VERSION 0.10.6

Author: jordimariasi2cat

examples/all_sender_and_receiver.py

@@ -1,11 +1,21 @@
+from __future__ import annotations
+import os
+import sys
+# Ensure ../src (relative to this file) is on PYTHONPATH so local modules can be imported
+_this_dir = os.path.dirname(os.path.abspath(__file__))
+_src_dir = os.path.normpath(os.path.join(_this_dir, "..", "src"))
+if _src_dir not in sys.path:
+    sys.path.insert(0, _src_dir)
+
 import logging
+import time
 from flexstack.linklayer.raw_link_layer import RawLinkLayer
 from flexstack.geonet.router import Router as GNRouter
 from flexstack.geonet.mib import MIB
 from flexstack.geonet.gn_address import GNAddress, M, ST, MID
 from flexstack.btp.router import Router as BTPRouter
 from flexstack.utils.static_location_service import ThreadStaticLocationService, generate_tpv_dict_with_current_timestamp
-from flexstack.facilities.local_dynamic_map.factory import ldm_factory
+from flexstack.facilities.local_dynamic_map.factory import LDMFactory
 from flexstack.facilities.local_dynamic_map.ldm_classes import (
     AccessPermission,
     Circle,
@@ -42,13 +52,6 @@
 )
 from flexstack.facilities.local_dynamic_map.ldm_classes import ComparisonOperators
 import random
-import os
-import sys
-# Ensure ../src (relative to this file) is on PYTHONPATH so local modules can be imported
-_this_dir = os.path.dirname(os.path.abspath(__file__))
-_src_dir = os.path.normpath(os.path.join(_this_dir, "..", "src"))
-if _src_dir not in sys.path:
-    sys.path.insert(0, _src_dir)
 
 
 logging.basicConfig(level=logging.INFO)
@@ -82,9 +85,9 @@ def generate_random_mac_address(locally_administered: bool = True, multicast: bo
 POSITION_COORDINATES = [41.386931, 2.112104]
 MAC_ADDRESS = generate_random_mac_address()
 STATION_ID = random.randint(1, 2147483647)
-SEND_CAMS = False
-SEND_VAMS = False
-SEND_DENMS = False
+SEND_CAMS = True
+SEND_VAMS = True
+SEND_DENMS = True
 
 
 def main():
@@ -121,7 +124,8 @@ def main():
         rectangle=None,
         ellipse=None,
     )
-    ldm = ldm_factory(
+    ldm = LDMFactory()
+    ldm = ldm.create_ldm(
         ldm_location,
         ldm_maintenance_type="Reactive",
         ldm_service_type="Reactive",
@@ -146,7 +150,6 @@ def main():
     def cam_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
         print(
             f'Notified CAM from : {data.data_objects[0]["dataObject"]["header"]["stationId"]}')
-        print(len(data.data_objects))
 
     subscribe_data_consumer_response: SubscribeDataObjectsResp = (
         ldm.if_ldm_4.subscribe_data_consumer(
@@ -159,7 +162,7 @@ def cam_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
                                                                  STATION_ID)),
                 notify_time=TimestampIts(0),
                 multiplicity=1,
-                order=(OrderTupleValue(attribute="cam.generationDeltaTime",
+                order=(OrderTupleValue(attribute="utc_timestamp",
                                        ordering_direction=OrderingDirection.DESCENDING),),
             ),
             cam_ldm_subscription_callback,
@@ -172,7 +175,6 @@ def cam_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
     def vam_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
         print(
             f'Notified VAM from : {data.data_objects[0]["dataObject"]["header"]["stationId"]}')
-        print(len(data.data_objects))
 
     subscribe_data_consumer_response: SubscribeDataObjectsResp = (
         ldm.if_ldm_4.subscribe_data_consumer(
@@ -185,7 +187,7 @@ def vam_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
                                                                  STATION_ID)),
                 notify_time=TimestampIts(0),
                 multiplicity=1,
-                order=(OrderTupleValue(attribute="vam.generationDeltaTime",
+                order=(OrderTupleValue(attribute="utc_timestamp",
                                        ordering_direction=OrderingDirection.DESCENDING),),
             ),
             vam_ldm_subscription_callback,
@@ -273,8 +275,15 @@ def denm_ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
 
     gn_router.link_layer = link_layer
     print("Press Ctrl+C to stop the program.")
+    try:
+        while True:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        print("Exiting...")
+    
+    location_service.stop_event.set()
     location_service.location_service_thread.join()
-
+    link_layer.sock.close()
 
 if __name__ == "__main__":
     main()

examples/cam_sender_and_receiver.py

@@ -8,6 +8,7 @@
 
 # Configure logging
 import random
+import time
 from flexstack.facilities.local_dynamic_map.ldm_classes import ComparisonOperators
 from flexstack.facilities.ca_basic_service.cam_transmission_management import (
     VehicleData,
@@ -33,7 +34,7 @@
     SubscribeDataobjectsResult,
     TimestampIts,
 )
-from flexstack.facilities.local_dynamic_map.factory import ldm_factory
+from flexstack.facilities.local_dynamic_map.factory import LDMFactory
 from flexstack.utils.static_location_service import ThreadStaticLocationService
 from flexstack.btp.router import Router as BTPRouter
 from flexstack.geonet.gn_address import GNAddress, M, ST, MID
@@ -106,7 +107,8 @@ def main():
         rectangle=None,
         ellipse=None,
     )
-    ldm = ldm_factory(
+    ldm_factory = LDMFactory()
+    ldm = ldm_factory.create_ldm(
         ldm_location,
         ldm_maintenance_type="Reactive",
         ldm_service_type="Reactive",
@@ -180,9 +182,15 @@ def ldm_subscription_callback(data: RequestDataObjectsResp) -> None:
     )
 
     gn_router.link_layer = link_layer
-    print("Press Ctrl+C to stop the program.")
+    try:
+        while True:
+            time.sleep(1)
+    except KeyboardInterrupt:
+        print("Exiting...")
+    
+    location_service.stop_event.set()
     location_service.location_service_thread.join()
-
+    link_layer.sock.close()
 
 if __name__ == "__main__":
     main()

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "v2xflexstack"
-version = "0.10.5"
+version = "0.10.6"
 authors = [
   { name = "Jordi Marias-i-Parella", email = "[email protected]" },
   { name = "Daniel Ulied Guevara", email = "[email protected]" },

src/flexstack/applications/road_hazard_signalling_service/emergency_vehicle_approaching_service.py

@@ -76,7 +76,6 @@ def trigger_denm_sending(self, tpv: dict) -> None:
                 - "lon" : Longitude in decimal degrees.
                 - "altHAE" : Altitude in meters above the WGS-84 ellipsoid.
         """
-        request = DENRequest()
         if "lat" in tpv.keys():
             self.event_position["latitude"] = int(tpv["lat"] * 10000000)
         if "lon" in tpv.keys():
@@ -92,6 +91,6 @@ def trigger_denm_sending(self, tpv: dict) -> None:
                     tpv["altHAE"] * 100
                 )
 
-        request.with_emergency_vehicle_approaching(self)
+        request = DENRequest.with_emergency_vehicle_approaching(self)
         self.den_service.denm_transmission_management.request_denm_sending(
             request)

src/flexstack/applications/road_hazard_signalling_service/service_access_point.py

@@ -1,14 +1,15 @@
 from __future__ import annotations
-from enum import Enum
 from typing import TYPE_CHECKING
+from dataclasses import dataclass, field
+from enum import Enum
 from ...facilities.local_dynamic_map.ldm_classes import ReferencePosition, TimestampIts
-
 if TYPE_CHECKING:
     from .emergency_vehicle_approaching_service import (
         EmergencyVehicleApproachingService,
     )
 
 
+@dataclass(frozen=True)
 class RelevanceArea:
     """
     Class to define the relevance area of the DENM.
@@ -22,22 +23,8 @@ class RelevanceArea:
         Relevance direction from the vehicle to a traffic hazard
         or to its future position.
     """
-
-    def __init__(self, r_distance: int, r_direction: int) -> None:
-        """
-        Initialize the relevance area of the DENM.
-
-        Parameters
-        ----------
-        r_distance : int
-            Relevance distance from the vehicle to a traffic hazard
-            or to its future position.
-        r_direction : int
-            Relevance direction from the vehicle to a traffic hazard
-            or to its future position.
-        """
-        self.relevance_distance = r_distance
-        self.relevance_direction = r_direction
+    relevance_distance: int
+    relevance_direction: int
 
 
 class PriorityLevel(Enum):
@@ -56,6 +43,7 @@ class PriorityLevel(Enum):
     PRECRASH = 0
 
 
+@dataclass(frozen=True)
 class DENRequest:
     """
     Class for storing the data of the DENM.
@@ -106,37 +94,32 @@ class DENRequest:
         Relevance area for the emergency vehicle approaching use case.
         Defines the farthest future position of the emergency vehicle.
     """
-
-    def __init__(self) -> None:
-        """
-        Initialize the specific data of the DENM.
-        """
-
-        self.denm_interval = 100
-        self.priority_level = 1
-        # Data elements values
-        self.detection_time = 0
-        self.time_period = 0
-        self.quality = 7
-        self.event_position = {}
-        self.heading = 0  # or N/A
-        self.confidence = 2  # or N/A
-        # self.traceID = N/A
-        # self.waypoints = N/A
-        # Emergency Vehicle Approaching specific data elements
-        self.relevance_distance: str = None
-        self.relevance_traffic_direction: str = None
-        self.rhs_cause_code: str = None
-        self.rhs_subcause_code: int = None
-        self.rhs_event_speed: int = None
-        self.rhs_vehicle_type: int = None
-        # Longitudinal Collision Risk Warning specific data elements
-        self.lcrw_cause_code: str = None
-        self.lcrw_subcause_code: int = None
-
+    denm_interval: int = 100
+    priority_level: PriorityLevel = PriorityLevel.WARNING
+    # Data elements values
+    detection_time: int = 0
+    time_period: int = 0
+    quality: int = 7
+    event_position: dict = field(default_factory=dict)
+    heading: int = 0  # or N/A
+    confidence: int = 2  # or N/A
+    # traceID = N/A
+    # waypoints = N/A
+    # Emergency Vehicle Approaching specific data elements
+    relevance_distance: str | None = None
+    relevance_traffic_direction: str | None = None
+    rhs_cause_code: str | None = None
+    rhs_subcause_code: int | None = None
+    rhs_event_speed: int | None = None
+    rhs_vehicle_type: int | None = None
+    # Longitudinal Collision Risk Warning specific data elements
+    lcrw_cause_code: str | None = None
+    lcrw_subcause_code: int | None = None
+
+    @staticmethod
     def with_emergency_vehicle_approaching(
-        self, service: "EmergencyVehicleApproachingService"
-    ) -> None:
+        service: "EmergencyVehicleApproachingService"
+    ) -> DENRequest:
         """
         Fulfills the DENM Request for Emergency Vehicle Approaching Service
 
@@ -145,29 +128,29 @@ def with_emergency_vehicle_approaching(
         service : EmergencyVehicleApproachingService
             Emergency Vehicle Approaching Service object
         """
-        self.denm_interval = service.denm_interval
-        self.priority_level = service.priority_level
-
-        # Relevance area parameters
-        self.relevance_distance = "lessThan200m"
-        self.relevance_traffic_direction = "upstreamTraffic"
-        # self.DENMTermination = "isCancellation"
-
-        # Data elements values
-        self.detection_time = service.detection_time
-        self.time_period = service.denm_duration
-        self.event_position = service.event_position
-
-        # Specific use cases data elemenets
-        self.rhs_cause_code = "emergencyVehicleApproaching95"
-        self.rhs_subcause_code = 1  # [OPTIONAL]
-        self.rhs_event_speed = 30  # 108 km/h
-        self.rhs_vehicle_type = 0
-        # self.rhs_relevance_area = RelevanceArea(4, 0)
-
+        return DENRequest(
+            denm_interval=service.denm_interval,
+            priority_level=service.priority_level,
+            # Relevance area parameters
+            relevance_distance="lessThan200m",
+            relevance_traffic_direction="upstreamTraffic",
+            # DENMTermination = "isCancellation"
+            # Data elements values
+            detection_time=service.detection_time,
+            time_period=service.denm_duration,
+            event_position=service.event_position,
+            # Specific use cases data elemenets
+            rhs_cause_code="emergencyVehicleApproaching95",
+            rhs_subcause_code=1,  # [OPTIONAL]
+            rhs_event_speed=30,  # 108 km/h
+            rhs_vehicle_type=0,
+            # rhs_relevance_area=RelevanceArea(4, 0),
+        )
+
+    @staticmethod
     def with_collision_risk_warning(
-        self, detection_time: TimestampIts, event_position: ReferencePosition
-    ) -> None:
+        detection_time: TimestampIts, event_position: ReferencePosition
+    ) -> DENRequest:
         """
         Fulfills the DENM Request for Longitudinal Collision Risk Warnings
 
@@ -178,8 +161,10 @@ def with_collision_risk_warning(
         event_position : ReferencePosition
             Position of the hazard.
         """
-        self.priority_level = 1
-        self.detection_time = detection_time.timestamp_its
-        self.event_position = event_position.to_dict()
-        self.lcrw_cause_code = "collisionRisk97"  # Collision risk
-        self.lcrw_subcause_code = 4  # Collision risk involving VRU
+        return DENRequest(
+            priority_level=PriorityLevel.WARNING,
+            detection_time=detection_time.timestamp_its,
+            event_position=event_position.to_dict(),
+            lcrw_cause_code="collisionRisk97",  # Collision risk
+            lcrw_subcause_code=4  # Collision risk involving VRU
+        )

src/flexstack/facilities/local_dynamic_map/factory.py

@@ -3,6 +3,7 @@
 import logging
 
 from .ldm_classes import (
+    GeometricArea,
     Location,
     SubscribeDataobjectsReq,
     SubscribeDataObjectsResp,
@@ -78,7 +79,7 @@ def create_ldm(
             ldm_maintenance = LDMMaintenanceReactive(ldm_location, ldm_database)
             logs.info('LDM Maintenance "Reactive" configured.')
         elif ldm_maintenance_type == "Thread":
-            ldm_maintenance = LDMMaintenanceThread(ldm_location, ldm_database, None)
+            ldm_maintenance = LDMMaintenanceThread(ldm_location, ldm_database)
             logs.info('LDM Maintenance "Thread" configured.')
         else:
             logs.error(
@@ -117,7 +118,7 @@ def create_ldm(
     def subscribe_to_ldm(
         self,
         own_station_id: int,
-        ldm_location: Location,
+        area_of_interest: GeometricArea,
         callback_function: Callable[[RequestDataObjectsResp], None],
     ) -> None:
         """
@@ -142,7 +143,7 @@ def subscribe_to_ldm(
             RegisterDataConsumerReq(
                 application_id=AccessPermission.CAM,
                 access_permisions=(AccessPermission.CAM, AccessPermission.VAM),
-                area_of_interest=ldm_location,
+                area_of_interest=area_of_interest,
             )
         )
         if register_data_consumer_reponse.result == 2: