Add DENM TS access functions #114
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| /* | ||
| ============================================================================= | ||
| MIT License | ||
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| Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University | ||
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| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
|
|
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| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
|
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| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ============================================================================= | ||
| */ | ||
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| /** | ||
| * @file denm_ts_access.hpp | ||
| * @brief Main DENM TS access header to include in ROS 2 projects | ||
| */ | ||
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| #pragma once | ||
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| // Messages | ||
| #include <etsi_its_denm_ts_msgs/msg/denm.hpp> | ||
| #include <geometry_msgs/msg/point_stamped.hpp> | ||
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| namespace etsi_its_denm_ts_msgs { | ||
| using namespace msg; | ||
| namespace gm = geometry_msgs::msg; | ||
| } | ||
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| // Implementation | ||
| #include <etsi_its_msgs_utils/impl/denm/denm_ts_access.h> |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,61 @@ | ||
| /* | ||
| ============================================================================= | ||
| MIT License | ||
|
|
||
| Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University | ||
|
|
||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
|
|
||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
|
|
||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ============================================================================= | ||
| */ | ||
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| /** | ||
| * @file impl/cdd/cdd_v2-2-1_getters.h | ||
| * @brief Getter functions for the ETSI ITS Common Data Dictionary (CDD) v2.2.1 | ||
| */ | ||
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| #ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_GETTERS_H | ||
| #define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_GETTERS_H | ||
| #include <GeographicLib/UTMUPS.hpp> | ||
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| #include <etsi_its_msgs_utils/impl/cdd/cdd_getters_common.h> | ||
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| /** | ||
| * @brief Get the WGS Heading value | ||
| * | ||
| * 0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West | ||
| * | ||
| * @param heading to get the WGS Heading value from | ||
| * @return WGS Heading value in degree as decimal number | ||
| */ | ||
| template <typename Wgs84Angle> | ||
| inline double getWGSHeadingCDD(const Wgs84Angle& heading) { return ((double)heading.value.value) * 1e-1; } | ||
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| /** | ||
| * @brief Get the WGS Heading confidence | ||
| * | ||
| * 0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West | ||
| * | ||
| * @param heading to get the WGS Heading standard deviation from | ||
| * @return WGS Heading standard deviation in degree as decimal number | ||
| */ | ||
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| template <typename Wgs84Angle> | ||
| inline double getWGSHeadingConfidenceCDD(const Wgs84Angle& heading) { return ((double)heading.confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; } | ||
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| #endif // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_GETTERS_H | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| /* | ||
| ============================================================================= | ||
| MIT License | ||
|
|
||
| Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University | ||
|
|
||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
|
|
||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
|
|
||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ============================================================================= | ||
| */ | ||
|
|
||
| /** | ||
| * @file impl/cdd/cdd_v2-2-1_setters.h | ||
| * @brief Setter functions for the ETSI ITS Common Data Dictionary (CDD) v2.2.1 | ||
| */ | ||
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| #ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_SETTERS_H | ||
| #define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_SETTERS_H | ||
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| #include <etsi_its_msgs_utils/impl/cdd/cdd_setters_common.h> | ||
| #include <etsi_its_msgs_utils/impl/checks.h> | ||
| #include <GeographicLib/UTMUPS.hpp> | ||
| #include <cstring> | ||
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| /** | ||
| * @brief Set the Its Pdu Header object | ||
| * | ||
| * @param header ItsPduHeader to be set | ||
| * @param message_id ID of the message | ||
| * @param station_id | ||
| * @param protocol_version | ||
| */ | ||
| inline void setItsPduHeader(ItsPduHeader& header, const uint8_t message_id, const uint32_t station_id, | ||
| const uint8_t protocol_version = 0) { | ||
| setStationId(header.station_id, station_id); | ||
| throwIfOutOfRange(message_id, MessageId::MIN, MessageId::MAX, "MessageID"); | ||
| header.message_id.value = message_id; | ||
| throwIfOutOfRange(protocol_version, OrdinalNumber1B::MIN, OrdinalNumber1B::MAX, "ProtocolVersion"); | ||
| header.protocol_version.value = protocol_version; | ||
| } | ||
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| /** | ||
| * @brief Set the Wgs84AngleValue object | ||
| * | ||
| * 0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West | ||
| * | ||
| * @param heading object to set | ||
| * @param value Heading value in degree as decimal number | ||
| */ | ||
| template <typename Wgs84AngleValue> | ||
| inline void setWGSHeadingValue(Wgs84AngleValue& heading, const double value) { | ||
| int64_t deg = (int64_t)std::round(value * 1e1); | ||
| throwIfOutOfRange(deg, Wgs84AngleValue::MIN, Wgs84AngleValue::MAX, "Wgs84AngleValue"); | ||
| heading.value = deg; | ||
| } | ||
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| /** | ||
| * @brief Set the Wgs84AngleConfidence object | ||
| * | ||
| * @param confidence object to set | ||
| * @param value standard deviation of heading in degree as decimal number | ||
| */ | ||
| template<typename Wgs84AngleConfidence> | ||
| inline void setWGSHeadingConfidence(Wgs84AngleConfidence& confidence, const double value) { | ||
| auto heading_conf = std::round(value * 1e1 * etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR); | ||
| if (heading_conf < Wgs84AngleConfidence::MIN && heading_conf > 0.0){ | ||
| heading_conf = Wgs84AngleConfidence::MIN; | ||
| } else if (heading_conf >= Wgs84AngleConfidence::OUT_OF_RANGE || heading_conf <= 0.0) { | ||
| heading_conf = Wgs84AngleConfidence::UNAVAILABLE; | ||
| } | ||
| confidence.value = static_cast<decltype(confidence.value)>(heading_conf); | ||
| } | ||
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| /** | ||
| * @brief Set the Wgs84Angle object | ||
| * | ||
| * 0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West | ||
| * Wgs84AngleConfidence is set to UNAVAILABLE | ||
| * | ||
| * @param heading object to set | ||
| * @param value Heading value in degree as decimal number | ||
| * @param confidence standard deviation of heading in degree as decimal number (default: infinity, mapping to Wgs84AngleConfidence::UNAVAILABLE) | ||
| */ | ||
| template <typename Wgs84Angle, typename Wgs84AngleConfidence = decltype(Wgs84Angle::confidence)> | ||
| void setWGSHeadingCDD(Wgs84Angle& heading, const double value, double confidence = std::numeric_limits<double>::infinity()) { | ||
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| setWGSHeadingConfidence(heading.confidence, confidence); | ||
| setWGSHeadingValue(heading.value, value); | ||
| } | ||
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| #endif // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_SETTERS_H | ||
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Is there a specific reason for this
CDDpostfix in the function-name? I think we're not having these for the ohter setter/getter functions?There was a problem hiding this comment.
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The
CDDpostfix is already used for low-level CDD functions (e.g. getHeadingCDD(), setHeadingCDD(), getYawRateCDD() in cdd_*_common.h). The message-level access functions stay without postfix. getWGSHeadingCDD() follows the same pattern.