TiagoRG
/
it2s-itss-facilities
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Modify DCM vehicle dimensions

This commit is contained in:
emanuel 2022-02-21 14:40:49 +00:00
parent dd1c494fe8
commit fe347cd24b
1 changed files with 11 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
src/dcm.c
View File

@ -95,9 +95,10 @@ static int dcm_check_handle_request(facilities_t* facilities, DCM_t* dcm) {
dcm_rep->dcm.currentPosition.longitude = lon; dcm_rep->dcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&dcm_rep->dcm.currentPosition.timestamp, now); asn_ulong2INTEGER(&dcm_rep->dcm.currentPosition.timestamp, now);
// Vehicle Dimensions // Vehicle DimensionsDimensions
dcm_rep->dcm.vehicleDimensions.length= facilities->vehicle.length; dcm_rep->dcm.vehicleLength.vehicleLengthValue= facilities->vehicle.length;
dcm_rep->dcm.vehicleDimensions.width = facilities->vehicle.width; dcm_rep->dcm.vehicleLength.vehicleLengthConfidenceIndication = 0;
dcm_rep->dcm.vehicleWidth = facilities->vehicle.width;
// Accepted trajectory // Accepted trajectory
if (!coo_req->desiredTrajectories.list.count) { if (!coo_req->desiredTrajectories.list.count) {
@ -218,8 +219,9 @@ static int dcm_check_intersection_detected(facilities_t* facilities, DCM_t* dcm)
asn_ulong2INTEGER(&dcm_req->dcm.currentPosition.timestamp, now); asn_ulong2INTEGER(&dcm_req->dcm.currentPosition.timestamp, now);
// Vehicle Dimensions // Vehicle Dimensions
dcm_req->dcm.vehicleDimensions.length= facilities->vehicle.length; dcm_req->dcm.vehicleLength.vehicleLengthValue= facilities->vehicle.length;
dcm_req->dcm.vehicleDimensions.width = facilities->vehicle.width; dcm_req->dcm.vehicleLength.vehicleLengthConfidenceIndication = 0;
dcm_req->dcm.vehicleWidth = facilities->vehicle.width;
// Planned trajectory // Planned trajectory
dcm_req->dcm.plannedTrajectory.list.count = --trajectoryA_len; dcm_req->dcm.plannedTrajectory.list.count = --trajectoryA_len;
@ -378,7 +380,7 @@ int dcm_check(void* fc, DCM_t* dcm) {
if (trajectoryA_len > 1 && trajectoryB_len > 1) { if (trajectoryA_len > 1 && trajectoryB_len > 1) {
intersecting = are_vehicles_intersecting( intersecting = are_vehicles_intersecting(
trajectoryA, trajectoryA_len, facilities->vehicle.length, facilities->vehicle.width, trajectoryA, trajectoryA_len, facilities->vehicle.length, facilities->vehicle.width,
trajectoryB, trajectoryB_len, dcm->dcm.vehicleDimensions.length, dcm->dcm.vehicleDimensions.width, trajectoryB, trajectoryB_len, dcm->dcm.vehicleLength.vehicleLengthValue, dcm->dcm.vehicleWidth,
&index); &index);
} }
@ -428,8 +430,9 @@ static int mk_dcm(facilities_t* facilities, uint8_t* dcm_uper, uint16_t* dcm_upe
asn_ulong2INTEGER(&dcm->dcm.currentPosition.timestamp, now); asn_ulong2INTEGER(&dcm->dcm.currentPosition.timestamp, now);
// Vehicle Dimensions // Vehicle Dimensions
dcm->dcm.vehicleDimensions.length= facilities->vehicle.length; dcm->dcm.vehicleLength.vehicleLengthValue= facilities->vehicle.length;
dcm->dcm.vehicleDimensions.width = facilities->vehicle.width; dcm->dcm.vehicleLength.vehicleLengthConfidenceIndication = 0;
dcm->dcm.vehicleWidth = facilities->vehicle.width;
dcm->dcm.plannedTrajectory.list.count = trajectory_len; dcm->dcm.plannedTrajectory.list.count = trajectory_len;
dcm->dcm.plannedTrajectory.list.size = trajectory_len * sizeof(void*); dcm->dcm.plannedTrajectory.list.size = trajectory_len * sizeof(void*);