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Using OSEM v3 etc #37

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ab9a2fe
Updated according to comments.
sepast Oct 3, 2025
42cd6b0
Fixed test error.
sepast Oct 3, 2025
407d038
Updated submodule
sepast Oct 6, 2025
682a475
Commented code in when decoding OSEM, to get test working.
sepast Oct 7, 2025
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2 changes: 1 addition & 1 deletion demoIsoObject.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -93,7 +93,7 @@ class myObject : public ISO22133::TestObject {
ISO22133::TestObject(ip),
dummyMember(0) {
ObjectSettingsType osem;
osem.testMode = TEST_MODE_UNAVAILABLE;
osem.testMode = TEST_MODE_PREPLANNED;
setMonr(1, 2, 3, 0.4, 5, 6);
setObjectSettings(osem);
}
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2 changes: 1 addition & 1 deletion iso22133
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Submodule iso22133 updated 6 files
+0 −1 include/defines.h
+5 −3 include/osem.h
+14 −34 iso22133.c
+22 −3 iso22133.h
+46 −37 src/osem.c
+44 −12 tests/osem.cpp
4 changes: 2 additions & 2 deletions src/iso22133object.cpp
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Expand Up @@ -54,7 +54,7 @@ void TestObject::initialize() {
initSpd.isLongitudinalValid = false;
initAcc.isLateralValid = false;
initAcc.isLongitudinalValid = false;
initTm = TEST_MODE_UNAVAILABLE;
initTm = TEST_MODE_PREPLANNED;
this->setPosition(initPos);
this->setSpeed(initSpd);
this->setAcceleration(initAcc);
Expand Down Expand Up @@ -332,7 +332,7 @@ int TestObject::handleMessage(std::vector<char>& dataBuffer) {
expectedMessageCounter = msgHeader.messageCounter + 1;
switch (msgHeader.messageID) {
case MESSAGE_ID_TRAJ:
bytesHandled = this->trajDecoder.DecodeTRAJ(dataBuffer, false);
bytesHandled = this->trajDecoder.DecodeTRAJ(dataBuffer, debug);
if (bytesHandled < 0) {
throw std::invalid_argument("Error decoding TRAJ");
}
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10 changes: 5 additions & 5 deletions src/iso22133state.cpp
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Expand Up @@ -114,11 +114,11 @@ void ISO22133::State::handleOSEM(TestObject& obj, ObjectSettingsType& osem) {
msg << "Got OSEM - set transmitter ID to " << obj.transmitterID << std::endl;
std::cout << msg.str();

obj.expectedHeartbeatPeriod = std::chrono::milliseconds(1000 / (uint)osem.rate.heab);
msg.str(std::string());
msg << "Setting HEAB period to " << obj.expectedHeartbeatPeriod.count() << " ms. ("
<< 1000 / obj.expectedHeartbeatPeriod.count() << " Hz) " << std::endl;
std::cout << msg.str();
//obj.expectedHeartbeatPeriod = std::chrono::milliseconds((uint32_t)(osem.rate.communicationTimeout * 1000));
//msg.str(std::string());
//msg << "Setting HEAB period to " << obj.expectedHeartbeatPeriod.count() << " ms. ("
// << 1000 / obj.expectedHeartbeatPeriod.count() << " Hz) " << std::endl;
//std::cout << msg.str();

obj.heartbeatTimeout = 10 * obj.expectedHeartbeatPeriod;
msg.str(std::string());
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2 changes: 1 addition & 1 deletion src/trajDecoder.cpp
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Expand Up @@ -27,7 +27,7 @@ ssize_t TrajDecoder::DecodeTRAJ(std::vector<char>& dataBuffer, bool debug) {
}

// Decode TRAJ waypoints
int const tmpSize{trajecoryHeader.nWaypoints - nPointsHandled};
uint32_t const tmpSize{trajecoryHeader.nWaypoints - nPointsHandled};
TrajectoryWaypointType waypoint;

for (int i = 0; i < tmpSize; i++) {
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8 changes: 4 additions & 4 deletions tests/isoObject.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,10 +105,10 @@ class ControlCenterEmulator {

TimeSetToCurrentSystemTime(&objSettings.currentTime);

objSettings.heabTimeout.tv_usec = 20000;
objSettings.heabTimeout.tv_sec = 0;
objSettings.communicationTimeout.tv_usec = 20000;
objSettings.communicationTimeout.tv_sec = 0;

objSettings.rate.heab = 10;
objSettings.rate.heabTimeout = 10;
objSettings.rate.monr = 100;
objSettings.rate.monr2 = 1;

Expand All @@ -131,7 +131,7 @@ class ControlCenterEmulator {
header.messageCounter = this->messageCounter;
header.transmitterID = this->transmitterID;
auto nBytesWritten =
encodeOSEMMessage(&header, &objSettings, transmitBuffer.data(), transmitBuffer.size(), false);
encodeOSEMMessage(&header, &objSettings, transmitBuffer.data(), transmitBuffer.size(), true);
transmitBuffer.resize(nBytesWritten);
sendTCP(transmitBuffer);
}
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