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DCM comm efforts

This commit is contained in:
emanuel 2022-02-14 18:35:44 +00:00
parent 158da9f831
commit eea1f89a55
1 changed files with 213 additions and 34 deletions
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247
src/dcm.c
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@ -49,21 +49,19 @@ static int are_vehicles_intersecting(
return 0; return 0;
} }
int dcm_check(void* fc, DCM_t* dcm) { static int dcm_check_handle_request(facilities_t* facilities, DCM_t* dcm) {
facilities_t* facilities = (facilities_t*) fc;
int rv = 0; int rv = 0;
DCM_t* dcm_req = NULL; CoordinationRequest_t* coo_req = &dcm->dcm.negotiation->choice.request;
DCM_t* dcm_rep = NULL;
TransportRequest_t* tr = NULL; TransportRequest_t* tr = NULL;
const ssize_t buf_len = 512; const ssize_t buf_len = 512;
uint8_t buf[buf_len]; uint8_t buf[buf_len];
it2s_tender_st_s trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */ it2s_tender_st_s trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
it2s_tender_st_s trajectoryB[TRAJECTORY_MAX_LEN+1]; /* neighbour trajectory */ ssize_t trajectoryA_len = 0;
uint16_t trajectoryA_len = 0;
uint16_t trajectoryB_len = 0;
uint64_t now = it2s_tender_get_clock(&facilities->epv); uint64_t now = it2s_tender_get_clock(&facilities->epv);
@ -84,35 +82,143 @@ int dcm_check(void* fc, DCM_t* dcm) {
trajectoryA[0].timestamp = now; trajectoryA[0].timestamp = now;
++trajectoryA_len; ++trajectoryA_len;
trajectoryB[0].latitude = dcm->dcm.currentPosition.latitude; dcm_rep = calloc(1, sizeof(DCM_t));
trajectoryB[0].longitude = dcm->dcm.currentPosition.longitude;
asn_INTEGER2ulong(&dcm->dcm.currentPosition.timestamp, &trajectoryB[0].timestamp); dcm_rep->header.messageID = 43;
++trajectoryB_len; dcm_rep->header.protocolVersion = 1;
for (int i = 0; i < dcm->dcm.plannedTrajectory.list.count && i < TRAJECTORY_MAX_LEN; ++i) { dcm_rep->header.stationID = 1;
trajectoryB[i+1].latitude = dcm->dcm.plannedTrajectory.list.array[i]->latitude; pthread_mutex_lock(&facilities->id.lock);
trajectoryB[i+1].longitude = dcm->dcm.plannedTrajectory.list.array[i]->longitude; dcm_rep->header.stationID = facilities->id.station_id;
asn_INTEGER2ulong(&dcm->dcm.plannedTrajectory.list.array[i]->timestamp, &trajectoryB[i+1].timestamp); pthread_mutex_unlock(&facilities->id.lock);
++trajectoryB_len;
dcm_rep->dcm.currentPosition.latitude = lat;
dcm_rep->dcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&dcm_rep->dcm.currentPosition.timestamp, now);
// Vehicle Dimensions
dcm_rep->dcm.vehicleDimensions.length= facilities->vehicle.length;
dcm_rep->dcm.vehicleDimensions.width = facilities->vehicle.width;
// Accepted trajectory
if (!coo_req->desiredTrajectories.list.count) {
syslog_debug("[facilities] [dc] received DCM request has no desired trajectories");
rv = 1;
goto cleanup;
}
ProposedTrajectory_t* pt = coo_req->desiredTrajectories.list.array[0];
dcm_rep->dcm.negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
dcm_rep->dcm.negotiation->present = CoordinationNegotiation_PR_reply;
dcm_rep->dcm.negotiation->choice.reply.acceptedTrajectories.list.count = 1;
dcm_rep->dcm.negotiation->choice.reply.acceptedTrajectories.list.size = sizeof(void*);
dcm_rep->dcm.negotiation->choice.reply.acceptedTrajectories.list.array = malloc(1*sizeof(void*));
dcm_rep->dcm.negotiation->choice.reply.acceptedTrajectories.list.array[0] = calloc(1,sizeof(AcceptedTrajectory_t));
AcceptedTrajectory_t* at = dcm_rep->dcm.negotiation->choice.reply.acceptedTrajectories.list.array[0];
at->trajectory.list.count = pt->trajectory.list.count;
at->trajectory.list.size = sizeof(void*) * pt->trajectory.list.count;
at->trajectory.list.array = malloc(sizeof(void*) * pt->trajectory.list.count);
for (int i = 0; i < pt->trajectory.list.count; ++i) {
at->trajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
at->trajectory.list.array[i]->latitude = pt->trajectory.list.array[i]->latitude;
at->trajectory.list.array[i]->longitude = pt->trajectory.list.array[i]->longitude;
at->trajectory.list.array[i]->timestamp.buf = malloc(pt->trajectory.list.array[i]->timestamp.size);
memcpy(at->trajectory.list.array[i]->timestamp.buf, pt->trajectory.list.array[i]->timestamp.buf, pt->trajectory.list.array[i]->timestamp.size);
at->trajectory.list.array[i]->timestamp.size = pt->trajectory.list.array[i]->timestamp.size;
} }
bool intersecting = false; at->id = pt->id;
int index = 0;
if (trajectoryA_len > 1 && trajectoryB_len > 1) { asn_enc_rval_t enc = asn_encode_to_buffer(NULL, ATS_UNALIGNED_CANONICAL_PER, &asn_DEF_DCM, dcm_rep, buf, buf_len);
intersecting = are_vehicles_intersecting( if (enc.encoded == -1) {
trajectoryA, trajectoryA_len, facilities->vehicle.length, facilities->vehicle.width, syslog_err("[facilities] [dc] DCM request encode failure");
trajectoryB, trajectoryB_len, dcm->dcm.vehicleDimensions.length, dcm->dcm.vehicleDimensions.width, rv = 1;
&index); goto cleanup;
} }
if (!intersecting) goto cleanup; 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;
syslog_info("[facilities] [dc] intersection danger with %ld @ (%d, %d) in %ld ms", bpr->btpType = BTPType_btpB;
dcm->header.stationID, trajectoryA[index].latitude, trajectoryA[index].longitude, trajectoryA[index].timestamp - now);
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(512);
memcpy(bpr->data.buf, buf, buf_len);
bpr->data.size = (enc.encoded + 7) / 8;
buf[0] = 4;
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf+1, buf_len-1);
if (enc.encoded == -1) {
syslog_err("[facilities] [dc] TR DCM request encode failure");
rv = 1;
goto cleanup;
}
queue_send(facilities->tx_queue, buf, enc.encoded+1, 3);
cleanup:
ASN_STRUCT_FREE(asn_DEF_DCM, dcm_rep);
ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
return rv;
}
static int dcm_check_handle_reply(facilities_t* facilities, DCM_t* dcm) {
int rv = 0;
CoordinationReply_t* coo_rep = &dcm->dcm.negotiation->choice.reply;
syslog_info("[facilities] [dc] received coordination reply with %d accepted trajectories", coo_rep->acceptedTrajectories.list.count);
return rv;
}
static int dcm_check_intersection_detected(facilities_t* facilities, DCM_t* dcm) {
int rv = 0;
DCM_t* dcm_req = NULL;
TransportRequest_t* tr = NULL;
const ssize_t buf_len = 512;
uint8_t buf[buf_len];
it2s_tender_st_s trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
uint16_t trajectoryA_len = 0;
int32_t lat, lon;
it2s_tender_lock_space(&facilities->epv);
it2s_tender_get_space(&facilities->epv);
lat = facilities->epv.space.latitude;
lon = facilities->epv.space.longitude;
it2s_tender_unlock_space(&facilities->epv);
it2s_tender_lock_trajectory(&facilities->epv);
trajectoryA_len = facilities->epv.trajectory.len;
memcpy(trajectoryA + 1, facilities->epv.trajectory.path, trajectoryA_len * sizeof(it2s_tender_st_s));
it2s_tender_unlock_trajectory(&facilities->epv);
uint64_t now = it2s_tender_get_clock(&facilities->epv);
trajectoryA[0].latitude = lat;
trajectoryA[0].longitude = lon;
trajectoryA[0].timestamp = now;
++trajectoryA_len;
// Initiate conflict resolution // Initiate conflict resolution
dcm_req = calloc(1, sizeof(DCM_t)); dcm_req = calloc(1, sizeof(DCM_t));
it2s_tender_st_s trajectory[TRAJECTORY_MAX_LEN];
dcm_req->header.messageID = 43; dcm_req->header.messageID = 43;
dcm_req->header.protocolVersion = 1; dcm_req->header.protocolVersion = 1;
@ -135,9 +241,9 @@ int dcm_check(void* fc, DCM_t* dcm) {
dcm_req->dcm.plannedTrajectory.list.array = malloc(trajectoryA_len * sizeof(void*)); dcm_req->dcm.plannedTrajectory.list.array = malloc(trajectoryA_len * sizeof(void*));
for (int i = 0; i < trajectoryA_len; ++i) { for (int i = 0; i < trajectoryA_len; ++i) {
dcm_req->dcm.plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t)); dcm_req->dcm.plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
dcm_req->dcm.plannedTrajectory.list.array[i]->latitude = trajectory[i+1].latitude; dcm_req->dcm.plannedTrajectory.list.array[i]->latitude = trajectoryA[i+1].latitude;
dcm_req->dcm.plannedTrajectory.list.array[i]->longitude = trajectory[i+1].longitude; dcm_req->dcm.plannedTrajectory.list.array[i]->longitude = trajectoryA[i+1].longitude;
asn_ulong2INTEGER(&dcm_req->dcm.plannedTrajectory.list.array[i]->timestamp, trajectory[i+1].timestamp); asn_ulong2INTEGER(&dcm_req->dcm.plannedTrajectory.list.array[i]->timestamp, trajectoryA[i+1].timestamp);
} }
// Desired trajectory // Desired trajectory
@ -154,9 +260,9 @@ int dcm_check(void* fc, DCM_t* dcm) {
pt->trajectory.list.array = malloc(sizeof(void*) * trajectoryA_len); pt->trajectory.list.array = malloc(sizeof(void*) * trajectoryA_len);
for (int i = 0; i < trajectoryA_len; ++i) { for (int i = 0; i < trajectoryA_len; ++i) {
pt->trajectory.list.array[i] = calloc(1, sizeof(STPoint_t)); pt->trajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
pt->trajectory.list.array[i]->latitude = trajectory[i+1].latitude; pt->trajectory.list.array[i]->latitude = trajectoryA[i+1].latitude;
pt->trajectory.list.array[i]->longitude = trajectory[i+1].longitude; pt->trajectory.list.array[i]->longitude = trajectoryA[i+1].longitude;
asn_ulong2INTEGER(&pt->trajectory.list.array[i]->timestamp, trajectory[i+1].timestamp); asn_ulong2INTEGER(&pt->trajectory.list.array[i]->timestamp, trajectoryA[i+1].timestamp);
} }
pt->offer = 5; pt->offer = 5;
@ -209,6 +315,79 @@ cleanup:
return rv; return rv;
} }
int dcm_check(void* fc, DCM_t* dcm) {
facilities_t* facilities = (facilities_t*) fc;
int rv = 0;
it2s_tender_st_s trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
it2s_tender_st_s trajectoryB[TRAJECTORY_MAX_LEN+1]; /* neighbour trajectory */
uint16_t trajectoryA_len = 0;
uint16_t trajectoryB_len = 0;
uint64_t now = it2s_tender_get_clock(&facilities->epv);
int32_t lat, lon;
it2s_tender_lock_space(&facilities->epv);
it2s_tender_get_space(&facilities->epv);
lat = facilities->epv.space.latitude;
lon = facilities->epv.space.longitude;
it2s_tender_unlock_space(&facilities->epv);
it2s_tender_lock_trajectory(&facilities->epv);
trajectoryA_len = facilities->epv.trajectory.len;
memcpy(trajectoryA + 1, facilities->epv.trajectory.path, trajectoryA_len * sizeof(it2s_tender_st_s));
it2s_tender_unlock_trajectory(&facilities->epv);
trajectoryA[0].latitude = lat;
trajectoryA[0].longitude = lon;
trajectoryA[0].timestamp = now;
++trajectoryA_len;
trajectoryB[0].latitude = dcm->dcm.currentPosition.latitude;
trajectoryB[0].longitude = dcm->dcm.currentPosition.longitude;
asn_INTEGER2ulong(&dcm->dcm.currentPosition.timestamp, &trajectoryB[0].timestamp);
++trajectoryB_len;
for (int i = 0; i < dcm->dcm.plannedTrajectory.list.count && i < TRAJECTORY_MAX_LEN; ++i) {
trajectoryB[i+1].latitude = dcm->dcm.plannedTrajectory.list.array[i]->latitude;
trajectoryB[i+1].longitude = dcm->dcm.plannedTrajectory.list.array[i]->longitude;
asn_INTEGER2ulong(&dcm->dcm.plannedTrajectory.list.array[i]->timestamp, &trajectoryB[i+1].timestamp);
++trajectoryB_len;
}
bool intersecting = false;
int index = 0;
if (dcm->dcm.negotiation) {
switch (dcm->dcm.negotiation->present) {
case CoordinationNegotiation_PR_request:
dcm_check_handle_request(facilities, dcm);
break;
case CoordinationNegotiation_PR_reply:
dcm_check_handle_reply(facilities, dcm);
break;
default:
break;
}
} else {
if (trajectoryA_len > 1 && trajectoryB_len > 1) {
intersecting = are_vehicles_intersecting(
trajectoryA, trajectoryA_len, facilities->vehicle.length, facilities->vehicle.width,
trajectoryB, trajectoryB_len, dcm->dcm.vehicleDimensions.length, dcm->dcm.vehicleDimensions.width,
&index);
}
if (intersecting) {
syslog_info("[facilities] [dc] intersection danger with %ld @ (%d, %d) in %ld ms",
dcm->header.stationID, trajectoryA[index].latitude, trajectoryA[index].longitude, trajectoryA[index].timestamp - now);
dcm_check_intersection_detected(facilities, dcm);
}
}
return rv;
}
static int mk_dcm(facilities_t* facilities, uint8_t* dcm_uper, uint16_t* dcm_uper_len) { static int mk_dcm(facilities_t* facilities, uint8_t* dcm_uper, uint16_t* dcm_uper_len) {
int rv = 0; int rv = 0;
@ -309,7 +488,7 @@ void* dc_service(void* fc) {
asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_TransportRequest, NULL, tr, tr_oer+1, 1023); asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_TransportRequest, NULL, tr, tr_oer+1, 1023);
if (enc.encoded == -1) { if (enc.encoded == -1) {
syslog_err("[facilities] encoding TR for cam failed"); syslog_err("[facilities] encoding TR for DCM failed");
continue; continue;
} }