The class containing the primary business logic for the BSM Generator Package. More...

#include <bsm_generator_worker.hpp>

Collaboration diagram for bsm_generator::BSMGeneratorWorker:

Public Member Functions
	BSMGeneratorWorker ()
	Default Constructor for BSMGeneratorWorker. More...

uint8_t	getNextMsgCount ()
	Function to increment the BSM message counter and obtain the new counter value. Counter restarts at 0 once it reaches a value of 128. More...

std::vector< uint8_t >	getMsgId (const rclcpp::Time now, double secs)
	Function to obtain the current BSM message ID. The ID is updated to a new random BSM message ID every 5 minutes. More...

uint16_t	getSecMark (const rclcpp::Time now)
	Function to obtain the 'milliseconds' mark of the provided time within the last minute. More...

float	getSpeedInRange (const double speed)
	Function to apply minimum and maximum limits to a speed value. Minimum limit is 0.0, and maximum limit is 163.8. More...

float	getSteerWheelAngleInRange (const double angle)
	Function to apply minimum and maximum limits to a steering wheel angle value. Minimum limit is -189.0, maximum limit is 189.0. More...

float	getLongAccelInRange (const float accel)
	Function to apply minimum and maximum limits to a longitudinal acceleration value. Minimum limit is -20.0, maximum limit is 20.0. More...

float	getYawRateInRange (const double yaw_rate)
	Function to apply minimum and maximum limits to a yaw rate value. Minimum limit is -327.67, maximum limit is 327.67. More...

uint8_t	getBrakeAppliedStatus (const double brake)
	Function to convert the current applied brake status to a value used within the BSM message. More...

float	getHeadingInRange (const float heading)
	Function to apply minimum and maximum limits to a vehicle heading value. Minimum limit is 0.0, maximum limit is 359.9875. More...

Private Attributes
std::default_random_engine	generator_

uint8_t	msg_count_ {0}

int	random_id_ {0}

rclcpp::Time	last_id_generation_time_

bool	first_msg_id_ = true

Detailed Description

The class containing the primary business logic for the BSM Generator Package.

Definition at line 32 of file bsm_generator_worker.hpp.

Constructor & Destructor Documentation

◆ BSMGeneratorWorker()

bsm_generator::BSMGeneratorWorker::BSMGeneratorWorker ( )

Default Constructor for BSMGeneratorWorker.

Definition at line 23 of file bsm_generator_worker.cpp.

23{}

Member Function Documentation

◆ getBrakeAppliedStatus()

uint8_t bsm_generator::BSMGeneratorWorker::getBrakeAppliedStatus ( const double brake )

Function to convert the current applied brake status to a value used within the BSM message.

Parameters

brake The current applied brake status

Returns: Converted brake status value

Definition at line 91 of file bsm_generator_worker.cpp.

    {
        return brake >= 0.05 ? 0b1111 : 0;
    }

◆ getHeadingInRange()

float bsm_generator::BSMGeneratorWorker::getHeadingInRange ( const float heading )

Function to apply minimum and maximum limits to a vehicle heading value. Minimum limit is 0.0, maximum limit is 359.9875.

Parameters

heading The current vehicle heading value

Returns: Vehicle heading value (minimum limit is 0.0, maximum limit is 359.9875)

Definition at line 96 of file bsm_generator_worker.cpp.

    {
        return std::max(std::min(heading, 359.9875f), 0.0f);
    }

◆ getLongAccelInRange()

float bsm_generator::BSMGeneratorWorker::getLongAccelInRange ( const float accel )

Function to apply minimum and maximum limits to a longitudinal acceleration value. Minimum limit is -20.0, maximum limit is 20.0.

Parameters

accel The current longitudinal acceleration value

Returns: Longitudinal acceleration value (minimum limit is -20.0, maximum limit is 20.0)

Definition at line 81 of file bsm_generator_worker.cpp.

    {
        return std::max(std::min(accel, 20.0f), -20.0f);
    }

◆ getMsgId()

std::vector< uint8_t > bsm_generator::BSMGeneratorWorker::getMsgId	(	const rclcpp::Time	now,
		double	secs
	)

Function to obtain the current BSM message ID. The ID is updated to a new random BSM message ID every 5 minutes.

Parameters

now	The current time
secs	Id change period in sec

Returns: The current BSM message ID

Definition at line 36 of file bsm_generator_worker.cpp.

    {
        // need to change ID every designated period
        rclcpp::Duration id_timeout(secs * 1e9);
 
        generator_.seed(std::random_device{}()); // guarantee randomness
        std::uniform_int_distribution<int> dis(0,INT_MAX);
        
        std::vector<uint8_t> id(4);
 
        if (first_msg_id_) {
            last_id_generation_time_ = now;
            first_msg_id_ = false;
            random_id_ = dis(generator_);
        }
        
        if(now - last_id_generation_time_ >= id_timeout)
        {
            random_id_ = dis(generator_);
            RCLCPP_DEBUG_STREAM(rclcpp::get_logger("bsm_generator"), "Newly generated random id: " << random_id_);
            last_id_generation_time_ = now;
        }
 
        for(int i = 0; i < id.size(); ++i)
        {
            id[i] = random_id_ >> (8 * i);
        }
        return id;
    }

References first_msg_id_, generator_, process_bag::i, last_id_generation_time_, and random_id_.

◆ getNextMsgCount()

uint8_t bsm_generator::BSMGeneratorWorker::getNextMsgCount ( )

Function to increment the BSM message counter and obtain the new counter value. Counter restarts at 0 once it reaches a value of 128.

Returns: The updated BSM message counter value

Definition at line 25 of file bsm_generator_worker.cpp.

    {
        uint8_t old_msg_count = msg_count_;
        msg_count_++;
        if(msg_count_ == 128)
        {
            msg_count_ = 0;
        }
        return old_msg_count;
    }

References msg_count_.

◆ getSecMark()

uint16_t bsm_generator::BSMGeneratorWorker::getSecMark ( const rclcpp::Time now )

Function to obtain the 'milliseconds' mark of the provided time within the last minute.

Parameters

now	The current time

Returns: The 'milliseconds' mark of the provided time within the last minute

Definition at line 66 of file bsm_generator_worker.cpp.

    {
        return static_cast<uint16_t>((now.nanoseconds() / 1000000) % 60000);
    }

◆ getSpeedInRange()

float bsm_generator::BSMGeneratorWorker::getSpeedInRange ( const double speed )

Function to apply minimum and maximum limits to a speed value. Minimum limit is 0.0, and maximum limit is 163.8.

Parameters

speed The current vehicle speed

Returns: Speed value (minimum limit is 0.0, maximum limit is 163.8)

Definition at line 71 of file bsm_generator_worker.cpp.

    {
        return static_cast<float>(std::max(std::min(speed, 163.8), 0.0));
    }

◆ getSteerWheelAngleInRange()

float bsm_generator::BSMGeneratorWorker::getSteerWheelAngleInRange ( const double angle )

Function to apply minimum and maximum limits to a steering wheel angle value. Minimum limit is -189.0, maximum limit is 189.0.

Parameters

angle The current steering wheel angle

Returns: Steering wheel angle value (minimum limit is -189.0, maximum limit is 189.0)

Definition at line 76 of file bsm_generator_worker.cpp.

    {
        return static_cast<float>(std::max(std::min(angle * 57.2958, 189.0), -189.0));
    }

◆ getYawRateInRange()

float bsm_generator::BSMGeneratorWorker::getYawRateInRange ( const double yaw_rate )

Function to apply minimum and maximum limits to a yaw rate value. Minimum limit is -327.67, maximum limit is 327.67.

Parameters

yaw_rate The current yaw rate value

Returns: Yaw Rate value (minimum limit is -327.67, maximum limit is 327.67)

Definition at line 86 of file bsm_generator_worker.cpp.

    {
        return static_cast<float>(std::max(std::min(yaw_rate, 327.67), -327.67));
    }

Member Data Documentation

◆ first_msg_id_

bool bsm_generator::BSMGeneratorWorker::first_msg_id_ = true

private

Definition at line 126 of file bsm_generator_worker.hpp.

Referenced by getMsgId().

◆ generator_

std::default_random_engine bsm_generator::BSMGeneratorWorker::generator_

private

Definition at line 113 of file bsm_generator_worker.hpp.

Referenced by getMsgId().

◆ last_id_generation_time_

rclcpp::Time bsm_generator::BSMGeneratorWorker::last_id_generation_time_

private

Definition at line 122 of file bsm_generator_worker.hpp.

Referenced by getMsgId().

◆ msg_count_

uint8_t bsm_generator::BSMGeneratorWorker::msg_count_ {0}

private

Definition at line 116 of file bsm_generator_worker.hpp.

Referenced by getNextMsgCount().

◆ random_id_

int bsm_generator::BSMGeneratorWorker::random_id_ {0}

private

Definition at line 119 of file bsm_generator_worker.hpp.

Referenced by getMsgId().

The documentation for this class was generated from the following files:

bsm_generator/include/bsm_generator/bsm_generator_worker.hpp
bsm_generator/src/bsm_generator_worker.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BSMGeneratorWorker()

Member Function Documentation

◆ getBrakeAppliedStatus()

◆ getHeadingInRange()

◆ getLongAccelInRange()

◆ getMsgId()

◆ getNextMsgCount()

◆ getSecMark()

◆ getSpeedInRange()

◆ getSteerWheelAngleInRange()

◆ getYawRateInRange()

Member Data Documentation

◆ first_msg_id_

◆ generator_

◆ last_id_generation_time_

◆ msg_count_

◆ random_id_