From 7d7db6449abc975041ab49bad672482dec414bea Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Guido=20K=C3=BCppers?= <guido.kueppers@ika.rwth-aachen.de>
Date: Thu, 22 Aug 2024 16:02:19 +0200
Subject: [PATCH] add python script to publisch Dummy-VAM

---
 utils/scripts/README.md         |  4 ++
 utils/scripts/publish_vam_ts.py | 71 +++++++++++++++++++++++++++++++++
 2 files changed, 75 insertions(+)
 create mode 100755 utils/scripts/publish_vam_ts.py

diff --git a/utils/scripts/README.md b/utils/scripts/README.md
index e511831e5..19fc41c7a 100644
--- a/utils/scripts/README.md
+++ b/utils/scripts/README.md
@@ -25,3 +25,7 @@ ros2 run etsi_its_conversion etsi_its_conversion_node \
 ```bash
 ./publish_cpm_ts.py
 ```
+
+```bash
+./publish_vam_ts.py
+```
\ No newline at end of file
diff --git a/utils/scripts/publish_vam_ts.py b/utils/scripts/publish_vam_ts.py
new file mode 100755
index 000000000..133ff2f55
--- /dev/null
+++ b/utils/scripts/publish_vam_ts.py
@@ -0,0 +1,71 @@
+#!/usr/bin/env python
+
+# ==============================================================================
+# MIT License
+#
+# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+# ==============================================================================
+
+import rclpy
+from rclpy.node import Node
+from etsi_its_vam_ts_msgs.msg import *
+
+
+class Publisher(Node):
+
+    def __init__(self):
+
+        super().__init__("vam_ts_publisher")
+        topic = "/etsi_its_conversion/vam_ts/in"
+        self.publisher = self.create_publisher(VAM, topic, 1)
+        self.timer = self.create_timer(1.0, self.publish)
+
+    def publish(self):
+
+        msg = VAM()
+
+        msg.header.value.protocol_version.value = 2
+        msg.header.value.message_id.value = msg.header.value.message_id.VAM
+        msg.header.value.station_id.value = 32
+
+        msg.vam.generation_delta_time.value = msg.vam.generation_delta_time.ONE_MILLI_SEC
+
+        msg.vam.vam_parameters.basic_container.station_type.value = msg.vam.vam_parameters.basic_container.station_type.PASSENGER_CAR
+        msg.vam.vam_parameters.basic_container.reference_position.latitude.value = int(1e7 * 51.215169611787054)
+
+        vru_high_frequency_container = VruHighFrequencyContainer()
+        vru_high_frequency_container.speed.speed_value.value = 1
+        vru_high_frequency_container.heading.value.value = vru_high_frequency_container.heading.value.WGS84_NORTH
+        vru_high_frequency_container.longitudinal_acceleration.longitudinal_acceleration_value.value = 0
+        vru_high_frequency_container.device_usage_is_present = True
+        vru_high_frequency_container.device_usage.value = vru_high_frequency_container.device_usage.LISTENING_TO_AUDIO
+        msg.vam.vam_parameters.vru_high_frequency_container = vru_high_frequency_container
+
+        self.get_logger().info(f"Publishing VAM (TS)")
+        self.publisher.publish(msg)
+
+
+if __name__ == "__main__":
+
+    rclpy.init()
+    publisher = Publisher()
+    rclpy.spin(publisher)
+    rclpy.shutdown()