Better spatem_ts sample generator by toffanetto · Pull Request #117 · ika-rwth-aachen/etsi_its_messages

toffanetto · 2026-04-14T16:51:45Z

Hello everyone,

I am currently working with your repository and using the sample generators in the tests branch for testing, they are very helpful. I found the spatem_ts example quite simple, as it only publishes the green phase. I extended it by adding a traffic light controller to handle phase changes, and also included timing information in the SPATEM message.

Thank you very much for providing this repository!

…enerator.

Copilot

Pull request overview

This PR enhances the spatem_ts sample publisher to generate more realistic SPATEM traffic light outputs by adding a simple phase controller and populating timing information in TimeChangeDetails.

Changes:

Add a basic traffic light state machine (red/green/yellow) and publish state changes on a timer.
Populate MovementEvent.timing.min_end_time based on the remaining phase time.
Simplify the sample by removing the conversion service call path and inlining message construction into publish().

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-import utils
 from etsi_its_spatem_ts_msgs.msg import *
-from etsi_its_conversion_srvs.srv import ConvertSpatemTsToUdp, ConvertUdpToSpatemTs
+import utils


gkueppers · 2026-04-20T07:31:09Z

Hey @toffanetto,

Thanks for your contribution. I see that there are some changes in the code that aren’t really related to the pull request. I suspect that there have been changes to the main branch in the meantime (adding service functionality) that weren’t included in your fork.

Maybe you could revise the code again so that the diff is minimal?

Thanks for that!

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

toffanetto · 2026-04-20T13:46:38Z

Hello @gkueppers! I had used a legacy version of the file as the base, my mistake.

I’ve now updated the code with the latest version from main that supports the service. Since it now uses the buildMessage method to create the message, I also decoupled the traffic light controller from the publisher timer to improve modularity.

gkueppers · 2026-05-11T07:51:12Z

        msg = SPATEM()

        msg.header.protocol_version = 2
        msg.header.message_id = msg.header.MESSAGE_ID_MAPEM


Suggested change

msg.header.message_id = msg.header.MESSAGE_ID_MAPEM

msg.header.message_id = msg.header.MESSAGE_ID_SPATEM

gkueppers · 2026-05-11T07:53:50Z

        movement_state.signal_group.value = 2
        movement_state.state_time_speed.array.append(movement_event)
-
+        


Suggested change

gkueppers · 2026-05-11T07:56:01Z

        intersection_state.status.value = status_array
        intersection_state.states.array.append(movement_state)
-
+        


Suggested change

gkueppers · 2026-05-11T07:56:11Z

+        
        msg.spat.intersections.array.append(intersection_state)
-
+        


Suggested change

gkueppers · 2026-05-11T07:56:20Z


    def publish(self):
-
+        


Suggested change

gkueppers · 2026-05-11T07:56:33Z

+        self.get_logger().info(f"Publishing SPATEM (TS)")
        self.publisher.publish(msg)
-
+        


Suggested change

gkueppers · 2026-05-11T07:57:31Z

-        self.get_logger().info(f"Publishing {self.type}")
+        self.get_logger().info(f"Publishing SPATEM (TS)")


I think we could revert this line

gkueppers · 2026-05-11T08:01:11Z

        self.srv_to_ros_client = self.create_client(ConvertUdpToSpatemTs, "/etsi_its_conversion/udp/spatem_ts")
        self.timer = self.create_timer(1.0, self.publish)
-
+        self.timer_controller = self.create_timer(1.0, self.controller)


Maybe we should introduce a CONTROLLER_PERIOD = 1 and make use of this here and within the timer callback (self.controller) itself:
self.phasing = self.phasing + CONTROLLER_PERIOD

This way if someone changes the controller period the calculation of min_end_time_s stays valid

Copilot

Pull request overview

Copilot reviewed 1 out of 1 changed files in this pull request and generated 4 comments.

+        status_array = [0] * intersection_state.status.SIZE_BITS
+        status_array[intersection_state.status.BIT_INDEX_MANUAL_CONTROL_IS_ENABLED] = 1


+        now_ns = self.get_clock().now().nanoseconds + int(min_end_time_s*1e9)
+
+        timestamp_hour_nanosec = ((now_ns) % int(60*60 * 1e9))
+
+        timing.min_end_time.value = int((timestamp_hour_nanosec* 1e-8))        
+


+        if (self.state == MovementEvent().event_state.DARK):
+            min_end_time_s = 0
+        elif (self.state == MovementEvent().event_state.STOP_AND_REMAIN):
+            min_end_time_s = RED_LIGHT_TIME - self.phasing
+        elif (self.state == MovementEvent().event_state.PROTECTED_MOVEMENT_ALLOWED):
+            min_end_time_s = GREEN_LIGHT_TIME - self.phasing
+        elif (self.state == MovementEvent().event_state.PROTECTED_CLEARANCE):
+            min_end_time_s = YELLOW_LIGHT_TIME - self.phasing
+
+        now_ns = self.get_clock().now().nanoseconds + int(min_end_time_s*1e9)
+
+        timestamp_hour_nanosec = ((now_ns) % int(60*60 * 1e9))
+
+        timing.min_end_time.value = int((timestamp_hour_nanosec* 1e-8))        


gkueppers · 2026-05-11T09:36:09Z

Hey @toffanetto,
thanks for the update. I took another look at it. There are still a few comments from copilot and myself. I think once we address those, we’ll be ready to merge. Can you take another look at it?

Adding traffic light controller and timing information to spatem_ts g…

eba50bb

…enerator.

gkueppers requested a review from Copilot April 20, 2026 06:43

Copilot started reviewing on behalf of gkueppers April 20, 2026 06:43 View session

Copilot AI reviewed Apr 20, 2026

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gkueppers self-requested a review April 20, 2026 07:31

gkueppers reviewed Apr 20, 2026

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Comment thread etsi_its_msgs_utils/samples/publish_spatem_ts.py Outdated

Comment thread etsi_its_msgs_utils/samples/publish_spatem_ts.py

toffanetto and others added 2 commits April 20, 2026 10:25

Potential fix for pull request finding

73cac3d

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

Updating modification to latest main version

32c4700

gkueppers reviewed May 11, 2026

View reviewed changes

gkueppers requested a review from Copilot May 11, 2026 08:02

Copilot started reviewing on behalf of gkueppers May 11, 2026 08:03 View session

Copilot AI reviewed May 11, 2026

View reviewed changes

	msg.header.message_id = msg.header.MESSAGE_ID_MAPEM
	msg.header.message_id = msg.header.MESSAGE_ID_SPATEM

		movement_state.signal_group.value = 2
		movement_state.state_time_speed.array.append(movement_event)

		intersection_state.status.value = status_array
		intersection_state.states.array.append(movement_state)

		self.get_logger().info(f"Publishing SPATEM (TS)")
		self.publisher.publish(msg)

		self.get_logger().info(f"Publishing {self.type}")
		self.get_logger().info(f"Publishing SPATEM (TS)")

		status_array = [0] * intersection_state.status.SIZE_BITS
		status_array[intersection_state.status.BIT_INDEX_MANUAL_CONTROL_IS_ENABLED] = 1

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toffanetto commented Apr 14, 2026

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gkueppers commented Apr 20, 2026

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toffanetto commented Apr 20, 2026

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gkueppers commented May 11, 2026

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