This is the Collective Perception Service implementation. I rebased it against master to be able to create a PR that doesn't contain the core changes, but it still depends on the changes of #251 to work.
It shouldn't be merged in this state, i use this to gather some feedback what could or should be done first:
There are MANY signals emitted for statistic collection that are of no general use, but maybe some can be kept as example?
The Sensor Information Container is not build correctly and contains one hardcoded entry only. Main reason for this is i didn't know how to properly calculate the sensor position and other meta data required.
The speed value of objects is added as-is instead of relative to the ego vehicle and decomposed into x- and y- speed. This is done mostly for performance reasons, the receiving side needs these values as-is and can spare the calculation roundtrip.
There are added some optional dummy-values to increase the message size, i think these can be removed safely.
The generation rules don't contain the special case for person or animal objects. At the time i wrote this, there were only vehicles available in Artery.
Maybe the additional units and CPM fragment wrappers should be moved into Vanetza instead of beeing part of this
This is the Collective Perception Service implementation. I rebased it against master to be able to create a PR that doesn't contain the core changes, but it still depends on the changes of #251 to work.
It shouldn't be merged in this state, i use this to gather some feedback what could or should be done first: