Phase 03: real CAM UPER codec + ESP32-C5 TX/RX serial link

- Firmware: rewrite obu-firmware TX loop to be serial-driven (no on-chip timer), add promiscuous RX + GeoNetworking/BTP unwrap (gn_unwrap.c), add binary UART framing to the phone (serial_link.c/.h). Drop local cam_encode() - CAM is now built on the phone. - Kotlin: byte-exact UPER CAM encoder/decoder ported from cam.c (BitWriter/BitReader/CamUperCodec), matching SerialFrame codec, real UsbSerialTransport (usb-serial-for-android), CamTransmitLoop (1Hz base rate, event/geofence boost, ESP32-C5-only), wired into CamUseCaseRepository for RX and TripRecordingService for TX. - Add V2X message retention: persist all CAM (own+remote) to Room while recording, drop otherwise (DB v2 -> v3 migration). - Add jitpack repo + usb-serial-for-android dependency. Fixes: UsbSerialTransport now uses SerialInputOutputManager.start()/stop() (this lib version manages its own thread internally) instead of manual Runnable/Thread submission, which didn't compile.
2026-08-04 17:58:07 +02:00
parent 842d362c8f
commit 33c4ec5998
58 changed files with 8438 additions and 65 deletions
@@ -0,0 +1,67 @@
+#ifndef DENM_H
+#define DENM_H
+#include <stdint.h>
+#include <stddef.h>
+#include <stdbool.h>
+
+// Full CauseCodeType enumeration, straight from the authoritative source:
+// ETSI TS 102 894-2 (CDD) ITS-Container.asn, CauseCodeType definition.
+// (Values 1/2/3/14/26/27/91/94/95/97 were already cross-checked earlier
+// against a real captured DENM; the rest are now confirmed the same way,
+// from the actual ASN.1 module rather than guessed.)
+#define DENM_CAUSE_RESERVED                              0
+#define DENM_CAUSE_TRAFFIC_CONDITION                      1
+#define DENM_CAUSE_ACCIDENT                               2
+#define DENM_CAUSE_ROADWORKS                              3
+#define DENM_CAUSE_IMPASSABILITY                          5
+#define DENM_CAUSE_ADVERSE_WEATHER_ADHESION               6
+#define DENM_CAUSE_AQUAPLANNING                           7
+#define DENM_CAUSE_HAZARDOUS_LOCATION_SURFACE_CONDITION   9
+#define DENM_CAUSE_HAZARDOUS_LOCATION_OBSTACLE_ON_ROAD   10
+#define DENM_CAUSE_HAZARDOUS_LOCATION_ANIMAL_ON_ROAD     11
+#define DENM_CAUSE_HUMAN_PRESENCE_ON_ROAD                12
+#define DENM_CAUSE_WRONG_WAY_DRIVING                     14
+#define DENM_CAUSE_RESCUE_AND_RECOVERY_WORK_IN_PROGRESS  15
+#define DENM_CAUSE_ADVERSE_WEATHER_EXTREME               17
+#define DENM_CAUSE_ADVERSE_WEATHER_VISIBILITY            18
+#define DENM_CAUSE_ADVERSE_WEATHER_PRECIPITATION         19
+#define DENM_CAUSE_SLOW_VEHICLE                          26
+#define DENM_CAUSE_DANGEROUS_END_OF_QUEUE                27
+#define DENM_CAUSE_VEHICLE_BREAKDOWN                     91
+#define DENM_CAUSE_POST_CRASH                            92
+#define DENM_CAUSE_HUMAN_PROBLEM                         93
+#define DENM_CAUSE_STATIONARY_VEHICLE                    94
+#define DENM_CAUSE_EMERGENCY_VEHICLE_APPROACHING         95
+#define DENM_CAUSE_HAZARDOUS_LOCATION_DANGEROUS_CURVE    96
+#define DENM_CAUSE_COLLISION_RISK                        97
+#define DENM_CAUSE_SIGNAL_VIOLATION                      98
+#define DENM_CAUSE_DANGEROUS_SITUATION                   99
+
+typedef struct {
+    uint32_t station_id;
+    uint16_t sequence_number; // keep constant across repeats of the SAME event; only bump on a genuinely new event
+    uint8_t  cause_code;      // e.g. 94 = stationaryVehicle
+    uint8_t  sub_cause_code;  // 0 = unspecified
+    uint8_t  station_type;    // StationType, e.g. 5 = passengerCar - match geonet_wrap_shb's station_type param
+    int32_t  latitude_tenmicrodeg;   // 1/10 microdegree; 0 = placeholder/unavailable
+    int32_t  longitude_tenmicrodeg;  // 1/10 microdegree; 0 = placeholder/unavailable
+    bool     terminate; // true = encode this as a Termination(isCancellation) message instead of a normal update
+} denm_fields_t;
+
+// Encodes a minimal DENM (ItsPduHeader + ManagementContainer +
+// SituationContainer only - no location/alacarte containers) as ASN.1 UPER,
+// per the actual ETSI EN 302 637-3 / TS 102 894-2 ASN.1 modules (fetched
+// from forge.etsi.org, not reconstructed from memory). Returns bytes
+// written, or -1 if buf too small.
+//
+// Two things worth knowing if you're reading this against the modules
+// yourself: ManagementContainer, SituationContainer, and CauseCode are all
+// declared with a trailing "..." (extensible), which means each needs its
+// own leading extension bit in the UPER encoding - easy to miss, and this
+// code got it wrong in an earlier version. Field bit-widths below (e.g.
+// latitude=31 bits, longitude=32 bits, position-confidence fields=12 bits,
+// altitudeValue=20 bits) are derived directly from each type's declared
+// INTEGER constraint range, not assumed to match neighboring fields.
+int denm_encode(const denm_fields_t *f, uint8_t *buf, size_t buf_len);
+
+#endif