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 FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).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
@@ -0,0 +1,582 @@
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#ifndef ROUTER_HPP_UKYYCAR0
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#define ROUTER_HPP_UKYYCAR0
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#include <vanetza/common/byte_order.hpp>
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#include <vanetza/common/hook.hpp>
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#include <vanetza/common/its_aid.hpp>
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#include <vanetza/access/ethertype.hpp>
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#include <vanetza/geonet/beacon_header.hpp>
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#include <vanetza/geonet/cbf_packet_buffer.hpp>
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#include <vanetza/geonet/common_header.hpp>
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#include <vanetza/geonet/extended_pdu.hpp>
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#include <vanetza/geonet/gbc_header.hpp>
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#include <vanetza/geonet/gbc_memory.hpp>
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#include <vanetza/geonet/interface.hpp>
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#include <vanetza/geonet/location_table.hpp>
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#include <vanetza/geonet/mib.hpp>
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#include <vanetza/geonet/packet.hpp>
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#include <vanetza/geonet/packet_buffer.hpp>
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#include <vanetza/geonet/pending_packet.hpp>
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#include <vanetza/geonet/pdu.hpp>
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#include <vanetza/geonet/pdu_variant.hpp>
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#include <vanetza/geonet/repeater.hpp>
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#include <vanetza/geonet/sequence_number.hpp>
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#include <vanetza/geonet/shb_header.hpp>
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#include <vanetza/geonet/timestamp.hpp>
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#include <vanetza/units/length.hpp>
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#include <vanetza/units/time.hpp>
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#include <vanetza/security/security_entity.hpp>
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#include <boost/variant.hpp>
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#include <cstdint>
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#include <memory>
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#include <random>
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#include <map>
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namespace vanetza
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{
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// forward declarations
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class MacAddress;
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struct PositionFix;
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class Runtime;
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namespace dcc
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{
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struct DataRequest;
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class RequestInterface;
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} // namespace dcc
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namespace geonet
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{
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extern const access::EtherType ether_type;
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class DccFieldGenerator;
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class IndicationContext;
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class IndicationContextBasic;
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class NextHop;
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class TransportInterface;
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struct ShbDataRequest;
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struct GbcDataRequest;
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struct DataConfirm;
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struct DataIndication;
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struct LinkLayer;
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/**
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* Router is the central entity for GeoNet communication
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*
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* Incoming and outgoing GeoNet packets are handled by the router.
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* It may even dispatch own packets (beacons) if necessary.
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*
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* This implementation follows EN 302 636-4-1 v1.3.1
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*/
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class Router
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{
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public:
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typedef std::unique_ptr<DataRequest> DataRequestPtr;
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typedef std::unique_ptr<Pdu> PduPtr;
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typedef std::unique_ptr<DownPacket> DownPacketPtr;
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typedef std::unique_ptr<UpPacket> UpPacketPtr;
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using PendingPacketForwarding = PendingPacket<GbcPdu, const MacAddress&>;
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/// Reason for packet drop used by drop hook
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enum class PacketDropReason
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{
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Parse_Basic_Header,
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Parse_Common_Header,
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Parse_Secured_Header,
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Parse_Extended_Header,
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ITS_Protocol_Version,
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Decap_Unsuccessful_Non_Strict,
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Decap_Unsuccessful_Strict,
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Hop_Limit,
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Payload_Size,
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Security_Entity_Missing,
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Packet_Size,
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Internal_Error,
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};
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// Reason for stopping packet forwarding
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enum class ForwardingStopReason
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{
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Hop_Limit,
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Source_PDR,
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Sender_PDR,
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Outside_Destination_Area
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};
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Router(Runtime&, const MIB&);
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~Router();
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/**
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* \brief Request to send payload per single hop broadcast (SHB).
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* If security is enabled, the message gets encapsulated in a security envelope.
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* Returns whether data was valid to be sent.
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*
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* \param request
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* \param payload from upper layers
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* \return result code if packet has been accepted
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*/
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DataConfirm request(const ShbDataRequest&, DownPacketPtr);
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/**
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* \brief Request to send payload per GeoBroadcast (GBC).
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* If security is enabled, the message gets encapsulated in a security envelope.
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* Returns whether data was valid to be sent.
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*
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* \param request
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* \param payload from upper layers
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* \return result code if packet has been accepted
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*/
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DataConfirm request(const GbcDataRequest&, DownPacketPtr);
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// These three requests are not supported yet
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DataConfirm request(const GucDataRequest&, DownPacketPtr);
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DataConfirm request(const GacDataRequest&, DownPacketPtr);
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DataConfirm request(const TsbDataRequest&, DownPacketPtr);
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/**
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* \brief Handle the received packet on network layer.
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* Packet handling involves these steps:
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* - header processing
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* - packet forwarding
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* - passing to transport layer
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* - security decapsulation
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*
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* \param packet received packet from access layer
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* \param sender MAC address of sender
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* \param destination MAC address of destination (might be broadcast)
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*/
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void indicate(UpPacketPtr, const MacAddress& sender, const MacAddress& destination);
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/**
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* \brief When a packet is dropped, this Hook is invoked
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* \tparam PacketDropReason why Router decided to drop packet
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*/
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Hook<PacketDropReason> packet_dropped;
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/**
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* \brief When packet forwarding is stopped, this Hook is invoked
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* \tparam ForwardingStopReason why Router decided not to forward packet
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*/
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Hook<ForwardingStopReason> forwarding_stopped;
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/**
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* \brief Update router's local position vector
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*
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* \param fix current position fix
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*/
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void update_position(const PositionFix&);
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/**
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* \brief Register a transport protocol handler.
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*
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* \param proto register handler for this upper protocol
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* \param ifc use this interface or disable handling if nullptr
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*/
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void set_transport_handler(UpperProtocol proto, TransportInterface* ifc);
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/**
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* \brief Register security entity used when itsGnSecurity is enabled
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*
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* \param entity security entity
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*/
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void set_security_entity(security::SecurityEntity* entity);
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/**
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* \brief Register access layer interface
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*
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* \param ifc interface used for passing packets down to access layer
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*/
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void set_access_interface(dcc::RequestInterface* ifc);
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/**
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* \brief Register generator for DCC-MCO fields
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*
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* \param dcc DCC-MCO field generator or nullptr for disabling feature
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*/
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void set_dcc_field_generator(DccFieldGenerator* dcc);
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/**
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* \brief Set Router's own GeoNetworking address
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*
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* \param addr
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*/
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void set_address(const Address&);
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/**
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* \brief Get Management Information Base (MIB)
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* \return read-only reference to MIB
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*/
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const MIB& get_mib() const { return m_mib; }
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/**
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* \brief Get the Contention-Based-Forwarding buffer
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*
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* \return read-only reference to CBF packet buffer
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*/
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const CbfPacketBuffer& get_cbf_buffer() const { return m_cbf_buffer; }
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/**
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* \brief Get the LocationTable.
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* The table holds information about neighbouring ITS-Routers.
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*
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* \return read-only reference to LocationTable
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*/
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const LocationTable& get_location_table() const { return m_location_table; }
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/**
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* \brief Get the local position vector.
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* This vector describes the current position of the router.
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*
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* \return read-only reference to LongPositionVector
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*/
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const LongPositionVector& get_local_position_vector() const { return m_local_position_vector; }
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/**
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* rief Flush the broadcast and unicast forwarding buffers now.
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* TS 102 723-8 V1.1.1 clause 6.3.1.3: between an identifier change PREPARE and COMMIT
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* "caches shall be flushed" so no packet with the old identifier stays queued.
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*/
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void flush_forwarding_buffers();
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/**
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* \brief Check if router is outside the sectorial contention area
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* See TS 102 636-4-1 v1.2.3 section E.4 and figure E.2 for details.
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*
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* \param sender
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* \param forwarder
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* \return bool true if either sender or forwarder is outside
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*/
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bool outside_sectorial_contention_area(const MacAddress& sender, const MacAddress& forwarder) const;
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/**
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* \brief Set seed for internal random number generator (RNG)
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* RNG is used e.g. for random Beacon jitter
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*
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* \param seed reset RNG's state to this seed
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*/
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void set_random_seed(std::uint_fast32_t seed);
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/**
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* Forwarding algorithm selection procedure as given by Annex D
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* \param pdu GeoNetworking PDU
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* \param payload packet payload
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* \param ll link-layer control info (unavailable for source operations)
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* \return routing decision (next hop's address, buffered, or discarded)
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*/
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NextHop forwarding_algorithm_selection(PendingPacketForwarding&&, const LinkLayer* ll = nullptr);
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private:
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typedef std::map<UpperProtocol, TransportInterface*> transport_map_t;
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/**
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* \brief Send Beacon packet to all neighbours with updated position vector.
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* Only to be called when the beacon timer expires.
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*/
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void on_beacon_timer_expired();
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/**
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* \brief Reschedule timer for next Beacon transmission
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* Timer will be scheduled according to MIB's Beacon timer settings.
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*/
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void reset_beacon_timer();
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/**
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* \brief Reschedule timer for next Beacon transmission
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* \param next Duration until next transmission
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*/
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void reset_beacon_timer(Clock::duration next);
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/**
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* \brief Process BasicHeader at packet indication.
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* \param ctx Context holding data for further parsing
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*/
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void indicate_basic(IndicationContextBasic&);
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/**
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* \brief Process CommonHeader at packet indication.
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* \param ctx Context holding data for further parsing
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* \param basic Previously decoded BasicHeader
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*/
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void indicate_common(IndicationContext&, const BasicHeader&);
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/**
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* \brief Process ExtendedHeader at packet indication.
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* \param ctx Context holding data for further parsing
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* \param common Previously decoded CommonHeader
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*/
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void indicate_extended(IndicationContext&, const CommonHeader&);
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/**
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* \brief Process SecuredMessage at packet indication.
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* \param ctx Context holding data for further parsing
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* \param basic Previously decoded BasicHeader
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*/
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void indicate_secured(IndicationContextBasic&, const BasicHeader&);
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/**
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* \brief Process ExtendedHeader information.
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* Update router's LocationTable and neighbour relationship.
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*
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* \param pdu containing the ExtendedHeader
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* \param packet received packet
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* \param ll link-layer control info
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* \return pass up decision (always false for Beacons)
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*/
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bool process_extended(const ExtendedPduConstRefs<BeaconHeader>&, const UpPacket&, const LinkLayer& ll);
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/**
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* \brief Process ExtendedHeader information.
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* Update router's LocationTable and neighbour relationship.
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* Pass packet up to transport layer for further processing.
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*
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* \param pdu containing the ExtendedHeader
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* \param packet received packet
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* \param ll link-layer control info
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* \return pass up decision (true for all non-duplicate SHBs)
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||||
*/
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bool process_extended(const ExtendedPduConstRefs<ShbHeader>&, const UpPacket&, const LinkLayer& ll);
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/**
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* \brief packet handling of received TSB packet
|
||||
*
|
||||
* \param pdu PDU with TSB header
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* \param packet received packet
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* \param ll link-layer control info
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* \return pass up decision (true for all non-duplicate TSBs)
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||||
*/
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bool process_extended(const ExtendedPduConstRefs<TsbHeader>&, const UpPacket&, const LinkLayer& ll);
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/**
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* \brief Process ExtendedHeader information.
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* Update router's LocationTable and neighbour relationship.
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* Pass packet up to transport layer for further processing.
|
||||
* Forward packets.
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*
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||||
* \param pdu containing the ExtendedHeader
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||||
* \param packet received packet
|
||||
* \param ll link-layer control info
|
||||
* \return pass up decision (depends on addressed area and router position)
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*/
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bool process_extended(const ExtendedPduConstRefs<GeoBroadcastHeader>&, const UpPacket&, const LinkLayer& ll);
|
||||
|
||||
/**
|
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* \brief Send all packets in the broadcast forwarding buffer with expired waiting time.
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||||
*/
|
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void flush_broadcast_forwarding_buffer();
|
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|
||||
/**
|
||||
* \brief Send all matching packets in the unicast forwarding buffer with expired waiting time.
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||||
* \param addr unicast packets for this address
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*/
|
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void flush_unicast_forwarding_buffer(const Address& addr);
|
||||
|
||||
/**
|
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* \brief Executes media specific functionalities
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||||
* Details are described in TS 102 636-4-2.
|
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*
|
||||
* \param profile e.g. ITS-G5
|
||||
*/
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void execute_media_procedures(CommunicationProfile);
|
||||
|
||||
/**
|
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* \brief Executes ITS-G5 media specific procedures
|
||||
* Details are described in TS 102 636-4-2.
|
||||
*/
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||||
void execute_itsg5_procedures();
|
||||
|
||||
/**
|
||||
* \brief Pass down the packet to the access layer.
|
||||
*
|
||||
* \param addr MAC address of destination
|
||||
* \param pdu header information
|
||||
* \param payload Packet payload
|
||||
*/
|
||||
void pass_down(const MacAddress&, PduPtr, DownPacketPtr);
|
||||
|
||||
/**
|
||||
* \brief Send packet using the information in the DataRequest.
|
||||
* The packet is formed using the data in PDU and payload.
|
||||
*
|
||||
* \param request containing transmission parameters
|
||||
* \param pdu header information
|
||||
* \param payload Packet payload
|
||||
*/
|
||||
void pass_down(const dcc::DataRequest&, PduPtr, DownPacketPtr);
|
||||
|
||||
/**
|
||||
* \brief Pass packet up to the transport layer.
|
||||
*
|
||||
* \param ind containing network information
|
||||
* \param packet payload to be passed up to the next layer
|
||||
*/
|
||||
void pass_up(const DataIndication&, UpPacketPtr);
|
||||
|
||||
/**
|
||||
* \brief Decide if GBC packet shall be passed up to transport layer.
|
||||
*
|
||||
* \param within_destination is router located within destination area
|
||||
* \param gbc GeoBroadcast header
|
||||
*
|
||||
* \return true if packet shall be passed up
|
||||
*/
|
||||
bool decide_pass_up(bool within_destination, const GeoBroadcastHeader& gbc);
|
||||
|
||||
/**
|
||||
* \brief Helper method to handle duplicate addresses.
|
||||
* If own address collides with the address of a received packet
|
||||
* Router's address is set to a new random address.
|
||||
* \note Behaviour depends on MIB's itsGnLocalAddrConfMethod.
|
||||
*
|
||||
* \param source address of source (from packet header)
|
||||
* \param sender address of sender (link layer)
|
||||
*/
|
||||
void detect_duplicate_address(const Address& source, const MacAddress& sender);
|
||||
|
||||
/**
|
||||
* \brief Detect duplicate packets
|
||||
* See EN 302 636-4-1 v1.3.1 Annex A.2
|
||||
*
|
||||
* \param source source address
|
||||
* \param sn sequence number
|
||||
* \return true if packet is detected as a duplicate
|
||||
*/
|
||||
bool detect_duplicate_packet(const Address& source, SequenceNumber sn);
|
||||
|
||||
/**
|
||||
* \brief Determine next hop for greedy forwarding.
|
||||
* See EN 302 636-4-1 v1.3.1 Annex E.2
|
||||
*
|
||||
* \param pdu
|
||||
* \param payload
|
||||
* \return next hop
|
||||
*/
|
||||
NextHop greedy_forwarding(PendingPacketForwarding&&);
|
||||
|
||||
/**
|
||||
* \brief Determine next hop for non-area contention-based forwarding
|
||||
* See EN 302 636-4-1 v1.3.1 Annex E.3
|
||||
*
|
||||
* \param pdu
|
||||
* \param payload
|
||||
* \param sender optional sender MAC address (if not first hop)
|
||||
* \return next hop
|
||||
*/
|
||||
NextHop non_area_contention_based_forwarding(PendingPacketForwarding&&, const MacAddress* sender);
|
||||
|
||||
/**
|
||||
* \brief Determine next hop for area contention-based forwarding
|
||||
* See EN 302 636-4-1 v1.3.1 Annex F.3
|
||||
*
|
||||
* \param pdu
|
||||
* \param payload
|
||||
* \param sender optional sender MAC address (if not first hop)
|
||||
* \return next hop
|
||||
*/
|
||||
NextHop area_contention_based_forwarding(PendingPacketForwarding&&, const MacAddress* sender);
|
||||
|
||||
/**
|
||||
* \brief Determine CBF buffering time for a packet.
|
||||
* Complies to EN 302 636-4-1 v1.3.1 Annex E.3 (non-area CBF, eq. E.1) and F.3 (area CBF, eq. F.1)
|
||||
*
|
||||
* \param dist distance or progress (interpretation depends on non-area vs. area CBF)
|
||||
* \return CBF time-out
|
||||
*/
|
||||
units::Duration timeout_cbf(units::Length distance) const;
|
||||
|
||||
/**
|
||||
* \brief Determine (area) CBF buffering time for a packet from a sender
|
||||
*
|
||||
* This is a shortcut for a re-curring pattern in Annex F.3 and F.4:
|
||||
* 1) sender position is looked up in location table
|
||||
* 2) position accuracy of sender is validated (if it is found)
|
||||
* 3) progress is then distance between sender and local router
|
||||
*
|
||||
* \param sender MAC address of sender
|
||||
* \return CBF time-out
|
||||
*/
|
||||
units::Duration timeout_cbf(const MacAddress& sender) const;
|
||||
|
||||
/**
|
||||
* \brief Determine next hop for area advanced forwarding
|
||||
* See EN 302 636-4-1 v1.3.1 Annex F.4
|
||||
*
|
||||
* \param pdu
|
||||
* \param payload
|
||||
* \param ll optional link-layer control info (if not source operations)
|
||||
* \return next hop
|
||||
*/
|
||||
NextHop area_advanced_forwarding(PendingPacketForwarding&&, const LinkLayer* sender);
|
||||
|
||||
/**
|
||||
* \brief Callback function for dispatching a packet repetition.
|
||||
* Invoked by Repeater when a scheduled repetition is due.
|
||||
*
|
||||
* \param request
|
||||
* \param payload
|
||||
*/
|
||||
void dispatch_repetition(const DataRequestVariant&, DownPacketPtr);
|
||||
|
||||
/**
|
||||
* \brief Encaspulate a packet according to security profile
|
||||
*
|
||||
* \param aid ITS-AID
|
||||
* \param ssp Service Specific Permissions
|
||||
* \param pdu PDU
|
||||
* \param packet Packet with payload
|
||||
*/
|
||||
DownPacketPtr encap_packet(ItsAid aid, ByteBuffer ssp, ByteBuffer context, Pdu& pdu, DownPacketPtr packet);
|
||||
|
||||
/**
|
||||
* \brief Create an initialized Single-Hop-Broadcast PDU
|
||||
*
|
||||
* \param request
|
||||
* \return PDU object
|
||||
*/
|
||||
std::unique_ptr<ShbPdu> create_shb_pdu(const ShbDataRequest&);
|
||||
|
||||
/**
|
||||
* \brief Create an initialzed Beacon PDU
|
||||
*
|
||||
* \return PDU object
|
||||
*/
|
||||
std::unique_ptr<BeaconPdu> create_beacon_pdu();
|
||||
|
||||
/**
|
||||
* \brief Create an initialized GeoBroadcast PDU
|
||||
*
|
||||
* \param request
|
||||
* \return PDU object
|
||||
*/
|
||||
std::unique_ptr<GbcPdu> create_gbc_pdu(const GbcDataRequest&);
|
||||
|
||||
const MIB& m_mib;
|
||||
Runtime& m_runtime;
|
||||
dcc::RequestInterface* m_request_interface;
|
||||
DccFieldGenerator* m_dcc_field_generator;
|
||||
security::SecurityEntity* m_security_entity;
|
||||
transport_map_t m_transport_ifcs;
|
||||
LocationTable m_location_table;
|
||||
PacketBuffer m_bc_forward_buffer;
|
||||
PacketBuffer m_uc_forward_buffer;
|
||||
CbfPacketBuffer m_cbf_buffer;
|
||||
LongPositionVector m_local_position_vector;
|
||||
SequenceNumber m_local_sequence_number;
|
||||
Repeater m_repeater;
|
||||
std::mt19937 m_random_gen;
|
||||
GbcMemory m_gbc_memory;
|
||||
};
|
||||
|
||||
/**
|
||||
* Get string representation of packet drop reason
|
||||
* \param pdr packet drop reason code
|
||||
* \return string representation
|
||||
*/
|
||||
std::string stringify(Router::PacketDropReason pdr);
|
||||
|
||||
} // namespace geonet
|
||||
} // namespace vanetza
|
||||
|
||||
#endif /* ROUTER_HPP_UKYYCAR0 */
|
||||
Reference in New Issue
Block a user