RSU, OBU CAM stuff
This commit is contained in:
emanuel
parent
4f2a6e6fea
commit
7caf37b3f3
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@ -10,9 +10,9 @@ TARGET_LINK_LIBRARIES(it2s-itss-facilities
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-lit2s-asn-itss-facilities
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-lit2s-asn-itss-transport
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-lzmq
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-ltoml
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-lit2s-gps
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-lpthread
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-ltoml
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-lit2s-asn-camv2
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-lit2s-asn-ivim
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-lit2s-asn-denmv2
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211
src/cam.c
211
src/cam.c
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@ -2,6 +2,7 @@
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#include "facilities.h"
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#include <itss-transport/BTPDataRequest.h>
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#include <itss-transport/BTPDataIndication.h>
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#include <camv2/CAM.h>
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#include <it2s-gps.h>
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@ -55,56 +56,56 @@ static SpeedConfidence_t getSpeedConfidence(uint32_t conf) {
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}
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static int mk_cam(uint8_t *cam, uint32_t *cam_len) {
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static int mk_cam(facilities_t* facilities, uint8_t *cam, uint32_t *cam_len) {
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int rv = 0;
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struct timespec st;
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if (clock_gettime(CLOCK_REALTIME, &st)) {
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struct timespec systemtime;
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if (clock_gettime(CLOCK_REALTIME, &systemtime)) {
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syslog_emerg("clock_gettime() failed");
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}
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struct it2s_gps_data gps_data;
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it2s_gps_read(&gps_data);
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CAM_t *cam_tx = calloc(1, sizeof(CAM_t));
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cam_tx->header.protocolVersion = 2;
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cam_tx->header.messageID = ItsPduHeader__messageID_cam;
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cam_tx->header.stationID = 0;
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cam_tx->cam.camParameters.basicContainer.stationType = StationType_passengerCar;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 20;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 46;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable;
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cam_tx->cam.camParameters.basicContainer.stationType = facilities->station_type;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable;
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if (facilities->station_type != StationType_roadSideUnit) {
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cam_tx->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleWidth = 20;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthValue = 46;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.vehicleLength.vehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationValue = LongitudinalAccelerationValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.longitudinalAcceleration.longitudinalAccelerationConfidence = AccelerationConfidence_unavailable;
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cam_tx->cam.camParameters.lowFrequencyContainer = calloc(1, sizeof(struct LowFrequencyContainer));
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cam_tx->cam.camParameters.lowFrequencyContainer->present = LowFrequencyContainer_PR_basicVehicleContainerLowFrequency;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.vehicleRole = VehicleRole_default;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.exteriorLights.buf = calloc(1, sizeof(uint8_t) * 1);
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.exteriorLights.buf[0] = 1 << 6;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.exteriorLights.bits_unused = 5;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.exteriorLights.size = 1;
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*(cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.exteriorLights.buf) = 0x00;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.count = 0;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.size = 0;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.driveDirection = DriveDirection_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureValue = CurvatureValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.curvature.curvatureConfidence = CurvatureConfidence_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateValue = YawRateValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.yawRate.yawRateConfidence = YawRateConfidence_unavailable;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.count = 1;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.size = 1;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array = calloc(1, sizeof(struct PathPoint*));
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0] = calloc(1, sizeof(struct PathPoint));
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0]->pathDeltaTime = calloc(1, sizeof(PathDeltaTime_t));
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*(cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0]->pathDeltaTime) = PathDeltaTime_tenMilliSecondsInPast;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0]->pathPosition.deltaAltitude = DeltaAltitude_unavailable;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0]->pathPosition.deltaLatitude = DeltaLatitude_unavailable;
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cam_tx->cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency.pathHistory.list.array[0]->pathPosition.deltaLongitude = DeltaLongitude_unavailable;
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if (!isnan(gps_data.gps_track)) {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = ((uint32_t)(gps_data.gps_track * 10));
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = getHeadingConfidence((uint32_t)(gps_data.gps_epd * 10));
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} else {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = HeadingValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable;
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struct timespec systemtime;
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if (clock_gettime(CLOCK_REALTIME, &systemtime)) {
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syslog_emerg("clock_gettime() failed");
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}
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if (!isnan(gps_data.gps_speed)) {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = ((uint32_t)(gps_data.gps_speed * 100)); // cm/s
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = getSpeedConfidence((uint32_t)(gps_data.gps_eps * 100));
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} else {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = SpeedValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable;
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}
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} else {
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cam_tx->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_rsuContainerHighFrequency;
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}
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long generationdeltatime = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
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@ -112,53 +113,33 @@ static int mk_cam(uint8_t *cam, uint32_t *cam_len) {
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generationdeltatime = generationdeltatime % 64536;
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cam_tx->cam.generationDeltaTime = generationdeltatime;
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struct it2s_gps_data gps_data;
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it2s_gps_read(&gps_data);
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if (!isnan(gps_data.gps_altitude)) {
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = (int32_t)((gps_data.gps_altitude) * 10);
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = getAltitudeConfidence(gps_data.gps_epv);
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} else {
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = AltitudeValue_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeValue = AltitudeValue_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.altitude.altitudeConfidence = AltitudeConfidence_unavailable;
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}
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if (!isnan(gps_data.gps_latitude)) {
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cam_tx->cam.camParameters.basicContainer.referencePosition.latitude = (int32_t)((gps_data.gps_latitude) * 10000000);
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} else {
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cam_tx->cam.camParameters.basicContainer.referencePosition.latitude = DeltaLatitude_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.latitude = DeltaLatitude_unavailable;
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}
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if (!isnan(gps_data.gps_longitude)) {
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cam_tx->cam.camParameters.basicContainer.referencePosition.longitude = (int32_t)((gps_data.gps_longitude) * 10000000);
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} else {
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cam_tx->cam.camParameters.basicContainer.referencePosition.longitude = Longitude_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.longitude = Longitude_unavailable;
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}
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cam_tx->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMinorConfidence = SemiAxisLength_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorConfidence = SemiAxisLength_unavailable;
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cam_tx->cam.camParameters.basicContainer.referencePosition.positionConfidenceEllipse.semiMajorOrientation = HeadingValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.present = HighFrequencyContainer_PR_basicVehicleContainerHighFrequency;
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if (!isnan(gps_data.gps_track)) {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = ((uint32_t)(gps_data.gps_track * 10));
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = getHeadingConfidence((uint32_t)(gps_data.gps_epd * 10));
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} else {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingValue = HeadingValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.heading.headingConfidence = HeadingConfidence_unavailable;
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}
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if (!isnan(gps_data.gps_speed)) {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = ((uint32_t)(gps_data.gps_speed * 100)); // cm/s
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = getSpeedConfidence((uint32_t)(gps_data.gps_eps * 100));
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} else {
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedValue = SpeedValue_unavailable;
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cam_tx->cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency.speed.speedConfidence = SpeedConfidence_unavailable;
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}
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asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_CAM, NULL, cam_tx, cam, 256);
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if (enc.encoded == -1) {
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syslog_err("[facilities] [ca] failed encoding CAM (%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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@ -171,6 +152,82 @@ cleanup:
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}
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lightship_t* lightship_init() {
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lightship_t* lightship = (lightship_t*) calloc(1, sizeof(lightship_t));
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pthread_mutex_init(&lightship->lock, NULL);
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return lightship;
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}
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int lightship_check(lightship_t* lightship) {
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int rv = 0;
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struct timespec systemtime;
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clock_gettime(CLOCK_REALTIME, &systemtime);
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long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
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now -= 1072915200000;
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pthread_mutex_lock(&lightship->lock);
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if (lightship->type == StationType_roadSideUnit) { // RSU
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if (lightship->is_vehicle_near && now > lightship->next_cam) {
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rv = 1;
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}
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} else { // Vehicle
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if (now > lightship->next_cam) {
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rv = 1;
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}
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}
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pthread_mutex_unlock(&lightship->lock);
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return rv;
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}
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void lightship_reset_timer(lightship_t* lightship) {
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struct timespec systemtime;
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clock_gettime(CLOCK_REALTIME, &systemtime);
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long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
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now -= 1072915200000;
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pthread_mutex_lock(&lightship->lock);
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if (lightship->type != StationType_roadSideUnit) { // Vehicle
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lightship->next_cam = now + VEHICLE_GEN_CAM_MAX;
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} else { // RSU
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if (now > lightship->last_vehicle + RSU_VEHICLE_PERMANENCE) {
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lightship->is_vehicle_near = false;
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}
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lightship->next_cam = now + RSU_GEN_CAM_MIN;
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}
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pthread_mutex_unlock(&lightship->lock);
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}
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int check_cam(void* fc, BTPDataIndication_t *bdi, CAM_t* cam) {
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int rv = 0;
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facilities_t *facilities = (facilities_t*) fc;
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struct timespec systemtime;
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clock_gettime(CLOCK_REALTIME, &systemtime);
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long now = (long)((systemtime.tv_sec + LEAP_SECONDS) * 1000 + systemtime.tv_nsec / 1E6);
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now -= 1072915200000;
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pthread_mutex_lock(&facilities->lightship->lock);
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if (facilities->lightship->type == StationType_roadSideUnit) {
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if (bdi->stationType != StationType_roadSideUnit && bdi->isNeighbour) {
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facilities->lightship->last_vehicle = now;
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facilities->lightship->is_vehicle_near = true;
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}
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}
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pthread_mutex_unlock(&facilities->lightship->lock);
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return rv;
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}
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void *ca_service(void *fc) {
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int rv = 0;
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@ -199,22 +256,26 @@ void *ca_service(void *fc) {
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uint8_t bdr_oer[256];
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bdr_oer[0] = 4; // Facilities
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while (!facilities->exit) {
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rv = mk_cam(bdr->data.buf, (uint32_t *) &bdr->data.size);
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if (rv) {
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syslog_err("[facilities] make cam failed (%d)", rv);
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continue;
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usleep(1000*50);
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if ( lightship_check(facilities->lightship) ) {
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rv = mk_cam(facilities, bdr->data.buf, (uint32_t *) &bdr->data.size);
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if (rv) {
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continue;
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}
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asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_BTPDataRequest, NULL, bdr, bdr_oer+1, 255);
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if (enc.encoded == -1) {
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syslog_err("[facilities] encoding BTPDataRequest for cam failed");
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continue;
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}
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queue_add(facilities->tx_queue, bdr_oer, enc.encoded+1, 3);
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pthread_cond_signal(&facilities->tx_queue->trigger);
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lightship_reset_timer(facilities->lightship);
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}
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asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_BTPDataRequest, NULL, bdr, bdr_oer+1, 255);
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if (enc.encoded == -1) {
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syslog_err("[facilities] encoding BTPDataRequest for cam failed");
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continue;
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}
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queue_add(facilities->tx_queue, bdr_oer, enc.encoded+1, 3);
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pthread_cond_signal(&facilities->tx_queue->trigger);
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usleep(1000*1000);
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}
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ASN_STRUCT_FREE(asn_DEF_BTPDataRequest, bdr);
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32
src/cam.h
32
src/cam.h
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@ -2,7 +2,37 @@
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#define FACILITIES_CAM_H
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#include <stdint.h>
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#include <stdlib.h>
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#include <pthread.h>
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#include <stdbool.h>
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void *ca_service(void *fc);
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#include <camv2/CAM.h>
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#include <itss-transport/BTPDataIndication.h>
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#define VEHICLE_GEN_CAM_MIN 100
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#define VEHICLE_GEN_CAM_MAX 1000
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#define RSU_GEN_CAM_MIN 1000
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#define RSU_VEHICLE_PERMANENCE 5000
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typedef struct lightship {
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pthread_mutex_t lock;
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uint8_t type;
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uint64_t next_cam;
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bool is_vehicle_near;
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uint64_t last_vehicle;
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} lightship_t;
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lightship_t* lightship_init();
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int lightship_check(lightship_t *lightship);
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void lightship_reset_timer(lightship_t *lightship);
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int check_cam(void* fc, BTPDataIndication_t* bdi, CAM_t* cam);
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void* ca_service(void* fc);
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#endif
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@ -1,6 +1,6 @@
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#ifndef ITSS_CONFIG_H
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#define ITSS_CONFIG_H
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int itss_config(void *itss_s, char * config_file);
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int itss_config(void *facilities_s, char * config_file);
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||||
#endif
|
||||
|
|
|
|||
|
|
@ -77,18 +77,29 @@ static int transport_indication(facilities_t *facilities, void* responder, uint8
|
|||
}
|
||||
|
||||
// Manage message
|
||||
if (bdi->destinationPort == Port_denm) {
|
||||
#ifdef DEBUG
|
||||
uint8_t* xml_denm = malloc(4096);
|
||||
asn_enc_rval_t rve = xer_encode_to_buffer(xml_denm, 4096, 0x02, &asn_DEF_DENM, its_msg);
|
||||
syslog_debug("DENM XER %d: %.*s", (int)rve.encoded, (int)rve.encoded , xml_denm);
|
||||
free(xml_denm);
|
||||
#endif
|
||||
switch (bdi->destinationPort) {
|
||||
case Port_cam:
|
||||
|
||||
event_manage(facilities->den, its_msg);
|
||||
if (facilities->station_type == 15) { // Currently only RSUs need to check CAMs
|
||||
check_cam(facilities, bdi, its_msg);
|
||||
}
|
||||
|
||||
break;
|
||||
case Port_denm:
|
||||
#ifdef DEBUG
|
||||
uint8_t* xml_denm = malloc(4096);
|
||||
asn_enc_rval_t rve = xer_encode_to_buffer(xml_denm, 4096, 0x02, &asn_DEF_DENM, its_msg);
|
||||
syslog_debug("DENM XER %d: %.*s", (int)rve.encoded, (int)rve.encoded , xml_denm);
|
||||
free(xml_denm);
|
||||
#endif
|
||||
event_manage(facilities->den, its_msg);
|
||||
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
// Forward to app
|
||||
// Forward to application
|
||||
fdi = calloc(1, sizeof(FacilitiesDataIndication_t));
|
||||
|
||||
fdi->itssMessageType = bdi->destinationPort;
|
||||
|
|
@ -356,6 +367,9 @@ int main() {
|
|||
|
||||
facilities.tx_queue = queue_init();
|
||||
|
||||
facilities.lightship = lightship_init();
|
||||
facilities.lightship->type = facilities.station_type;
|
||||
|
||||
facilities.den = calloc(1, sizeof(den_t));
|
||||
|
||||
// Tx
|
||||
|
|
|
|||
|
|
@ -4,6 +4,7 @@
|
|||
#include <pthread.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
#include "cam.h"
|
||||
#include "denm.h"
|
||||
#include "queue.h"
|
||||
|
||||
|
|
@ -22,7 +23,10 @@ typedef struct facilities {
|
|||
// Transmitter
|
||||
queue_t* tx_queue;
|
||||
|
||||
// DENM
|
||||
// CA
|
||||
lightship_t* lightship;
|
||||
|
||||
// DEN
|
||||
den_t *den;
|
||||
|
||||
int station_type;
|
||||
|
|
|
|||
Loading…
Reference in New Issue