Add DENM TS access functions

etsi_its_msgs_utils/include/etsi_its_msgs_utils/denm_ts_access.hpp

@@ -0,0 +1,44 @@
+/*
+=============================================================================
+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 denm_ts_access.hpp
+ * @brief Main DENM TS access header to include in ROS 2 projects
+ */
+
+#pragma once
+
+// Messages
+#include <etsi_its_denm_ts_msgs/msg/denm.hpp>
+#include <geometry_msgs/msg/point_stamped.hpp>
+
+namespace etsi_its_denm_ts_msgs {
+    using namespace msg;
+    namespace gm = geometry_msgs::msg;
+}
+
+// Implementation
+#include <etsi_its_msgs_utils/impl/denm/denm_ts_access.h>

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_getters_common.h

@@ -26,7 +26,7 @@ SOFTWARE.
 
 /**
  * @file impl/cdd/cdd_getters_common.h
- * @brief Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1
+ * @brief Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1, v2.1.1 and v2.2.1
  */
 
 #ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_setters_common.h

@@ -26,7 +26,7 @@ SOFTWARE.
 
 /**
  * @file impl/cdd/cdd_setters_common.h
- * @brief Common setter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1
+ * @brief Common setter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1, v2.1.1 and v2.2.1
  */
 
 #ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H
@@ -41,6 +41,30 @@ SOFTWARE.
 #include <cstring>
 #include <type_traits>
 
+/**
+ * @brief Set the Station Id object
+ *
+ * @param station_id
+ * @param id_value
+ */
+template <typename StationId>
+inline void setStationId(StationId& station_id, const uint32_t id_value) {
+  throwIfOutOfRange(id_value, StationId::MIN, StationId::MAX, "StationId");
+  station_id.value = id_value;
+}
+
+/**
+ * @brief Set the Station Type
+ *
+ * @param station_type
+ * @param value
+ */
+template <typename StationType>
+inline void setStationType(StationType& station_type, const uint8_t value) {
+  throwIfOutOfRange(value, StationType::MIN, StationType::MAX, "StationType");
+  station_type.value = value;
+}
+
 /**
  * @brief Set the TimestampITS object
  *
@@ -484,6 +508,4 @@ inline void setWGSPosConfidenceEllipse(PosConfidenceEllipse& position_confidence
   setPosConfidenceEllipse(position_confidence_ellipse, semi_major_axis, semi_minor_axis, orientation);
 }
 
-
-
 #endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_setters.h

@@ -37,17 +37,6 @@ SOFTWARE.
 #include <GeographicLib/UTMUPS.hpp>
 #include <cstring>
 
-/**
- * @brief Set the Station Id object
- *
- * @param station_id
- * @param id_value
- */
-inline void setStationId(StationID& station_id, const uint32_t id_value) {
-  throwIfOutOfRange(id_value, StationID::MIN, StationID::MAX, "StationID");
-  station_id.value = id_value;
-}
-
 /**
  * @brief Set the Its Pdu Header object
  *
@@ -66,15 +55,4 @@ inline void setItsPduHeader(ItsPduHeader& header, const uint8_t message_id, cons
   header.protocol_version = protocol_version;
 }
 
-/**
- * @brief Set the Station Type
- *
- * @param station_type
- * @param value
- */
-inline void setStationType(StationType& station_type, const uint8_t value) {
-  throwIfOutOfRange(value, StationType::MIN, StationType::MAX, "StationType");
-  station_type.value = value;
-}
-
 #endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_SETTERS_H

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h

@@ -37,17 +37,6 @@ SOFTWARE.
 #include <GeographicLib/UTMUPS.hpp>
 #include <cstring>
 
-/**
- * @brief Set the Station Id object
- *
- * @param station_id
- * @param id_value
- */
-inline void setStationId(StationId& station_id, const uint32_t id_value) {
-  throwIfOutOfRange(id_value, StationId::MIN, StationId::MAX, "StationId");
-  station_id.value = id_value;
-}
-
 /**
  * @brief Set the Its Pdu Header object
  *
@@ -65,17 +54,6 @@ inline void setItsPduHeader(ItsPduHeader& header, const uint8_t message_id, cons
   header.protocol_version.value = protocol_version;
 }
 
-/**
- * @brief Set the Station Type
- *
- * @param station_type
- * @param value
- */
-inline void setStationType(TrafficParticipantType& station_type, const uint8_t value) {
-  throwIfOutOfRange(value, TrafficParticipantType::MIN, TrafficParticipantType::MAX, "StationType");
-  station_type.value = value;
-}
-
 /**
  * @brief Set the LongitudinalAccelerationValue object
  *

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_getters.h

@@ -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.
+=============================================================================
+*/
+
+/**
+ * @file impl/cdd/cdd_v2-2-1_getters.h
+ * @brief Getter functions for the ETSI ITS Common Data Dictionary (CDD) v2.2.1
+ */
+
+#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>
+
+#include <etsi_its_msgs_utils/impl/cdd/cdd_getters_common.h>
+
+/**
+ * @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; }
+
+/**
+ * @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
+ */
+
+template <typename Wgs84Angle>
+inline double getWGSHeadingConfidenceCDD(const Wgs84Angle& heading) { return ((double)heading.confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; }
+
+#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_GETTERS_H

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_setters.h

@@ -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
+ */
+
+#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
+
+#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>
+
+/**
+ * @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;
+}
+
+/**
+ * @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;
+}
+
+/**
+ * @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);
+}
+
+/**
+ * @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()) {
+  setWGSHeadingConfidence(heading.confidence, confidence);
+  setWGSHeadingValue(heading.value, value);
+}
+
+#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_SETTERS_H

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_access.h

@@ -31,6 +31,9 @@ SOFTWARE.
 
 #undef ETSI_ITS_MSGS_UTILS_IMPL_ASN1_PRIMITIVES_ASN1_PRIMITIVES_GETTERS_H
 #undef ETSI_ITS_MSGS_UTILS_IMPL_ASN1_PRIMITIVES_ASN1_PRIMITIVES_SETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_DENM_DENM_GETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_DENM_DENM_SETTERS_COMMON_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_DENM_DENM_UTILS_H
 #undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
 #undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_SETTERS_COMMON_H
 #undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_GETTERS_H