory.path, trajectoryA_len * sizeof(itss_st_t));
|
||||
itss_trajectory_unlock();
|
||||
|
||||
|
||||
trajectoryA[0].latitude = lat;
|
||||
trajectoryA[0].longitude = lon;
|
||||
trajectoryA[0].timestamp = now;
|
||||
|
|
@ -632,6 +649,143 @@ static void intersection_check(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|||
}
|
||||
}
|
||||
|
||||
static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||
|
||||
coordination_t* coordination = &facilities.coordination;
|
||||
|
||||
pthread_mutex_lock(&facilities.id.lock);
|
||||
uint32_t my_station_id = facilities.id.station_id;
|
||||
pthread_mutex_unlock(&facilities.id.lock);
|
||||
|
||||
int32_t lat, lon;
|
||||
itss_space_lock();
|
||||
itss_space_get();
|
||||
lat = epv.space.latitude;
|
||||
lon = epv.space.longitude;
|
||||
itss_space_unlock();
|
||||
|
||||
uint64_t now = itss_time_get();
|
||||
|
||||
TransportRequest_t* tr = NULL;
|
||||
FacilitiesIndication_t* fi = NULL;
|
||||
VCM_t* vcm_rep = calloc(1, sizeof(VCM_t));
|
||||
|
||||
int rv = 0;
|
||||
const uint16_t buf_len = 2048;
|
||||
uint8_t buf1[buf_len];
|
||||
|
||||
vcm_rep->header.messageID = 43;
|
||||
vcm_rep->header.protocolVersion = 1;
|
||||
vcm_rep->header.stationID = my_station_id;
|
||||
|
||||
vcm_rep->vcm.currentPosition.latitude = lat;
|
||||
vcm_rep->vcm.currentPosition.longitude = lon;
|
||||
asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
|
||||
|
||||
if (coordination->chain.id) {
|
||||
vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
|
||||
vcm_rep->vcm.chain->id = coordination->chain.id;
|
||||
vcm_rep->vcm.chain->link.buf = malloc(32);
|
||||
vcm_rep->vcm.chain->link.size = 32;
|
||||
memcpy(vcm_rep->vcm.chain->link.buf, coordination->chain.link, 32);
|
||||
vcm_rep->vcm.chain->area = calloc(1, sizeof(OCTET_STRING_t));
|
||||
vcm_rep->vcm.chain->area->buf = malloc(4);
|
||||
vcm_rep->vcm.chain->area->size = 4;
|
||||
}
|
||||
|
||||
vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
|
||||
ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
|
||||
|
||||
// Vehicle DimensionsDimensions
|
||||
mvc_rep->vehicleLength.vehicleLengthValue= facilities.vehicle.length;
|
||||
mvc_rep->vehicleLength.vehicleLengthConfidenceIndication = 0;
|
||||
mvc_rep->vehicleWidth = facilities.vehicle.width;
|
||||
|
||||
mvc_rep->negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
|
||||
mvc_rep->negotiation->present = CoordinationNegotiation_PR_reply;
|
||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.count = 0;
|
||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.size = 0;
|
||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.array = NULL;
|
||||
mvc_rep->negotiation->choice.reply.requesterId = vcm->header.stationID;
|
||||
mvc_rep->negotiation->choice.reply.nonce = vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.request.nonce;
|
||||
|
||||
asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_VCM, NULL, vcm_rep, buf1, buf_len);
|
||||
if (enc.encoded == -1) {
|
||||
log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||
rv = 1;
|
||||
goto cleanup;
|
||||
}
|
||||
ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
|
||||
|
||||
tr = calloc(1, sizeof(TransportRequest_t));
|
||||
tr->present = TransportRequest_PR_packet;
|
||||
tr->choice.packet.present = TransportPacketRequest_PR_btp;
|
||||
BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
|
||||
bpr->btpType = BTPType_btpB;
|
||||
bpr->id = itss_id(buf1, vcm_rep_len);
|
||||
bpr->gn.destinationAddress.buf = malloc(6);
|
||||
for (int i = 0; i < 6; ++i) {
|
||||
bpr->gn.destinationAddress.buf[i] = 0xff;
|
||||
}
|
||||
bpr->gn.destinationAddress.size = 6;
|
||||
bpr->gn.packetTransportType = PacketTransportType_shb;
|
||||
bpr->destinationPort = 2043;
|
||||
bpr->gn.trafficClass = 2;
|
||||
bpr->data.buf = malloc(vcm_rep_len);
|
||||
memcpy(bpr->data.buf, buf1, vcm_rep_len);
|
||||
bpr->data.size = vcm_rep_len;
|
||||
buf1[0] = 4;
|
||||
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf1+1, buf_len-1);
|
||||
if (enc.encoded == -1) {
|
||||
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||
rv = 1;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_TRANSPORT, bpr->id, "TR.packet.btp");
|
||||
|
||||
fi = calloc(1, sizeof(FacilitiesIndication_t));
|
||||
fi->present = FacilitiesIndication_PR_message;
|
||||
fi->choice.message.id = bpr->id;
|
||||
fi->choice.message.itsMessageType = 2043;
|
||||
fi->choice.message.data.size = bpr->data.size;
|
||||
fi->choice.message.data.buf = malloc(bpr->data.size);
|
||||
memcpy(fi->choice.message.data.buf, bpr->data.buf, bpr->data.size);
|
||||
buf1[0] = 4;
|
||||
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, buf1+1, buf_len-1);
|
||||
if (enc.encoded == -1) {
|
||||
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||
rv = 1;
|
||||
goto cleanup;
|
||||
}
|
||||
|
||||
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_APPLICATIONS, bpr->id, "FI.message");
|
||||
|
||||
coordination->t_last_send_vcm = now;
|
||||
|
||||
if (facilities.logging.recorder) {
|
||||
uint16_t buffer_len = 2048;
|
||||
uint8_t buffer[buffer_len];
|
||||
int e = itss_management_record_packet_sdu(
|
||||
buffer,
|
||||
buffer_len,
|
||||
bpr->data.buf,
|
||||
bpr->data.size,
|
||||
bpr->id,
|
||||
itss_time_get(),
|
||||
ITSS_FACILITIES,
|
||||
true);
|
||||
if (e != -1) {
|
||||
itss_queue_send(facilities.tx_queue, buffer, e, ITSS_MANAGEMENT, bpr->id, "MReq.packet.set");
|
||||
}
|
||||
}
|
||||
|
||||
cleanup:
|
||||
ASN_STRUCT_FREE(asn_DEF_VCM, vcm_rep);
|
||||
ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
|
||||
ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
|
||||
}
|
||||
|
||||
int vcm_check(VCM_t* vcm) {
|
||||
coordination_t* coordination = &facilities.coordination;
|
||||
|
||||
|
|
@ -673,7 +827,11 @@ int vcm_check(VCM_t* vcm) {
|
|||
if (mvc->negotiation) {
|
||||
switch (mvc->negotiation->present) {
|
||||
case CoordinationNegotiation_PR_request:
|
||||
vcm_check_handle_request(vcm, neighbour);
|
||||
if (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) { /* in maneuver */
|
||||
vcm_reject(vcm, neighbour);
|
||||
} else {
|
||||
vcm_check_handle_request(vcm, neighbour);
|
||||
}
|
||||
break;
|
||||
|
||||
case CoordinationNegotiation_PR_reply:
|
||||
|
|
@ -688,9 +846,7 @@ int vcm_check(VCM_t* vcm) {
|
|||
(coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) || /* issued request */
|
||||
now < neighbour->t_proposal + MC_RESOLUTION_TIMEOUT /* issued reply */
|
||||
) { /* in maneuver */
|
||||
log_debug("[coordination] ignoring VCM - currently in maneuver");
|
||||
// TODO dont ignore-> reject
|
||||
|
||||
log_debug("[coordination] ignoring VCM from %d - currently in maneuver", vcm->header.stationID);
|
||||
} else { /* not in maneuver OR timeout reached */
|
||||
if (coordination->session.req) { /* clear previous request if exists */
|
||||
ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
|
||||
|
|
|
|||
Loading…
Reference in New Issue