b2b57fa39e01db6ffc39987191fc39e7b5481cb6
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Commits
| Author | SHA1 | Message | Date | |
|---|---|---|---|---|
 Ashin Walpola
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b2b57fa39e |
Vendor the ASN.1 modules the codecs are verified against; untrack IDE churn
asn1/ Three tests assert exact bytes - CamEncodeGoldenTest, DenmAirReceiveTest and SpatemUperCodecTest - and their expected values came from asn1tools compiled against ETSI modules that existed only as an untracked working copy on one machine. A golden-byte fixture nobody else can regenerate is a fixture nobody can safely touch, so the modules are now in the repo. Only the seven .asn files those tests need are copied, 576 KB of a 4.2 MB checkout; the upstream Rust parser is not used by this project at all. Verified sufficient in isolation: copied into an empty directory, all three specs compile and reproduce the committed golden CAM bytes byte-identically. Source is consider it GmbH's C-ITS-Parser (github.com/consider-it/C-ITS-Parser) at f457426, MIT licensed - LICENSE is retained alongside as that requires. The schemas themselves are ETSI's standard definitions; upstream's contribution is assembling them into a compilable set. asn1/README.md records the provenance, which module pairs with which message, and the rule that matters: never regenerate a golden fixture from this project's own encoder, because sharing a mistake between encoder and decoder is exactly the failure these files exist to catch. Doc references in the codecs and tests now point at asn1/ instead of the untracked checkout, and C-ITS-Parser/ is gitignored so the working copy beside the project is never picked up. Untracked local state - .idea/deploymentTargetSelector.xml rewrites itself on every deploy, so it has been showing as modified in essentially every commit. Along with deviceManager.xml, appInsightsSettings.xml and studiobot.xml it is per-machine state, not project configuration. - obu-firmware/sdkconfig.old is ESP-IDF build output - it is the previous sdkconfig, rewritten on every build. sdkconfig.defaults remains tracked, since that is the configuration actually chosen. All five stay on disk; only the tracking is removed. Also ignores .claude/settings.local.json, which is per-machine, while leaving the skills beside it committable as project knowledge. |
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Ashin Walpola
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a5ad3dcc5d |
SPATEM receive, RSU CAM decode, and two ASN.1 encoding fixes
SPATEM over the air - gn_unwrap.c accepts BTP-B port 2004 alongside 2001/2002. The serial protocol already carries the port in its V2X_RX prefix, so nothing else changed there. Note the crossover that makes this easy to get wrong: SPATEM is port 2004 but messageID 4, while MAPEM is port 2003 and messageID 5. - SpatemUperCodec decodes SPAT down to per-signal-group phase and timing. The bit layout was validated by replaying 79,042 real SPATEMs - the whole 2026-03-18 drive across 7+ RSUs plus the bench trigger - against asn1tools using the ETSI modules. All 79,042 matched on every field, none hit an unsupported branch. Two traps are pinned by tests: TimeChangeDetails is the one SEQUENCE here that is NOT extensible (5 optional bits, no extension bit), and maneuverAssistList cannot be skipped when present - it is variable-length, so it has to be walked to find where the next movement starts. - The V2X list shows one row per intersection with each signal group coloured by phase and a countdown where the RSU supplies timing. TimeMark wraps hourly, so the countdown corrects for it; without that it reads hugely negative once an hour, precisely when someone is watching it. - Entries expire after 15 s, much shorter than DENM's window: a traffic light that stopped updating is not "still green". Size caveat, deliberately deferred: SERIAL_LINK_MAX_PAYLOAD is still 512, so a SPATEM over ~498 bytes is counted as an oversize drop. The bench RSU sends 58 bytes and is unaffected, but real road RSUs measured 555 median / 1243 max, so roughly 70% would not arrive. Raising the cap also requires enlarging RX_FRAME_MAX_LEN and moving rx_item_t off the WiFi driver's callback stack, where it would otherwise overflow. RSU CAM decode - HighFrequencyContainer is a CHOICE, and a roadside unit picks rsuContainerHighFrequency, which carries no kinematics at all. The decoder bailed on that branch, so every RSU CAM was dropped - including the bench RSU, which sends CAM and SPATEM from the same station id. It now decodes for position and stationType. - RSU CAMs are kept out of UseCaseDetectionEngine. They arrive as a permanently stationary station at a fixed point, which is exactly the shape the stopped-vehicle and intersection-movement use cases match, and would raise a standing false alert for as long as the RSU was in range. CAM transmit: yawRateConfidence - YawRateConfidence has nine enumerands (0..8), so UPER needs 4 bits and "unavailable" is 8. The encoder wrote 3 bits with value 7 - one bit short and the wrong symbol - shifting every field after yawRate for any standards-strict receiver. The decoder read 3 bits too, so phone and ESP32 agreed with each other and with nothing else. - This is the third instance of that exact failure mode in this project, after CurvatureCalculationMode and the GeoNetworking reserved bytes. A round-trip test through our own decoder structurally cannot catch it, so CamEncodeGolden Test asserts the bytes asn1tools produces instead: it decoded this encoder's output and re-encoded it byte-identically. Confirmed on air afterwards - 26 of our own CAMs captured back off the OBU's receiver, all 26 accepted, where the same decoder rejected them before. DENM - Hazards now expire 60 s after their last repetition. This needs a clock, not just a filter: both source flows only emit when a DENM arrives, so a sender that drives away or loses power would never trigger a recompute and its hazard would stay on screen indefinitely. - The MQTT path was dropping every DENM for two independent reasons, both found by checking the payload against CI-CiT-MQTT_API_Documentation-v6 listing 2.6 rather than guessing: the station id key is originatingStationId, and eventPosition IS a GeoJSON Point rather than an object containing one. Also parses termination (presence is the signal), sequenceNumber, stationType and the RFC3339 detectionTime. Note roadSideUnit is 15, not 12 - the enumeration has a gap after tram(11). V2X screen - The decoded CAM/DENM list now renders on the CiT One path too; it was gated to the ESP32-C5 path and CiT One fell through to the raw MQTT topic list. Those topics move to their own tab, hidden on the ESP32-C5 path where there is no broker. Testing - Adds org.json as a test-only dependency: the android.jar stub throws "not mocked" on every JSONObject call, which made the MQTT payload parsers untestable off-device. - 23 V2X tests pass. EventDetectorTest's 4 failures are pre-existing and untouched by this change. |