libits-client 3.1.0

/*
 * Software Name : libits-client
 * SPDX-FileCopyrightText: Copyright (c) Orange SA
 * SPDX-License-Identifier: MIT
 *
 * This software is distributed under the MIT license,
 * see the "LICENSE.txt" file for more details or https://opensource.org/license/MIT/
 *
 * Authors: see CONTRIBUTORS.md
 */

use crate::now;

mod acceleration;
pub(crate) mod angle;
mod cause_code;
pub mod collective_perception_message;
pub mod cooperative_awareness_message;
pub(crate) mod cooperative_awareness_message_113;
pub(crate) mod coordinate;
mod curvature;
pub mod decentralized_environmental_notification_message;
pub(crate) mod heading;
mod longitudinal_lane_position;
pub mod map_extended_message;
mod object_dimension;
pub mod perceived_object;
pub mod reference_position;
mod reference_position113;
mod shape;
pub mod signal_phase_and_timing_extended_message;
pub(crate) mod speed;
mod steering_wheel_angle;
mod vehicle_length;
pub(crate) mod velocity;
mod yaw_rate;

const ETSI_TIMESTAMP_OFFSET: u64 = 1072915200000;

/// Converts heading from decidegrees to radians
pub(crate) fn heading_from_etsi(decidegrees: u16) -> f64 {
    (f64::from(decidegrees) / 10.).to_radians()
}

/// Converts heading from radians to decidegrees
pub(crate) fn heading_to_etsi(radians: f64) -> u16 {
    ((radians.to_degrees() * 10_f64) % 3600.) as u16
}

/// Converts speed from cm/s to m/s
pub(crate) fn speed_from_etsi(cm_per_sec: u16) -> f64 {
    f64::from(cm_per_sec) / 100.
}

/// Converts speed from m/s to cm/s
pub(crate) fn speed_to_etsi(meters_per_sec: f64) -> u16 {
    (meters_per_sec * 100.) as u16
}

/// Converts acceleration from dm/s² to m/s²
pub(crate) fn acceleration_from_etsi(dm_per_sec_2: i16) -> f64 {
    f64::from(dm_per_sec_2) / 10.
}

/// Converts acceleration from m/s² to dm/s²
///
/// FIXME use this function and remove this clause once mobility message creation is implemented
///       (cf. [Github issue][1])
///
/// [1]: https://github.com/orgs/Orange-OpenSource/projects/3/views/8?pane=issue&itemId=69693871&issue=Orange-OpenSource%7Cits-client%7C131
#[allow(unused)]
pub(crate) fn acceleration_to_etsi(m_per_s_2: f64) -> i16 {
    (m_per_s_2 * 10.) as i16
}

/// FIXME use this function and remove this clause once mobility message creation is implemented
///       (cf. [Github issue][1])
///
/// [1]: https://github.com/orgs/Orange-OpenSource/projects/3/views/8?pane=issue&itemId=69693871&issue=Orange-OpenSource%7Cits-client%7C131
#[allow(unused)]
pub(crate) fn timestamp_from_etsi(etsi_timestamp: u64) -> u64 {
    etsi_timestamp + ETSI_TIMESTAMP_OFFSET
}

pub(crate) fn timestamp_to_etsi(unix_timestamp: u64) -> u64 {
    unix_timestamp - ETSI_TIMESTAMP_OFFSET
}

pub(crate) fn etsi_now() -> u64 {
    timestamp_to_etsi(now())
}

pub(crate) fn timestamp_to_generation_delta_time(unix_timestamp: u64) -> u16 {
    ((unix_timestamp.saturating_sub(ETSI_TIMESTAMP_OFFSET)) % 65536) as u16
}

#[cfg(test)]
mod tests {
    use crate::exchange::etsi::{
        ETSI_TIMESTAMP_OFFSET, acceleration_from_etsi, acceleration_to_etsi, etsi_now,
        heading_from_etsi, heading_to_etsi, speed_from_etsi, speed_to_etsi, timestamp_from_etsi,
        timestamp_to_etsi, timestamp_to_generation_delta_time,
    };
    use crate::now;
    use std::f64::consts::PI;

    macro_rules! test_from_etsi {
        ($func:ident, $test_name:ident, $value:expr, $expected:expr) => {
            #[test]
            fn $test_name() {
                let epsilon = 1e-11;

                let as_si = $func($value);
                let delta = (as_si - $expected).abs();

                assert!(
                    delta < epsilon,
                    "Actual: {} (expected: {})",
                    as_si,
                    $expected
                );
            }
        };
    }
    test_from_etsi!(heading_from_etsi, north_0_deg_heading_from_etsi, 0, 0_f64);
    test_from_etsi!(
        heading_from_etsi,
        north_3600_deg_heading_from_etsi,
        3600,
        2. * PI
    );
    test_from_etsi!(heading_from_etsi, east_heading_from_etsi, 900, PI / 2.);
    test_from_etsi!(
        heading_from_etsi,
        west_heading_from_etsi,
        2700,
        3. * PI / 2.
    );
    test_from_etsi!(heading_from_etsi, south_heading_from_etsi, 1800, PI);
    test_from_etsi!(speed_from_etsi, nul_speed_from_etsi, 0, 0.);
    test_from_etsi!(speed_from_etsi, non_nul_speed_from_etsi, 2753, 27.53);
    test_from_etsi!(speed_from_etsi, max_speed_from_etsi, u16::MAX, 655.35);
    test_from_etsi!(acceleration_from_etsi, nul_acceleration_from_etsi, 0, 0.);
    test_from_etsi!(
        acceleration_from_etsi,
        negative_acceleration_from_etsi,
        -100,
        -10.
    );
    test_from_etsi!(
        acceleration_from_etsi,
        positive_acceleration_from_etsi,
        123,
        12.3_f64
    );
    test_from_etsi!(
        acceleration_from_etsi,
        min_acceleration_from_etsi,
        -160,
        -16_f64
    );
    test_from_etsi!(
        acceleration_from_etsi,
        max_acceleration_from_etsi,
        161,
        16.1_f64
    );

    macro_rules! test_to_etsi {
        ($func:ident, $test_name:ident, $value:expr, $expected:expr) => {
            #[test]
            fn $test_name() {
                let as_etsi = $func($value);

                assert_eq!(as_etsi, $expected);
            }
        };
    }
    test_to_etsi!(heading_to_etsi, north_0_deg_heading_to_etsi, 0_f64, 0);
    test_to_etsi!(heading_to_etsi, north_3600_deg_heading_to_etsi, 2. * PI, 0);
    test_to_etsi!(heading_to_etsi, east_heading_to_etsi, PI / 2., 900);
    test_to_etsi!(heading_to_etsi, west_heading_to_etsi, 3. * PI / 2., 2700);
    test_to_etsi!(heading_to_etsi, south_heading_to_etsi, PI, 1800);
    test_to_etsi!(speed_to_etsi, nul_speed_to_etsi, 0., 0);
    test_to_etsi!(speed_to_etsi, non_nul_speed_to_etsi, 27.53, 2753);
    test_to_etsi!(speed_to_etsi, extra_decimal_speed_to_etsi, 34.123456, 3412);
    test_to_etsi!(speed_to_etsi, max_speed_to_etsi, 655.35, u16::MAX);
    test_to_etsi!(acceleration_to_etsi, nul_acceleration_to_etsi, 0., 0);
    test_to_etsi!(
        acceleration_to_etsi,
        negative_acceleration_to_etsi,
        -10_f64,
        -100
    );
    test_to_etsi!(
        acceleration_to_etsi,
        positive_acceleration_to_etsi,
        12.3_f64,
        123
    );
    test_to_etsi!(
        acceleration_to_etsi,
        min_acceleration_to_etsi,
        -16_f64,
        -160
    );
    test_to_etsi!(
        acceleration_to_etsi,
        max_acceleration_to_etsi,
        16.1_f64,
        161
    );

    #[test]
    fn test_timestamp_to_etsi() {
        let now = now();

        let etsi_timestamp = timestamp_to_etsi(now);

        assert_eq!(now - etsi_timestamp, ETSI_TIMESTAMP_OFFSET);
    }

    #[test]
    fn test_etsi_now() {
        let now = now();

        let etsi_now = etsi_now();

        assert_eq!(now - etsi_now, ETSI_TIMESTAMP_OFFSET);
    }

    #[test]
    fn test_timestamp_from_etsi() {
        let etsi_now = etsi_now();

        let now = timestamp_from_etsi(etsi_now);

        assert_eq!(now - etsi_now, ETSI_TIMESTAMP_OFFSET);
    }

    #[test]
    fn timestamp_to_generation_delta_time_handles_valid_input() {
        let result = timestamp_to_generation_delta_time(ETSI_TIMESTAMP_OFFSET + 12345);
        assert_eq!(result, 12345);
    }

    #[test]
    fn timestamp_to_generation_delta_time_handles_edge_case_min() {
        let result = timestamp_to_generation_delta_time(ETSI_TIMESTAMP_OFFSET);
        assert_eq!(result, 0);
    }

    #[test]
    fn timestamp_to_generation_delta_time_handles_edge_case_max() {
        let result = timestamp_to_generation_delta_time(u64::MAX);
        assert_eq!(result, ((u64::MAX - ETSI_TIMESTAMP_OFFSET) % 65536) as u16);
    }
}