From d495925f2e23819efe4e1c1840acd8963577b2ae Mon Sep 17 00:00:00 2001 From: Marco Correia Date: Mon, 27 Dec 2021 18:01:28 +0000 Subject: [PATCH] Changed needed variables to static (CP Service) --- src/cpm.c | 21 +++++++++++---------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/src/cpm.c b/src/cpm.c index 44c063e..f3aaadc 100644 --- a/src/cpm.c +++ b/src/cpm.c @@ -479,7 +479,7 @@ long rotate_y(long x, long y) { return (long)(x * roadRotationSin + y * roadRotationCos); } -void set_values(int i, int j, uint64_t timestamp, CPM_t* cpm_tx, long history_list[NOF_OBJECTS][5], int valid_array[]){ +static void set_values(int i, int j, uint64_t timestamp, CPM_t* cpm_tx, long history_list[NOF_OBJECTS][4], int valid_array[], uint64_t history_timestamp[]){ /* Fill CPM */ cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array[j] = calloc(1, sizeof(PerceivedObject_t)); cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.array[j]->objectID = (long)as_objects[i].u8_objectID; @@ -505,11 +505,11 @@ void set_values(int i, int j, uint64_t timestamp, CPM_t* cpm_tx, long history_li history_list[(long)as_objects[i].u8_objectID][1] = (long)as_objects[i].f_yPoint * 100; // yPoint (Distance) history_list[(long)as_objects[i].u8_objectID][2] = (long)as_objects[i].f_xSpeed * 100; // xSpeed (Speed) history_list[(long)as_objects[i].u8_objectID][3] = (long)as_objects[i].f_ySpeed * 100; // ySpeed (Speed) - history_list[(long)as_objects[i].u8_objectID][4] = timestamp; // Time stamp of detected object + history_timestamp[(long)as_objects[i].u8_objectID] = timestamp; // Time stamp of detected object } -static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len, uint8_t *fdi_oer, uint32_t *fdi_len, long history_list[NOF_OBJECTS][5], int valid_array[]) { +static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len, uint8_t *fdi_oer, uint32_t *fdi_len, long history_list[NOF_OBJECTS][4], int valid_array[], uint64_t history_timestamp[]) { /* Variables */ CPM_t* cpm_tx = calloc(1, sizeof(CPM_t)); @@ -580,7 +580,7 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len, for(int i = 0; i < cpm_tx->cpm.cpmParameters.perceivedObjectContainer->list.count;i++){ if(temp[(long)as_objects[i].u8_objectID] == 0 ){ // The object is going to be added without comparison (It is a new object) (valid_array[id] = 0) - set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array); + set_values(i,j,generationDeltaTime,cpm_tx,history_list,valid_array,history_timestamp); j++; }else{ // The object is going to be compared (It was included in previous CPMs) (valid_array[id] = 1) @@ -599,8 +599,8 @@ static int mk_cpm(facilities_t* facilities, uint8_t *bdr_oer, uint32_t *bdr_len, // Requirements to include the object in the CPM (> 4 m or > 0.5 m/s or > 4ยบ or > T_GenCpmMax) - if(abs(euclidian_dist) > 400 || abs(abs_speed - abs_speed_hist) > 50 || abs(angle_diff) > 4 || abs(generationDeltaTime - history_list[i][4]) >= facilities->dissemination->T_GenCpmMax){ - set_values(i,j,generationDeltaTime,cpm_tx, history_list, valid_array); + if(abs(euclidian_dist) > 400 || abs(abs_speed - abs_speed_hist) > 50 || abs(angle_diff) > 4 || abs(generationDeltaTime - history_timestamp[i]) >= facilities->dissemination->T_GenCpmMax){ + set_values(i,j,generationDeltaTime,cpm_tx, history_list, valid_array,history_timestamp); j++; }else{ //The object is not included but is valid for comparison in the upcoming CPMs @@ -652,12 +652,14 @@ void *cp_service(void *fc){ u_int8_t au8_readBuffer[READ_BUFFER_SIZE]; u_int8_t au8_readTcp[READ_BUFFER_SIZE]; bool is_radar_connected; - long history_list[NOF_OBJECTS][5]; - int valid_array[NOF_OBJECTS]; + static long history_list[NOF_OBJECTS][4]; + static int valid_array[NOF_OBJECTS]; + static uint64_t history_timestamp[NOF_OBJECTS]; facilities_t *facilities = (facilities_t *) fc; memset(history_list, 0, sizeof(history_list)); memset(valid_array, 0, sizeof(valid_array)); + memset(history_timestamp, 0, sizeof(history_timestamp)); uint8_t tr_oer[2048]; uint8_t fi_oer[2048]; @@ -712,7 +714,6 @@ void *cp_service(void *fc){ /* Reads from the radar */ i32_recv_bytes = recv(raw_socket.raw_fd, &au8_readBuffer, READ_BUFFER_SIZE, 0); - syslog_debug("DEBUG : %d", i32_recv_bytes); if (dissemination_check(facilities->dissemination, &facilities->epv,1) && facilities->dissemination->active){ if(is_radar_connected){ @@ -720,7 +721,7 @@ void *cp_service(void *fc){ parse_input(au8_readBuffer,i32_recv_bytes); /* CPM build and encoding to BDR and FDI */ - if(mk_cpm(facilities, bpr->data.buf, (uint32_t *) &bpr->data.size, fmi->data.buf, (uint32_t *) &fmi->data.size, history_list, valid_array) == 1) + if(mk_cpm(facilities, bpr->data.buf, (uint32_t *) &bpr->data.size, fmi->data.buf, (uint32_t *) &fmi->data.size, history_list, valid_array, history_timestamp) == 1) continue; /* Encode TransportRequest */