Keep the colleague's microbu-esp32c5 tree in this repository
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
This commit is contained in:
Ashin Walpola
microbu-esp32c5/external/vanetza-idf/asn1/release2/TS103324v211/CPM-OriginatingStationContainers.asn
Vendored
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CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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CartesianAngle, MapReference, Speed, StationType, TrailerData, Wgs84Angle
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
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;
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/**
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* This DF represents the Originating Vehicle Container
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*
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* It shall include the following components:
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*
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* @field orientationAngle: the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.
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*
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* @field pitchAngle: the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.
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*
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* @field rollAngle: the optional angle and angle accuracy between the ground plane and the current orientation of a vehicle's y-axis with respect to the ground plane about the x-axis according to the ISO 8855
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*
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* @field trailerData: information about the trailer dimensions and orientation in case a trailer is present.
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*
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*/
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OriginatingVehicleContainer ::= SEQUENCE {
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orientationAngle Wgs84Angle,
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pitchAngle CartesianAngle OPTIONAL,
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rollAngle CartesianAngle OPTIONAL,
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trailerDataSet TrailerDataSet OPTIONAL,
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...
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}
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/**
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* This DF represents the Originating RSU Container.
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*
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* It shall include the following components:
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*
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* @field mapReference: identifies the MAPEM containing the topology information reference in the Perceived Object Container
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*
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*/
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OriginatingRsuContainer ::= SEQUENCE{
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mapReference MapReference OPTIONAL,
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...
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}
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/**
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* This DF represents a list of trailer data.
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*
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*/
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TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,frontOverhang ABSENT, rearOverhang ABSENT, trailerWidth ABSENT})
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END
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CPM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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ItsPduHeader, MessageRateHz, MessageSegmentationInfo, OrdinalNumber1B, ReferencePosition, StationType, TimestampIts
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
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WITH SUCCESSORS
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OriginatingRsuContainer, OriginatingVehicleContainer
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FROM CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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SensorInformationContainer
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FROM CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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PerceptionRegionContainer
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FROM CPM-PerceptionRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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PerceivedObjectContainer
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FROM CPM-PerceivedObjectContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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;
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/**
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* This DF represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit.
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*
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* It shall include the following components:
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*
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* @field header: the common message header for the facilities layer message.
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*
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* @field payload: the payload of the message.
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*
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*/
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CollectivePerceptionMessage ::= SEQUENCE {
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header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
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payload CpmPayload
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}
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/**
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* This DF represents the payload of the CPM.
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*
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* It shall include the following components:
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*
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* @field managementContainer: the management container.
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*
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* @field cpmContainers: the list of CPM containers, including its container type identifier and including either one or none of originatingVehicleContainer and/or originatingRsuContainer.
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*
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*/
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CpmPayload ::= SEQUENCE {
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managementContainer ManagementContainer,
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cpmContainers ConstraintWrappedCpmContainers,
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...
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}
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/**
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* This DF represents the management container of the CPM.
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* The management container provides basic information about the originating ITS-S, which are not specific to a specific type of station.
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*
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* It shall include the following components:
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*
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* @field referenceTime: the reference time for all time related information in the CPM.
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*
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* @field messageRateRange: the planned or expected range of the CPM generation rate.
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*
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* @field segmentationInfo: information regarding the message segmentation on facility layer.
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*
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* @field referencePosition: the reference position for all position related information in the CPM.
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*
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*/
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ManagementContainer ::= SEQUENCE {
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referenceTime TimestampIts,
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referencePosition ReferencePosition,
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segmentationInfo MessageSegmentationInfo OPTIONAL,
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messageRateRange MessageRateRange OPTIONAL,
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...
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}
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/**
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* This information object class is an abstract template to instantiate containers.
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*
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* It shall include the following components:
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*
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* @field &id: the identifier of the container type.
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*
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* @field &Type: the container content.
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*
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*/
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CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
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&id CpmContainerId UNIQUE,
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&Type
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} WITH SYNTAX {&Type IDENTIFIED BY &id}
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/**
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* This DE represents the identifier of the container type.
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*
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*/
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CpmContainerId ::= INTEGER (1..16)
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/**
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* These value assignements represent specific values of the container type identifier.
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*/
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originatingVehicleContainer CpmContainerId ::= 1
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originatingRsuContainer CpmContainerId ::= 2
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sensorInformationContainer CpmContainerId ::= 3
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perceptionRegionContainer CpmContainerId ::= 4
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perceivedObjectContainer CpmContainerId ::= 5
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/**
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* This information object set represents the association between the container type and the container content.
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*/
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CpmContainers CPM-CONTAINER-ID-AND-TYPE ::= {
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{OriginatingVehicleContainer IDENTIFIED BY originatingVehicleContainer} |
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{OriginatingRsuContainer IDENTIFIED BY originatingRsuContainer} |
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{SensorInformationContainer IDENTIFIED BY sensorInformationContainer} |
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{PerceptionRegionContainer IDENTIFIED BY perceptionRegionContainer} |
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{PerceivedObjectContainer IDENTIFIED BY perceivedObjectContainer},
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...
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}
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/**
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* This DF represents a CPM container preceded by its type identifier and a lenght indicator.
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*
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* It shall include the following components:
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*
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* @field containerId: the identifier of the container type.
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*
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* @field containerData: the container content consistent with the container type.
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*
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*/
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WrappedCpmContainer ::= SEQUENCE {
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containerId CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
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containerData CPM-CONTAINER-ID-AND-TYPE.&Type( {CpmContainers}{@containerId} )
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}
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/**
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* This DF represents a list of CPM containers, each with their type identifier.
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*/
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WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer
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/**
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* This DF represents a list of CPM containers, each with their type identifier with an additional constraint.
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*/
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ConstraintWrappedCpmContainers ::= WrappedCpmContainers
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((WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 1)})) |
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(WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 2)})))
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/**
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* This DF represents the planned or expected range of the message generation rate.
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*
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* It shall include the following components:
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*
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* @field messageRateMin: the minimum planned or expected message rate.
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*
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* @field messageRateMax: the maximum planned or expected message rate.
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*
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*/
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MessageRateRange::= SEQUENCE{
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messageRateMin MessageRateHz,
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messageRateMax MessageRateHz
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}
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END
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Vendored
+34
@@ -0,0 +1,34 @@
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CPM-PerceivedObjectContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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CardinalNumber1B, PerceivedObject
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
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;
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/**
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* This DF represents the Perceived Object Container
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*
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* It shall include the following components:
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*
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* @field numberOfPerceivedObjects: the total number of perceived objects at the time of generating the message.
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*
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* @field perceivedObjects: the list of perceived objects.
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*
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*/
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PerceivedObjectContainer ::= SEQUENCE {
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numberOfPerceivedObjects CardinalNumber1B,
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perceivedObjects PerceivedObjects,
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...
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}
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/** @brief Perceived Objects
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* This DF provides a list of perceived objects represented in the coordinate system in which the y-axis corresponds to the North direction, the x-axis to the East direction, and the z- axis to the vertical direction.
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*/
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PerceivedObjects::= SEQUENCE SIZE(0..255, ...) OF PerceivedObject (WITH COMPONENTS {... ,objectId PRESENT})
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END
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Vendored
+54
@@ -0,0 +1,54 @@
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CPM-PerceptionRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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CardinalNumber1B, DeltaTimeMilliSecondSigned, Identifier2B, Shape, ConfidenceLevel, SensorType, SequenceOfIdentifier1B
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
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;
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/**
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* This DF represents the Perception Region Container as a list of perception region information objects.
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*/
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PerceptionRegionContainer ::= SEQUENCE SIZE(1..256, ...) OF PerceptionRegion
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/**
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* This DF represents the actual perception capabilities available to the transmitting ITS-S, offering additional (often dynamic) details to the information provided in the sensor information container.
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*
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* It shall include the following components:
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* @field measurementDeltaTime: difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.
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*
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* @field perceptionRegionConfidence: the perception confidence.
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*
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* @field perceptionRegionShape: specification of the shape of the perception region.
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*
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* @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
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*
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* @field sensorIdList: the optional list of identifiers of the sensors which are involved in perceiving the region.
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*
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* @field numberOfPerceivedObjects: the optional number of perceived objects contained in the perception region specified in the component perceptionRegionShape.
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*
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* @field perceivedObjectIds: the optional list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.
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*
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*/
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PerceptionRegion ::= SEQUENCE {
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measurementDeltaTime DeltaTimeMilliSecondSigned,
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perceptionRegionConfidence ConfidenceLevel,
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perceptionRegionShape Shape,
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shadowingApplies BOOLEAN,
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sensorIdList SequenceOfIdentifier1B OPTIONAL,
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numberOfPerceivedObjects CardinalNumber1B OPTIONAL,
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perceivedObjectIds PerceivedObjectIds OPTIONAL,
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...
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}
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/**
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* This DF represents a list of identifiers of perceived objects.
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*/
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PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B
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END
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Vendored
+47
@@ -0,0 +1,47 @@
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CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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|
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BEGIN
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IMPORTS
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Shape, ConfidenceLevel, Identifier1B, SensorType
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3) }
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;
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/**
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* This DF represents the Sensor Information Container as a list of information objects about the sensors or data fusion systems from which the station provides information about detected objects.
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*/
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SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation
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/**
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* This DF represents the characteristics of a single sensor or data fusion system.
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*
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* It shall include the following components:
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*
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* @field sensorId: identifier of the sensor or data fusion system used to relate the perceived object in the Perceived Object Container to the sensor that detected it.
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* this identifier shall uniquely identify the sensor inside the CPM, but may be changed from one CPM to the next.
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*
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* @field sensorType: the type of the sensor.
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*
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* @field perceptionRegionShape: the perception region of the sensor.
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*
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* @field perceptionRegionConfidence: the homogeneous perception region confidence that can be assumed for the entire perception region shape of this sensor.
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*
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* @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
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*
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*/
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SensorInformation ::= SEQUENCE {
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sensorId Identifier1B,
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sensorType SensorType,
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perceptionRegionShape Shape OPTIONAL,
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perceptionRegionConfidence ConfidenceLevel OPTIONAL,
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shadowingApplies BOOLEAN,
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...
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}
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END
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@@ -0,0 +1,4 @@
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The TS 103324 v2.1.1 CPM ASN1 files are copied from its [ETSI repository](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/-/tree/v2.1.1).
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For compatibility with CDD 2.2.1, the CDD import lines are manually patched from "major-version-3" to "major-version-4".
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See [ETSI License](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324/-/blob/v2.1.1/LICENSE) for copyright details.
|
||||
Reference in New Issue
Block a user