VCM: reject VCM after checking it is for ego
This commit is contained in:
emanuel
parent
86056eb304
commit
62ae51845a
336
src/vcm.c
336
src/vcm.c
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@ -46,6 +46,167 @@ static int do_paths_intersect(
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return 0;
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}
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static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
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coordination_t* coordination = &facilities.coordination;
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pthread_mutex_lock(&facilities.id.lock);
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uint32_t my_station_id = facilities.id.station_id;
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pthread_mutex_unlock(&facilities.id.lock);
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int32_t lat, lon;
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itss_space_lock();
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itss_space_get();
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lat = epv.space.latitude;
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lon = epv.space.longitude;
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itss_space_unlock();
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uint64_t now = itss_time_get();
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itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
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ssize_t trajectoryA_len = 0;
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TransportRequest_t* tr = NULL;
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FacilitiesIndication_t* fi = NULL;
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VCM_t* vcm_rep = calloc(1, sizeof(VCM_t));
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int rv = 0;
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const uint16_t buf_len = 2048;
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uint8_t buf1[buf_len];
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vcm_rep->header.messageID = 43;
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vcm_rep->header.protocolVersion = 1;
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vcm_rep->header.stationID = my_station_id;
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vcm_rep->vcm.currentPosition.latitude = lat;
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vcm_rep->vcm.currentPosition.longitude = lon;
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asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
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if (coordination->chain.id) {
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vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
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vcm_rep->vcm.chain->id = coordination->chain.id;
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vcm_rep->vcm.chain->link.buf = malloc(32);
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vcm_rep->vcm.chain->link.size = 32;
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memcpy(vcm_rep->vcm.chain->link.buf, coordination->chain.link, 32);
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vcm_rep->vcm.chain->area = calloc(1, sizeof(OCTET_STRING_t));
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vcm_rep->vcm.chain->area->buf = malloc(4);
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vcm_rep->vcm.chain->area->size = 4;
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}
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vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
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ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
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// Vehicle DimensionsDimensions
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mvc_rep->vehicleLength.vehicleLengthValue= facilities.vehicle.length;
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mvc_rep->vehicleLength.vehicleLengthConfidenceIndication = 0;
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mvc_rep->vehicleWidth = facilities.vehicle.width;
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itss_trajectory_lock();
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trajectoryA_len = epv.trajectory.len;
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memcpy(trajectoryA + 1, epv.trajectory.path, trajectoryA_len * sizeof(itss_st_t));
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itss_trajectory_unlock();
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trajectoryA[0].latitude = lat;
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trajectoryA[0].longitude = lon;
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trajectoryA[0].timestamp = now;
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++trajectoryA_len;
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// Planned trajectory
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mvc_rep->plannedTrajectory.list.count = trajectoryA_len - 1;
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mvc_rep->plannedTrajectory.list.size = (trajectoryA_len - 1) * sizeof(void*);
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mvc_rep->plannedTrajectory.list.array = malloc((trajectoryA_len - 1) * sizeof(void*));
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for (int i = 0; i < trajectoryA_len - 1; ++i) {
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mvc_rep->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
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mvc_rep->plannedTrajectory.list.array[i]->deltaLatitude = trajectoryA[i+1].latitude - trajectoryA[i].latitude;
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mvc_rep->plannedTrajectory.list.array[i]->deltaLongitude = trajectoryA[i+1].longitude - trajectoryA[i].longitude;
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mvc_rep->plannedTrajectory.list.array[i]->deltaTime = trajectoryA[i+1].timestamp - trajectoryA[i].timestamp;
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}
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mvc_rep->negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
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mvc_rep->negotiation->present = CoordinationNegotiation_PR_reply;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.count = 0;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.size = 0;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.array = NULL;
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mvc_rep->negotiation->choice.reply.requesterId = vcm->header.stationID;
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mvc_rep->negotiation->choice.reply.nonce = vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.request.nonce;
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asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_VCM, NULL, vcm_rep, buf1, buf_len);
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if (enc.encoded == -1) {
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log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
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tr = calloc(1, sizeof(TransportRequest_t));
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tr->present = TransportRequest_PR_packet;
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tr->choice.packet.present = TransportPacketRequest_PR_btp;
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BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
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bpr->btpType = BTPType_btpB;
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bpr->id = itss_id(buf1, vcm_rep_len);
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bpr->gn.destinationAddress.buf = malloc(6);
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for (int i = 0; i < 6; ++i) {
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bpr->gn.destinationAddress.buf[i] = 0xff;
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}
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bpr->gn.destinationAddress.size = 6;
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bpr->gn.packetTransportType = PacketTransportType_shb;
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bpr->destinationPort = 2043;
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bpr->gn.trafficClass = 2;
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bpr->data.buf = malloc(vcm_rep_len);
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memcpy(bpr->data.buf, buf1, vcm_rep_len);
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bpr->data.size = vcm_rep_len;
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buf1[0] = 4;
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enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf1+1, buf_len-1);
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if (enc.encoded == -1) {
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log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_TRANSPORT, bpr->id, "TR.packet.btp");
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fi = calloc(1, sizeof(FacilitiesIndication_t));
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fi->present = FacilitiesIndication_PR_message;
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fi->choice.message.id = bpr->id;
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fi->choice.message.itsMessageType = 2043;
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fi->choice.message.data.size = bpr->data.size;
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fi->choice.message.data.buf = malloc(bpr->data.size);
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memcpy(fi->choice.message.data.buf, bpr->data.buf, bpr->data.size);
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buf1[0] = 4;
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enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, buf1+1, buf_len-1);
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if (enc.encoded == -1) {
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log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_APPLICATIONS, bpr->id, "FI.message");
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coordination->t_last_send_vcm = now;
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if (facilities.logging.recorder) {
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uint16_t buffer_len = 2048;
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uint8_t buffer[buffer_len];
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int e = itss_management_record_packet_sdu(
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buffer,
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buffer_len,
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bpr->data.buf,
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bpr->data.size,
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bpr->id,
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itss_time_get(),
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ITSS_FACILITIES,
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true);
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if (e != -1) {
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itss_queue_send(facilities.tx_queue, buffer, e, ITSS_MANAGEMENT, bpr->id, "MReq.packet.set");
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}
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_VCM, vcm_rep);
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ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
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ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
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}
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static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
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int rv = 0;
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@ -72,6 +233,14 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
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return 0;
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}
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uint64_t now = itss_time_get();
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if (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) { /* in maneuver */
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log_debug("[vc] rejecting VCM from %d - currently in maneuver", vcm->header.stationID);
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vcm_reject(vcm, neighbour);
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return 1;
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}
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const ssize_t buf_len = 512;
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uint8_t buf1[buf_len], buf2[buf_len];
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@ -136,12 +305,10 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
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itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
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ssize_t trajectoryA_len = 0;
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uint64_t now = itss_time_get();
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neighbour->proposed = true;
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neighbour->t_proposal = now;
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vcm_rep = calloc(1, sizeof(VCM_t));
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vcm_rep->header.messageID = 43;
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@ -667,166 +834,6 @@ static void intersection_check(VCM_t* vcm, mc_neighbour_s* neighbour) {
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}
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}
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static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
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coordination_t* coordination = &facilities.coordination;
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pthread_mutex_lock(&facilities.id.lock);
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uint32_t my_station_id = facilities.id.station_id;
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pthread_mutex_unlock(&facilities.id.lock);
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int32_t lat, lon;
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itss_space_lock();
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itss_space_get();
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lat = epv.space.latitude;
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lon = epv.space.longitude;
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itss_space_unlock();
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uint64_t now = itss_time_get();
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itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
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ssize_t trajectoryA_len = 0;
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TransportRequest_t* tr = NULL;
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FacilitiesIndication_t* fi = NULL;
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VCM_t* vcm_rep = calloc(1, sizeof(VCM_t));
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int rv = 0;
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const uint16_t buf_len = 2048;
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uint8_t buf1[buf_len];
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vcm_rep->header.messageID = 43;
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vcm_rep->header.protocolVersion = 1;
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vcm_rep->header.stationID = my_station_id;
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vcm_rep->vcm.currentPosition.latitude = lat;
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vcm_rep->vcm.currentPosition.longitude = lon;
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asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
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if (coordination->chain.id) {
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vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
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vcm_rep->vcm.chain->id = coordination->chain.id;
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vcm_rep->vcm.chain->link.buf = malloc(32);
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vcm_rep->vcm.chain->link.size = 32;
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memcpy(vcm_rep->vcm.chain->link.buf, coordination->chain.link, 32);
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vcm_rep->vcm.chain->area = calloc(1, sizeof(OCTET_STRING_t));
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vcm_rep->vcm.chain->area->buf = malloc(4);
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vcm_rep->vcm.chain->area->size = 4;
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}
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vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
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ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
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// Vehicle DimensionsDimensions
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mvc_rep->vehicleLength.vehicleLengthValue= facilities.vehicle.length;
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mvc_rep->vehicleLength.vehicleLengthConfidenceIndication = 0;
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mvc_rep->vehicleWidth = facilities.vehicle.width;
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itss_trajectory_lock();
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trajectoryA_len = epv.trajectory.len;
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memcpy(trajectoryA + 1, epv.trajectory.path, trajectoryA_len * sizeof(itss_st_t));
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itss_trajectory_unlock();
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trajectoryA[0].latitude = lat;
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trajectoryA[0].longitude = lon;
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trajectoryA[0].timestamp = now;
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++trajectoryA_len;
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// Planned trajectory
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mvc_rep->plannedTrajectory.list.count = trajectoryA_len - 1;
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mvc_rep->plannedTrajectory.list.size = (trajectoryA_len - 1) * sizeof(void*);
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mvc_rep->plannedTrajectory.list.array = malloc((trajectoryA_len - 1) * sizeof(void*));
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for (int i = 0; i < trajectoryA_len - 1; ++i) {
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mvc_rep->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
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mvc_rep->plannedTrajectory.list.array[i]->deltaLatitude = trajectoryA[i+1].latitude - trajectoryA[i].latitude;
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mvc_rep->plannedTrajectory.list.array[i]->deltaLongitude = trajectoryA[i+1].longitude - trajectoryA[i].longitude;
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mvc_rep->plannedTrajectory.list.array[i]->deltaTime = trajectoryA[i+1].timestamp - trajectoryA[i].timestamp;
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}
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mvc_rep->negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
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mvc_rep->negotiation->present = CoordinationNegotiation_PR_reply;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.count = 0;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.size = 0;
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mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.array = NULL;
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mvc_rep->negotiation->choice.reply.requesterId = vcm->header.stationID;
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mvc_rep->negotiation->choice.reply.nonce = vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.request.nonce;
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asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_VCM, NULL, vcm_rep, buf1, buf_len);
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if (enc.encoded == -1) {
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log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
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tr = calloc(1, sizeof(TransportRequest_t));
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tr->present = TransportRequest_PR_packet;
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tr->choice.packet.present = TransportPacketRequest_PR_btp;
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BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
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bpr->btpType = BTPType_btpB;
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bpr->id = itss_id(buf1, vcm_rep_len);
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bpr->gn.destinationAddress.buf = malloc(6);
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for (int i = 0; i < 6; ++i) {
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bpr->gn.destinationAddress.buf[i] = 0xff;
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}
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bpr->gn.destinationAddress.size = 6;
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bpr->gn.packetTransportType = PacketTransportType_shb;
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bpr->destinationPort = 2043;
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bpr->gn.trafficClass = 2;
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bpr->data.buf = malloc(vcm_rep_len);
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memcpy(bpr->data.buf, buf1, vcm_rep_len);
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bpr->data.size = vcm_rep_len;
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buf1[0] = 4;
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enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf1+1, buf_len-1);
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if (enc.encoded == -1) {
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log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_TRANSPORT, bpr->id, "TR.packet.btp");
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fi = calloc(1, sizeof(FacilitiesIndication_t));
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fi->present = FacilitiesIndication_PR_message;
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fi->choice.message.id = bpr->id;
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fi->choice.message.itsMessageType = 2043;
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fi->choice.message.data.size = bpr->data.size;
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fi->choice.message.data.buf = malloc(bpr->data.size);
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memcpy(fi->choice.message.data.buf, bpr->data.buf, bpr->data.size);
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buf1[0] = 4;
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enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, buf1+1, buf_len-1);
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if (enc.encoded == -1) {
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log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
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rv = 1;
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goto cleanup;
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}
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itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_APPLICATIONS, bpr->id, "FI.message");
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coordination->t_last_send_vcm = now;
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if (facilities.logging.recorder) {
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uint16_t buffer_len = 2048;
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uint8_t buffer[buffer_len];
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int e = itss_management_record_packet_sdu(
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buffer,
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buffer_len,
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bpr->data.buf,
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bpr->data.size,
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bpr->id,
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itss_time_get(),
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ITSS_FACILITIES,
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true);
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if (e != -1) {
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itss_queue_send(facilities.tx_queue, buffer, e, ITSS_MANAGEMENT, bpr->id, "MReq.packet.set");
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}
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}
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cleanup:
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ASN_STRUCT_FREE(asn_DEF_VCM, vcm_rep);
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ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
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ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
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}
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int vcm_check(VCM_t* vcm) {
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coordination_t* coordination = &facilities.coordination;
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@ -869,12 +876,7 @@ int vcm_check(VCM_t* vcm) {
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if (mvc->negotiation) {
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switch (mvc->negotiation->present) {
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case CoordinationNegotiation_PR_request:
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if (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) { /* in maneuver */
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log_debug("[vc] rejecting VCM from %d - currently in maneuver", vcm->header.stationID);
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vcm_reject(vcm, neighbour);
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} else {
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vcm_check_handle_request(vcm, neighbour);
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}
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break;
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case CoordinationNegotiation_PR_reply:
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Reference in New Issue