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Author SHA1 Message Date
Ashin Walpola 73d4477f1e Move the capture tooling into the repo 
live_capture.py and dump_pcap.py were untracked files inside the third-party
its-g5-receiver-firmware checkout, so the tools every on-air measurement depends
on were versioned nowhere and would vanish with a fresh clone of that project.
They are ours rather than that project's, so they now live in capture/, with the
setup notes rewritten as its README: which port the sniffer speaks on and why,
how to capture, how to check a capture, and how to flash the sniffer board.

live_capture.py carries the fix made on 2026-09-14. The sniffer's console
converts LF to CRLF on its way out, and that applies to every 0x0a byte of the
binary pcap stream, not only to log text, so every inserted CR shifts the rest
of the stream. A 787 KB capture parsed cleanly for only 82 of about 2000
records, and DENMs turned up on nonsense BTP ports because their payloads carry
0x0a often. undo_crlf() reverses it on the raw stream before any framing, which
is exact; afterwards a capture parsed to EOF and DENMs read as port 2002.
Captures taken before that date are truncated at their first corrupted record,
so anything measured from them is worth re-checking.

capture/recordings/ is gitignored, since captures are data rather than source.
The host tests now read both that directory and the older one in the receiver
checkout, so no capture has to be moved while it is being written.

dump_pcap.py reads the same console and still needs the same treatment; that is
recorded in TODO.md.
 2026-09-14 13:38:38 +02:00
Ashin Walpola 277c6b20f4 Record the on-air verification and how to run the bench beacon 
Both firmware fixes are now confirmed over the air, with the sniffer board
capturing and asn1tools judging the result.

GN lifetime: our station transmits 0x05 (1 s), the value both bench stations
use, where the August captures show 0x83 (3200 s) for the same frames. 397 CAMs
from station 999999 decode and re-encode byte-identically, so the whole
transmit chain is right on the wire, not only in the host tests.

yawRateConfidence: the bench beacon, flashed to a spare board, sends CAMs that
decode and re-encode byte-identically as well (72 of 72 from station
0x0BADC0DE). NOTES.md now says how to flash that beacon and how to check what
it sends, including that it shares the phone pinger's MAC and the two are told
apart by station ID.

The new firmware also runs on the OBU with the phone attached: CAM, DENM and
SPATEM from the bench stations all keep decoding in the app now that messages
are cut to the length their header declares.

Signed reception stays open. The CiT One transmits unsigned and nothing else
here signs, so it needs real roadside traffic, the CiT One switched to signed
mode, or a replay firmware on a spare board.

Two bench facts worth not rediscovering are recorded too: opening COM3's
console resets the OBU and drops the phone's USB link, and every capture taken
before today is truncated at its first corrupted record, because the receiver's
console inserts a CR before every 0x0a byte of the binary pcap stream.
live_capture.py now undoes that, a change that lives in the receiver repo and
is not part of this commit.
 2026-09-14 13:33:47 +02:00
Ashin Walpola 0f06cdb339 Merge branch 'main' of gitlab.rzbt.haw-hamburg.de:urban-mobility-lab/microbu/microbuapp 
# Please enter a commit message to explain why this merge is necessary,
# especially if it merges an updated upstream into a topic branch.
#
# Lines starting with '#' will be ignored, and an empty message aborts
# the commit.
 2026-09-14 12:56:30 +02:00
Ashin Walpola 75d6d3b85c Receive signed ITS messages and forward each at its declared length 
Signed packets. A GeoNetworking Basic Header NextHeader of 2 means a
TS 103 097 (IEEE 1609.2) envelope follows, with the Common Header
inside it. gn_unwrap_its rejected all of these, and most real traffic is
signed: the 2026-08-17 capture holds 157 signed frames from 15 source
MACs against 2 unsecured stations. It now opens a COER-encoded
signedData, or a bare unsecuredData, and parses the inner packet as
before. The inner packet comes first inside tbsData, so the certificate
and signature are never parsed, and the signature is not verified - the
firmware has no trust store. Such messages reach the phone with the new
V2X_RX flags bit1, signed but not verified. The app reads only bit0 and
is unaffected until it learns the flag. Encrypted payloads, nested
signing and the legacy v1.2.1 envelope are still rejected. All 157
recorded signed frames have the layout this reads, in all three COER
length forms, and asn1tools decodes every envelope to the same inner
packet.

Payload bounds. Every frame recorded through the ESP32-C5's promiscuous
RX, about 15 000 of them, ends in 8 bytes that are not part of the
802.11 frame and not a valid FCS. obu-firmware reads frames through the
same API and took the rest of the frame as the message, so it forwarded
those 8 bytes to the phone after every message. UPER decoders stop where
the message ends, so nothing visibly broke, but the bytes cost serial
bandwidth and 8 bytes of the DENM's headroom, and they stayed attached
wherever raw payloads were stored or passed on. The payload is now
exactly what the Common Header's payload-length field declares, which is
also what separates a signed message from its signature.

A frame longer than main.c's 800-byte capture buffer is now reported as
truncated instead of being forwarded cut off, and counted as an oversize
drop through the new serial_link_note_oversize_drop, as it was when the
cut-off frame failed serial_link's size check.

Host tests in obu-firmware/test/host build the firmware sources
unmodified with MSYS2 gcc; `make` runs all three.
- test_chain: frames from the firmware's TX code checked byte by byte
  against EN 302 636-4-1 and parsed back, including hand-built signed
  frames, the payload-length rule, the RX trailer, and every truncation
  length against a no-access guard page. 1731 checks, 0 failures.
- test_replay and check_replay.py: all 15 145 recorded frames through
  gn_unwrap_its, cut to 800 bytes as on the board, and re-derived
  independently in Python with the envelope decoded by asn1tools. They
  agree on every record; 15 131 accepted, 157 of them signed. 11 043 of
  the 11 106 distinct messages re-encode byte-identically. The other 63
  fail the same way with the old 8 bytes put back, so the boundary is
  not the cause: 5 are our own CAMs from before the 2026-08-20
  yawRateConfidence fix, and the rest, from other stations, are a
  follow-up in TODO.md.
- fuzz_gn_unwrap: random edits of every recorded frame, each run against
  the guard page. 50 000 000 iterations, no crash.

obu-firmware/test/pcap_gn_tally.py tallies GeoNetworking header fields
per station over captures; it is how the other stations' lifetimes were
measured. TODO.md collects what is still open, including the on-air
check for this change: it builds on IDF 6.1 but has not been flashed.
 2026-09-11 20:19:40 +02:00
Ashin Walpola 1baae2c5f6 Encode yawRateConfidence in 4 bits in the firmware CAM encoders 
YawRateConfidence has nine enumerands, degSec-000-01(0) to
unavailable(8) (cdd_1_3_1_1.asn), so UPER needs 4 bits and
"unavailable" is 8. Both firmware copies of cam.c wrote 3 bits with
value 7, which is also the wrong symbol (outOfRange), and every field
after it shifted by one bit. The app's CamUperCodec fixed the same line
on 2026-08-20; these two copies were missed.

obu-cam-transmistter compiles its cam.c, so a board running that bench
beacon sent CAMs no standards-compliant station could decode.
obu-firmware's copy is reference only - it is not in SRCS, since the
phone encodes the CAM - and is kept in step because the app's encoder
was ported from it. The production OBU runs obu-firmware and was never
affected.

Every other field width was compared against CamUperCodec.kt and
matches. Checked with asn1tools against asn1/cam_1_4_1.asn and
cdd_1_3_1_1.asn: the CAM both fixed copies emit decodes with every
expected value and re-encodes byte-identically, while the version before
this change fails on yawRateConfidence. obu-cam-transmistter builds on
IDF 5.5.4.
 2026-09-11 20:19:40 +02:00
Ashin Walpola 8871708a98 Send the GeoNetworking lifetime as 1 s, not 3200 s 
geonet_wrap_shb wrote lifetime 0x83, commented as about 60 s. The field
holds the multiplier in its upper six bits and the base in the lower two
(50 ms, 1 s, 10 s, 100 s), so 0x83 is 32 x 100 s = 3200 s. That is over
the 600 s itsGnMaxPacketLifetime a sender may use at all; vanetza
refuses to send such a packet. The byte arrived with the Phase 03 commit
as a placeholder and was never checked against the encoding.

For a single-hop CAM this is non-compliance rather than a functional
fault: nothing stores or forwards an SHB packet, so no receiver acts on
the value, and no dropped CAM was ever traced to it.

0x05 (1 x 1 s) is what every other station in
its-g5-receiver-firmware/recordings sends its CAMs with; the recorded
GeoBroadcast DENMs use 0x79 (30 s). Changed in obu-cam-transmistter's
copy as well. Both firmwares build (IDF 6.1 and 5.5.4), and the
disassembled geonet_wrap_shb of each stores 0x05. Not yet seen on air:
the production OBU still runs the 2026-09-10 build, and the on-air
check is listed in TODO.md.
 2026-09-11 20:19:39 +02:00
Ashin Walpola d7043bb04d Ignore the vanetza checkout and Python bytecode caches 
vanetza is a clone of the open-source ETSI C-ITS stack, kept beside the
project as a reference in the same way as C-ITS-Parser. It is read, not
built, and it carries its own .git, so a plain `git add .` would have
picked it up as an embedded repository.

__pycache__/ appears when obu-firmware/test/host/check_replay.py is
imported rather than run.
 2026-09-11 20:19:39 +02:00
niklasdathe@web e908f7fae1 Move architecture files into docs 2026-09-10 15:17:28 +02:00
Niklas Dathe 8f397eea20 Add drawio architecture diagram 2026-09-10 15:12:53 +02:00
Niklas Dathe cc395771ea First draft of architecture that was decided on at the Workshop (09.09.2026) 2026-09-10 14:55:45 +02:00
Ashin Walpola 83153a0971 Send each CAM with its position vector, a rotating pseudonym and GNSS time 
The app side of the firmware's CAM_TX_PV message. Until now the phone
handed the ESP32 bare CAM bytes, so the GeoNetworking header around them
could only carry the firmware's bench placeholders.

GnPositionVector.fromCam builds the Source Position Vector from the same
Cam the UPER is encoded from, so the two layers cannot disagree about
where the rider is. Position is rounded exactly as CamUperCodec rounds
it, heading wraps into 0..3599, and non-finite values become 0. PAI is
set when Android's horizontal accuracy is at most 24.7 m, the 40 m
itsGnPaiInterval/2 threshold converted from a 95% to a 68% confidence
radius. UsbSerialTransport.sendCamTx sends 0x05 once the heartbeat
advertises the capability and 0x01 otherwise, so this build still
transmits against older firmware, and logs which path it is on.

Pseudonyms. The station ID used to be created once per install and never
changed, under a MAC that never changed either, so every CAM this phone
ever sent was linkable to every other. PseudonymManager now owns the
station ID and the MAC as one identity and replaces both together every
10 minutes, or immediately if the clock goes backwards. Both are
persisted in a single edit, so a crash cannot leave them mismatched.
MACs are locally administered unicast and can never equal the bench
ping's. CamTransmitLoop takes the current pseudonym per CAM, and the two
most recently retired IDs still count as ours, so a frame sent just
before a rotation is not taken for a stranger.

GNSS time. On 2026-09-10 the bench phone's clock was 24 minutes fast:
with no SIM and no internet time it had no automatic time source, and
every CAM went out stamped in the future. GnssTimeSource moves transmit
timestamps onto SystemClock.currentGnssTimeClock() and falls back to the
wall clock without a fix, logging which one is in use and the measured
error. ItsTime is now the single rule for both the CAM's
generationDeltaTime and the GN TST. Receive paths stay on the wall clock
so everything they stamp remains comparable.

The bench pinger keeps its fixed station 999999 and a fixed MAC, so a
ping stays recognisable in a capture. 999999 now counts as ours only
while this phone's pinger runs and for 5 s after it stops. The previous
rule treated it as ours unconditionally, which hid another phone's pings
on the same bench.

Leap seconds are an open question, recorded in ItsTime: TimestampIts may
be TAI-based, which would put it 5 s higher. 85 tests, 0 failures.
 2026-09-10 14:47:30 +02:00
Ashin Walpola 3eeccfb268 Send CAMs under the phone's position vector, not bench placeholders 
Every field of the GeoNetworking Source Position Vector this firmware sent
was a compile-time constant: the bench coordinates, speed 0, heading 0,
TST 0, station type passengerCar and one fixed MAC. The CAM inside
described a moving cyclist while the GN header around it described a car
parked at the bench.

SERIAL_MSG_CAM_TX_PV (0x05) puts a 24-byte prefix ahead of the CAM UPER:
MAC, station type, PAI, TST, latitude, longitude, speed and heading, all
values the phone already has when it builds the CAM and none of which
this chip can know. geonet_wrap_shb now takes them as a gn_lpv_t, and
tx_radio_task hands the same MAC to dot11p_build_frame, so the 802.11
source address and the GN_ADDR MID stay one address across a pseudonym
change. Speed is clamped rather than masked, since an overflowing 15-bit
value flips its sign bit and reads as travelling backwards.

This reverses the Phase 03 decision that the firmware owns the
pseudonym. A pseudonym only protects anyone if the MAC, the GN_ADDR and
the CAM's stationID change together, and the phone owns the stationID.

The heartbeat gains a capability byte (payload[7], bit0 = CAM_TX_PV),
appended so an app reading the first 7 bytes is unaffected. The app sends
0x05 only once it sees that bit, so app and firmware can be updated in
either order. CAM_TX (0x01) is still handled and falls back to the bench
values, with the station type corrected to cyclist to match the CAM.

Verified on air from the COM10 test board, decoded independently by the
CiT One's gnHeader: 24 of 24 CAM_TX_PV frames matched the sent position
vector field by field, and so did the CAM station ID. The legacy path
delivered 23 of 24 frames with no field mismatches. Flashed on the COM3
OBU and its boot log is clean.

Also corrects the SERIAL_LINK_MAX_PAYLOAD comment, which still named the
400-byte receive capture buffer as the ceiling on the RX path. That
buffer is 800 bytes now, so the serial link is the ceiling, and larger
payloads are dropped and counted there.
 2026-09-10 14:47:30 +02:00
Ashin Walpola 5ec3619cbe Stop retaining detected manoeuvres; the CAM rate bump is their only consumer 
The detector runs to raise the CAM transmit rate through a manoeuvre. Nothing
else read its output once the UI was removed, so keeping the rows was storing
data with no reader on the chance it would one day be analysed.

Drops the detected_events table in schema v5, deletes DetectedEventEntity and
the DAO and repository methods behind it, removes the insertEvent call from the
recording service, and removes the per-event rows and their five columns
(event_type, confidence, peak_accel, peak_gyro, duration_ms) from the trip CSV
along with the events parameter threaded through buildTripCsv and shareTripCsv.
A detected manoeuvre now lives for the length of one onDetectedEvent call.

MIGRATION_1_2 still creates the table: a v1 install upgrades 1-2-3-4-5 and so
creates it before v5 drops it. Removing it from the earlier migration would
break that path for anyone who has not upgraded yet.

trips.eventCount is kept. Dropping a SQLite column means recreating the table
and copying every recorded ride across, which is real risk for one unused
integer; the service still writes an accurate count and the CSV header still
reports it. It is the only thing left about detected manoeuvres.

This closes off the route to the false-positive measurement that 11.3 flags as
missing, so 11.3 now says that outright rather than pointing at an export that
no longer carries the data. Docs 11.3/11.4, the user guide, the README and the
traceability matrix updated to match. 55 tests, 0 failures.
 2026-09-08 16:29:02 +02:00
Ashin Walpola 1ad123a6f8 Make the event detector a CAM rate input, not a ride-stats readout 
The detector's only live consumer is the CAM transmit-rate policy: every
emitted event calls CamTransmitLoop.onDetectedEvent, raising the beacon
rate from 1 Hz to the elevated rate for five seconds so nearby stations
get denser updates through a manoeuvre. Counting one's own braking events
is not a goal of this project, so the display is gone and the detector
stays: the live per-type counters and their notification text, the event
pins and detail sheet on the trip review map, and the event chip on the
history card. Events are still persisted and exported to CSV, which is
the only route to the tuning measurement section 11.3 says is missing.

Fix two defects found while documenting the detector.

TripRecordingService overrode nine of DetectionConfig's twelve parameters
in its constructor, so the tests validated the Phase A defaults while the
phone ran something materially less sensitive. The tuned values are now
the defaults and the override is deleted; the numbers moved location, not
value, so detector sensitivity is unchanged. EventDetectorTest now sets
only windowSize and the sustained-frame counts and inherits every signal
threshold, which cannot drift again. That was not a free change and makes
the same point from the other side: at the real thresholds the old stimuli
triggered nothing. Accel alternating 3.5/0.5 gives a std dev of 1.5 and
never clears 1.8, and the moderate-braking case used a 0.8 m/s drop that
never clears 1.0. Those stimuli are re-derived against the real values.

brakingHighConfidenceRate was documented as a rate but has always been
compared against the peak cumulative drop from the onset speed, which
grows with episode length, so HIGH was assigned more readily than the name
implied. Renamed to brakingHighConfidencePeakDrop rather than changing the
comparison: "lost more than 1.5 m/s in one episode" is coherent, whereas a
rate off a 1 Hz speed signal sampled at 50 Hz spikes on a near-zero
divisor early in an episode. Output is unchanged, so the existing
confidence assertions stay evidence instead of being re-baselined.

Docs 11.3/11.4 updated in place, including the correction of a claim that
detected events do not reach the V2X side; the rate-bump path already
existed when that was written. 55 tests, 0 failures.
 2026-09-08 16:20:14 +02:00
Ashin Walpola 83ccf335bb Document the event detector's specification and trigger conditions 
Section 11 described how the detector works and the test-design finding from
2026-08-25, but carried no threshold values, no trigger conditions and no
emission semantics. That was inconsistent with section 10.4, which tabulates
all nineteen UseCaseDetectionConfig parameters for the V2X side. Adds 11.3 and
11.4 to close the gap.

11.3 tabulates all twelve DetectionConfig parameters in three columns, because
three different configurations exist and they do not agree. DetectionConfig's
KDoc says its defaults match the Phase A specification; TripRecordingService
overrides nine of the twelve when it constructs the detector, every one of them
in the direction of lower sensitivity. The shipping detector is not the
specified detector, and that was recorded nowhere outside a constructor.

11.4 gives the input rates, the qualifying condition for each of the three
event types, when each emits, and how confidence is assigned. It also explains
why braking compares against a reference speed latched at onset rather than a
per-frame delta: GNSS updates at 1 Hz against a 50 Hz detector, so a per-frame
delta is non-zero on one frame in fifty and could never coincide with a
25-frame sustain requirement. That is the same sampling lag that made four
tests unsatisfiable, seen from the implementation side.

Two discrepancies found while writing this are recorded rather than fixed,
since fixing either changes behaviour and belongs in its own change:

- EventDetectorTest states it keeps production thresholds for all signal
  values. The values it keeps are the DetectionConfig defaults, not the ones
  TripRecordingService runs. All 18 tests validate a configuration that never
  executes on a phone. The logic under test is shared, so they remain valid
  logic tests; they are not evidence about the shipped system.
- brakingHighConfidenceRate is documented as a rate in m/s per GNSS update but
  is compared against the peak cumulative drop from the onset reference, which
  is not a rate and grows with episode length. HIGH confidence is therefore
  assigned more readily than the name implies.

Also notes the emission asymmetry: turning and stopping emit once per episode,
braking re-arms and re-fires roughly every half second at the shipping values.

Edited in place through the existing package rather than regenerated, so Word's
own parts and the manual edits from 312f094 survive. All sixteen package parts
verified present afterwards, section order unchanged, all nine image
placeholders intact.
 2026-09-07 16:42:58 +02:00
65 changed files with 4614 additions and 684 deletions
Expand all files Collapse all files
.gitignore
+7
View File
@@ -27,6 +27,9 @@ secrets.properties
/.idea/appInsightsSettings.xml /.idea/appInsightsSettings.xml
/.idea/studiobot.xml /.idea/studiobot.xml
# Python bytecode caches, e.g. from importing obu-firmware/test/host/check_replay.py.
__pycache__/
# ESP-IDF rewrites sdkconfig on every build and keeps the previous one here. # ESP-IDF rewrites sdkconfig on every build and keeps the previous one here.
# sdkconfig.defaults is the real, intentional configuration; these two are output. # sdkconfig.defaults is the real, intentional configuration; these two are output.
sdkconfig.old sdkconfig.old
@@ -38,7 +41,11 @@ sdkconfig.old
# Third-party working copies kept beside the project, not part of it. The ASN.1 # Third-party working copies kept beside the project, not part of it. The ASN.1
# modules this project actually needs are vendored under asn1/ instead. # modules this project actually needs are vendored under asn1/ instead.
/C-ITS-Parser/ /C-ITS-Parser/
/vanetza/
# Office lock files. Word/Excel create these beside a document while it is open # Office lock files. Word/Excel create these beside a document while it is open
# and remove them on close, so they are transient and machine-local. # and remove them on close, so they are transient and machine-local.
~$* ~$*
# Captures are large data files, not source (see capture/README.md).
/capture/recordings/
README.md
+2 -2
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@@ -38,9 +38,9 @@ Both paths converge at `CamUseCaseRepository`, which normalises whatever arrived
**DENM transmission**; CiT One path only. Triggers the stationary vehicle profile (`hln-sv`, causeCode 94) via the consider it Use Case API. This is a manual antenna and range test tool. It is never triggered by a detected event or a use case alert, and the control is hidden entirely on the ESP32-C5 path. **DENM transmission**; CiT One path only. Triggers the stationary vehicle profile (`hln-sv`, causeCode 94) via the consider it Use Case API. This is a manual antenna and range test tool. It is never triggered by a detected event or a use case alert, and the control is hidden entirely on the ESP32-C5 path.
**Trip recording**; foreground service records all sensor streams and detects cycling events (braking, turning, stopping) using orientation-independent signal processing. Works fully offline with no OBU connected. **Trip recording**; foreground service records all sensor streams and detects cycling manoeuvres (braking, turning, stopping) using orientation-independent signal processing. Works fully offline with no OBU connected. The detected manoeuvres are neither shown nor stored - their only effect is to raise the CAM transmit rate through the manoeuvre on the ESP32-C5 path.
**Trip review**; past trips displayed on an OpenStreetMap layer with detected events overlaid as coloured pins. Tap any pin for event details. **Trip review**; past trips displayed as a route on an OpenStreetMap layer, with duration and distance.
**CSV export**; every sensor sample written to a timestamped CSV in real time. Trip exports additionally include the V2X messages received and their RSSI. Shareable via the standard Android share sheet. **CSV export**; every sensor sample written to a timestamped CSV in real time. Trip exports additionally include the V2X messages received and their RSSI. Shareable via the standard Android share sheet.
TODO.md
+125
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@@ -0,0 +1,125 @@
# TODO
Engineering to-do list. The reviewer-facing open items live in
`docs/01-requirements-traceability.md` ("Open items"); this file is the working list behind them.
## Waiting on hardware
### Over-the-air check of the GN lifetime fix (added 2026-09-11)
`geonet.c` now writes GN lifetime `0x05` (1 s) instead of `0x83`, which decoded to 3200 s. Changed
in both `obu-firmware` and `obu-cam-transmistter`. Both still build (IDF 6.1 / 5.5.4), and the
compiled `geonet_wrap_shb` stores the new byte. Confirmed on air 2026-09-14. Nothing else
reads this byte (`gn_unwrap.c` ignores it, the app never sees GN headers), so the app does not
need updating alongside the firmware.
Needs: the phone with the app, the OBU ESP32-C5, and a **second** ESP32-C5 running
`its-g5-receiver-firmware` to capture with.
- [x] Flash `obu-firmware` (done 2026-09-14 on COM3; flash backed up first to
`Documents/micrOBU_workspace/firmware-backups/COM3-2026-09-14-before-secured-rx.bin`).
- [x] Capture with the receiver (COM8) into `its-g5-receiver-firmware/recordings/`.
- [x] `pcap_gn_tally.py` on capture_20260914_132126.pcap: our station sends SHB, port 2001,
lifetime `0x05`, same as both bench stations. It was `0x83` in the August captures.
- [x] Real-station CAMs/DENMs/SPATEM still reach the app (logcat: `handleCamUper`,
`handleDenmUper`, `handleSpatUper` all decoding, 2026-09-14).
- [x] Our own CAMs decode on air: 397 frames from station 999999 decode with asn1tools and
re-encode byte-identically.
- [ ] Confirm the CAM Pinger card's `tx fail` / oversize / CRC counters are 0 (needs a look at the
phone; not readable from the PC).
Partial check possible with one board and no phone: flash it, `idf.py -p COMx monitor`, and look
for `OCB @ 5900 MHz - TX/RX armed`. That proves the new build boots and brings the radio up, not
that it transmits correctly.
### obu-cam-transmistter yawRateConfidence fix (added 2026-09-11)
Its `cam.c` (compiled into that firmware) wrote `yawRateConfidence` as 3 bits / 7 instead of
4 bits / unavailable(8), the bug the app fixed on 2026-08-20. Fixed in it and in obu-firmware's
reference copy; asn1tools now decodes the CAM and re-encodes it byte-identically, and it builds on
IDF 5.5.4. Since 2026-09-14 the spare board on COM10 runs it as a bench beacon:
- [x] Done 2026-09-14: flashed on COM10 and captured on COM8. All 72 CAMs from station
195936478 (0x0BADC0DE) decode with asn1tools and re-encode byte-identically, so the
4-bit yawRateConfidence is right on air. COM10 now runs this beacon rather than
obu-firmware - reflash it if the spare is needed as an OBU again.
### Signed-message reception and exact payloads (added 2026-09-11)
obu-firmware's `gn_unwrap.c` now unwraps TS 103 097 signed packets (signature not verified,
reported as V2X_RX flags bit1) and cuts every message to the length its header declares, dropping
the 8 bytes the chip's RX appends to each frame, which were forwarded to the phone until now.
Verified on the host (`obu-firmware/test/host`: chain, replay of all recordings against asn1tools,
50M-iteration fuzz) and flashed to the production OBU on 2026-09-14. The remaining gap is signed
traffic to receive: real vehicles or
RSUs, since the bench CiT One sends unsigned. A second ESP32 running the receiver firmware is
optional, but shows what was on air at the time.
- [x] Flash obu-firmware (done 2026-09-14, COM3).
- [x] Unsigned bench traffic still decodes in the app, with messages now cut to their declared
length (CAM, DENM and SPATEM all decoding in logcat after the flash).
- [ ] Near signed traffic: signed CAMs/DENMs appear in the app, and a simultaneous capture shows
them on air (`pcap_gn_tally.py` lists them as `secured`). NOT possible at this bench: the
CiT One transmits unsigned (`ItsGnSecurity = 0`) and nothing else here signs. Needs a drive
past real RSUs, the CiT One switched to signed mode if its API allows, or a replay firmware
on a spare board that re-transmits the recorded signed frames.
- [ ] The heartbeat's oversize counter still counts over-long messages. Not exercised at the
bench: the SPATEMs here are ~340 bytes on air, far below the cap.
## Set up host testing
- [x] Install MSYS2 UCRT64 gcc (done 2026-09-11: gcc 16.2.0, GNU Make 4.4.1; chosen over WSL,
vanetza is not going to be built). Setup and the PATH gotcha: `obu-firmware/test/host/README.md`.
- [x] Host round-trip test `obu-firmware/test/host/test_chain.c` (`geonet_wrap_shb` ->
`dot11p_build_frame` -> `gn_unwrap_its`, byte-checked against the standard). Done
2026-09-11: 491 checks, 0 failed. Run `make` in that folder before flashing any firmware fix.
- [x] Replay of the recorded captures (`test_replay.c` + `check_replay.py`, independent asn1tools
check). Done 2026-09-11: C and Python agree on all 15 145 records.
- [x] Mutation fuzzer `fuzz_gn_unwrap.c`, inputs against a no-access guard page. Done 2026-09-11:
50 000 000 iterations, no crash. `make` runs a 2 000 000-iteration pass every time.
## Firmware ideas from the vanetza review (2026-09-11, not started)
Suggested order after the host tests exist:
- [x] **Read secured packets (GN NextHeader=2) without verifying them.** Done 2026-09-11 in
`gn_unwrap.c`, host-verified; flagged to the phone as V2X_RX flags bit1. On-air check under
"Waiting on hardware".
- [ ] **Forward the full GeoBroadcast area**: shape (circle/rectangle/ellipse), DistanceB, angle,
appended to the V2X_RX prefix behind a capability bit. Port vanetza's `geonet/areas.cpp`
`inside_or_at_border` to the app, which currently treats every area as a circle.
- [ ] **RX filtering before the serial link**: duplicate detection for GBC (last 8 sequence numbers
per source, as vanetza does), drop our own frames, reject GN version != 1.
- [ ] **Read the DCC-MCO field** (the 4 "reserved" bytes of an SHB header): neighbours' channel
busy ratio for free.
- [ ] **Minimum TX gap in firmware** as a DCC safety net (vanetza reactive table: 60 ms relaxed ...
460 ms restrictive), with a CBR estimate in the heartbeat.
- [ ] **Generic V2X_TX message** (BTP port, SHB/GBC, traffic class, lifetime, area) so the phone can
send DENM and VAM without reflashing. Consider QoS Data frames: vanetza's Cohda receive path
drops non-QoS ones.
Dropped: building vanetza as a GN/BTP oracle. Real captures (`pcap_gn_tally.py`), the host
round-trip test and `asn1tools` for UPER cover what it would have checked.
## Follow-ups found 2026-09-14
- [x] **Capture tooling moved into this repo** (`capture/`), with the CR-insertion fix. The
sniffer's console inserts a CR before every LF, which also hits every 0x0a byte of the binary
pcap stream, shifting pcap record headers and frames. A 787 KB capture parsed cleanly for
only 82 of ~2000 records, and DENMs showed up on nonsense BTP ports. `undo_crlf()` reverses
it on the raw stream before framing; afterwards a capture parsed to EOF and DENMs read as
port 2002. **Every capture taken before 2026-09-14 is truncated at its first corrupted
record** - re-measure anything derived from them.
- [ ] `capture/dump_pcap.py` reads the same console and still needs the same treatment.
- [ ] **Do not open COM3's console while the phone is attached.** Opening it toggles DTR/RTS on the
CH343 and resets the OBU, which drops the phone's USB link and needs a manual Connect.
## Follow-ups found 2026-09-11
- [ ] **App: show the signed flag.** `V2xRxFrame.parse` in `SerialFrame.kt` only reads bit0 of
the flags byte; read bit1 (signed, not verified) and show it where messages are listed.
- [ ] **Messages that do not decode with asn1tools.** In the recordings, 56 from the CiT One
(`aa:f8:76:7d:bd:ad`: 54 CAMs of 245 bytes, 2 DENMs of 402 bytes) and one 218-byte CAM from
`6e:94:03:1b:05:26` fail against `cam_1_4_1`/`denm_1_3_1` + `cdd_1_3_1_1`, with or without the
old trailing bytes. A newer module version on the sender, or a sender bug; check what the
app's decoders make of them (`check_replay.py` lists the records).
app/src/main/java/com/hawhamburg/micr0bu/MainActivity.kt
+1 -4
View File
@@ -248,10 +248,7 @@ class MainActivity : AppCompatActivity() {
val trip = trips.firstOrNull { it.id == tripId } val trip = trips.firstOrNull { it.id == tripId }
if (trip != null) { if (trip != null) {
TripReviewScreen( TripReviewScreen(trip = trip)
trip = trip,
viewModel = tripViewModel,
)
} }
} }
app/src/main/java/com/hawhamburg/micr0bu/data/GnssTimeSource.kt
+63
View File
@@ -0,0 +1,63 @@
package com.hawhamburg.micr0bu.data
import android.os.SystemClock
import android.util.Log
import com.hawhamburg.micr0bu.domain.asn1.ItsTime
import java.time.DateTimeException
/**
* Puts the timestamps this phone transmits on GNSS time instead of its own wall clock.
*
* ## Why
* Every CAM carries a generationDeltaTime and every GeoNetworking header a TST, and receivers use
* them to judge how fresh a message is and in what order messages came. Both used to come straight
* from `System.currentTimeMillis()`, so they were only as good as the phone's clock setting. On
* 2026-09-10 the bench phone was 24 minutes fast: automatic time had no source (no SIM, and the
* lab Wi-Fi has no internet time), so it had not set the clock once in 69 hours, and every CAM
* went out stamped 24 minutes in the future. A bike-mounted phone on the road is in exactly that
* position. GNSS time depends on none of it.
*
* ## How
* [SystemClock.currentGnssTimeClock] (API 29, this app's minSdk) is a UTC clock the platform keeps
* synchronised from GNSS fixes. One reading of it taken alongside the wall clock gives the wall
* clock's error, which is then applied to the fix's own timestamp. When GNSS time is unavailable,
* typically indoors before any satellite fix since boot, the wall clock is used unchanged.
*
* Which clock is in use is logged whenever it changes, with the measured error, so a capture shows
* where a given run's timestamps came from.
*
* Only the transmit path uses this. Everything else in the app stays on the wall clock, because
* received messages, sensor samples and trip records are all stamped with it and must stay
* comparable with one another.
*/
object GnssTimeSource {
private const val TAG = "GnssTimeSource"
/** Whether the last correction used GNSS time; null before the first. For change-only logging. */
@Volatile private var lastUsedGnss: Boolean? = null
/** [systemMs], a wall-clock reading, moved onto GNSS time where GNSS time is available. */
fun correct(systemMs: Long): Long {
val systemNow = System.currentTimeMillis()
val gnssNow = try {
SystemClock.currentGnssTimeClock().millis()
} catch (e: DateTimeException) {
null
}
noteSource(gnssNow, systemNow)
return ItsTime.onGnssTime(systemMs, gnssNow, systemNow)
}
private fun noteSource(gnssNow: Long?, systemNow: Long) {
val usingGnss = gnssNow != null
if (lastUsedGnss == usingGnss) return
lastUsedGnss = usingGnss
if (gnssNow != null) {
Log.i(TAG, "transmit timestamps now on GNSS time; phone clock is " +
"${"%+.1f".format((systemNow - gnssNow) / 1000.0)} s off")
} else {
Log.w(TAG, "GNSS time unavailable, transmit timestamps fall back to the phone clock, " +
"which has no automatic time source without a SIM or internet")
}
}
}
app/src/main/java/com/hawhamburg/micr0bu/data/TripExporter.kt
+9 -21
View File
@@ -3,7 +3,6 @@ package com.hawhamburg.micr0bu.data
import android.content.Context import android.content.Context
import android.content.Intent import android.content.Intent
import androidx.core.content.FileProvider import androidx.core.content.FileProvider
import com.hawhamburg.micr0bu.data.db.DetectedEventEntity
import com.hawhamburg.micr0bu.data.db.RecordedTripEntity import com.hawhamburg.micr0bu.data.db.RecordedTripEntity
import com.hawhamburg.micr0bu.data.db.V2xMessageEntity import com.hawhamburg.micr0bu.data.db.V2xMessageEntity
import kotlinx.coroutines.Dispatchers import kotlinx.coroutines.Dispatchers
@@ -23,12 +22,15 @@ fun tripFileName(trip: RecordedTripEntity): String =
/** /**
* Builds a single combined CSV for one trip: the raw sensor samples recorded alongside it, the * Builds a single combined CSV for one trip: the raw sensor samples recorded alongside it, the
* events the detector fired, the GPS track, and every V2X message seen during the ride — all in * GPS track, and every V2X message seen during the ride — all in one file, ordered by time.
* one file, ordered by time. *
* Detected manoeuvres are deliberately absent. The detector exists to raise the CAM transmit
* rate (see EventDetector's KDoc); its output is not retained, so there is nothing to export
* beyond the per-trip count in the header.
* *
* **Why one file rather than a zip of tables.** The point of the export is correlation: what was * **Why one file rather than a zip of tables.** The point of the export is correlation: what was
* the bike doing when that CAM arrived, what did the detector make of it. Splitting those into * the bike doing when that CAM arrived. Splitting those into separate files pushes the join
* separate files pushes the join onto whoever opens it. A leading `type` column keeps the rows * onto whoever opens it. A leading `type` column keeps the rows
* distinguishable, which is the same shape the existing session CSV already uses, so the two * distinguishable, which is the same shape the existing session CSV already uses, so the two
* remain readable by the same tooling. * remain readable by the same tooling.
* *
@@ -44,7 +46,6 @@ fun tripFileName(trip: RecordedTripEntity): String =
suspend fun buildTripCsv( suspend fun buildTripCsv(
context: Context, context: Context,
trip: RecordedTripEntity, trip: RecordedTripEntity,
events: List<DetectedEventEntity>,
v2xMessages: List<V2xMessageEntity>, v2xMessages: List<V2xMessageEntity>,
): String = withContext(Dispatchers.IO) { ): String = withContext(Dispatchers.IO) {
buildString { buildString {
@@ -59,7 +60,6 @@ suspend fun buildTripCsv(
appendLine() appendLine()
appendLine( appendLine(
"type,timestamp_ms,timestamp_iso,lat,lon,speed_ms,heading_deg," + "type,timestamp_ms,timestamp_iso,lat,lon,speed_ms,heading_deg," +
"event_type,confidence,peak_accel,peak_gyro,duration_ms," +
"station_id,station_type,is_own,yaw_rate_dps,rssi_dbm" "station_id,station_type,is_own,yaw_rate_dps,rssi_dbm"
) )
@@ -68,16 +68,6 @@ suspend fun buildTripCsv(
appendLine( appendLine(
"gps,${point.timestamp},${isoUtc.format(Date(point.timestamp))}," + "gps,${point.timestamp},${isoUtc.format(Date(point.timestamp))}," +
"${point.lat},${point.lon},,," + "${point.lat},${point.lon},,," +
",,,,," +
",,,"
)
}
for (e in events) {
appendLine(
"event,${e.timestamp},${isoUtc.format(Date(e.timestamp))}," +
"${e.latitude},${e.longitude},${e.speedMps},," +
"${e.type},${e.confidence},${e.peakAccelMagnitude},${e.peakGyroMagnitude},${e.durationMs}," +
",,,," ",,,,"
) )
} }
@@ -86,14 +76,13 @@ suspend fun buildTripCsv(
appendLine( appendLine(
"v2x,${m.timestamp},${isoUtc.format(Date(m.timestamp))}," + "v2x,${m.timestamp},${isoUtc.format(Date(m.timestamp))}," +
"${m.latitude},${m.longitude},${m.speedMps},${m.headingDeg}," + "${m.latitude},${m.longitude},${m.speedMps},${m.headingDeg}," +
",,,,," +
"${m.stationId},${m.stationType},${m.isOwn},${m.yawRateDps ?: ""},${m.rssiDbm ?: ""}" "${m.stationId},${m.stationType},${m.isOwn},${m.yawRateDps ?: ""},${m.rssiDbm ?: ""}"
) )
} }
// Raw sensor samples, copied verbatim from the session CSV. Appended last rather than // Raw sensor samples, copied verbatim from the session CSV. Appended last rather than
// merge-sorted in: a long ride is hundreds of thousands of rows, and sorting them against // merge-sorted in: a long ride is hundreds of thousands of rows, and sorting them against
// the (comparatively tiny) event/V2X sets in memory would defeat the streaming that // the (comparatively tiny) V2X set in memory would defeat the streaming that
// CsvExporter deliberately does. Each row carries its own timestamp, so sort on load. // CsvExporter deliberately does. Each row carries its own timestamp, so sort on load.
val sessionCsv = trip.sessionId?.let { File(File(context.filesDir, "sessions"), "$it.csv") } val sessionCsv = trip.sessionId?.let { File(File(context.filesDir, "sessions"), "$it.csv") }
if (sessionCsv != null && sessionCsv.exists()) { if (sessionCsv != null && sessionCsv.exists()) {
@@ -110,12 +99,11 @@ suspend fun buildTripCsv(
suspend fun shareTripCsv( suspend fun shareTripCsv(
context: Context, context: Context,
trip: RecordedTripEntity, trip: RecordedTripEntity,
events: List<DetectedEventEntity>,
v2xMessages: List<V2xMessageEntity>, v2xMessages: List<V2xMessageEntity>,
) { ) {
val fileName = tripFileName(trip) val fileName = tripFileName(trip)
val cacheFile = File(context.cacheDir, fileName) val cacheFile = File(context.cacheDir, fileName)
val csv = buildTripCsv(context, trip, events, v2xMessages) val csv = buildTripCsv(context, trip, v2xMessages)
withContext(Dispatchers.IO) { cacheFile.writeText(csv) } withContext(Dispatchers.IO) { cacheFile.writeText(csv) }
app/src/main/java/com/hawhamburg/micr0bu/data/TripRepository.kt
+2 -33
View File
@@ -3,11 +3,9 @@ package com.hawhamburg.micr0bu.data
import android.content.Context import android.content.Context
import android.util.Log import android.util.Log
import com.hawhamburg.micr0bu.data.db.AppDatabase import com.hawhamburg.micr0bu.data.db.AppDatabase
import com.hawhamburg.micr0bu.data.db.DetectedEventEntity
import com.hawhamburg.micr0bu.data.db.RecordedTripEntity import com.hawhamburg.micr0bu.data.db.RecordedTripEntity
import com.hawhamburg.micr0bu.data.db.V2xMessageEntity import com.hawhamburg.micr0bu.data.db.V2xMessageEntity
import com.hawhamburg.micr0bu.domain.cam.Cam import com.hawhamburg.micr0bu.domain.cam.Cam
import com.hawhamburg.micr0bu.domain.detection.DetectedEvent
import kotlinx.coroutines.flow.Flow import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.first import kotlinx.coroutines.flow.first
import java.io.File import java.io.File
@@ -15,7 +13,7 @@ import java.io.File
private const val TAG = "TripRepository" private const val TAG = "TripRepository"
/** /**
* Repository that abstracts Room access for trips and detected events. * Repository that abstracts Room access for trips and V2X messages.
* *
* All suspend functions are safe to call from a coroutine running on any * All suspend functions are safe to call from a coroutine running on any
* dispatcher; Room executes the actual SQL on its own I/O thread pool. * dispatcher; Room executes the actual SQL on its own I/O thread pool.
@@ -81,14 +79,11 @@ class TripRepository(db: AppDatabase, private val context: Context) {
* One-shot snapshots for export. The Flow-returning variants above stay observable for the UI; * One-shot snapshots for export. The Flow-returning variants above stay observable for the UI;
* an export wants a value it can write out, not a stream it has to unsubscribe from. * an export wants a value it can write out, not a stream it has to unsubscribe from.
*/ */
suspend fun getEventsForTripOnce(tripId: Long): List<DetectedEventEntity> =
dao.getEventsForTrip(tripId).first()
suspend fun getV2xMessagesForTripOnce(tripId: Long): List<V2xMessageEntity> = suspend fun getV2xMessagesForTripOnce(tripId: Long): List<V2xMessageEntity> =
dao.getV2xMessagesForTrip(tripId).first() dao.getV2xMessagesForTrip(tripId).first()
/** /**
* Deletes a trip and everything belonging to it: detected events and V2X messages go via the * Deletes a trip and everything belonging to it: V2X messages go via the
* schema's CASCADE foreign keys, and the CSV recorded alongside it is removed here. * schema's CASCADE foreign keys, and the CSV recorded alongside it is removed here.
* *
* The CSV is a plain file outside the database, so nothing deletes it implicitly - before * The CSV is a plain file outside the database, so nothing deletes it implicitly - before
@@ -109,32 +104,6 @@ class TripRepository(db: AppDatabase, private val context: Context) {
} }
} }
// ── Events ────────────────────────────────────────────────────────────────
/**
* Persists a domain [DetectedEvent] for the given [tripId].
* Converts the domain model to the Room entity.
*/
suspend fun insertEvent(tripId: Long, event: DetectedEvent) =
dao.insertEvent(
DetectedEventEntity(
tripId = tripId,
timestamp = event.timestamp,
type = event.type.name,
confidence = event.confidence.name,
latitude = event.latitude,
longitude = event.longitude,
speedMps = event.speedMps.toFloat(),
peakAccelMagnitude = event.peakAccelMagnitude.toFloat(),
peakGyroMagnitude = event.peakGyroMagnitude.toFloat(),
durationMs = event.durationMs,
)
)
/** Emits events for [tripId] ordered by timestamp, updating whenever the DB changes. */
fun getEventsForTrip(tripId: Long): Flow<List<DetectedEventEntity>> =
dao.getEventsForTrip(tripId)
// ── V2X messages (Phase 03) ────────────────────────────────────────────────── // ── V2X messages (Phase 03) ──────────────────────────────────────────────────
// Retention policy: only ever called while a trip is actively recording — see // Retention policy: only ever called while a trip is actively recording — see
// V2xMessageEntity's KDoc and CamUseCaseRepository.processedCam's collector in // V2xMessageEntity's KDoc and CamUseCaseRepository.processedCam's collector in
app/src/main/java/com/hawhamburg/micr0bu/data/cam/CamUseCaseRepository.kt
+24 -10
View File
@@ -32,6 +32,7 @@ import com.hawhamburg.micr0bu.domain.spat.SpatEvent
import com.hawhamburg.micr0bu.domain.usecase.UseCaseAlert import com.hawhamburg.micr0bu.domain.usecase.UseCaseAlert
import com.hawhamburg.micr0bu.domain.usecase.UseCaseDetectionEngine import com.hawhamburg.micr0bu.domain.usecase.UseCaseDetectionEngine
import com.hawhamburg.micr0bu.domain.usecase.UseCaseType import com.hawhamburg.micr0bu.domain.usecase.UseCaseType
import com.hawhamburg.micr0bu.service.CamPinger
import dagger.hilt.android.qualifiers.ApplicationContext import dagger.hilt.android.qualifiers.ApplicationContext
import kotlinx.coroutines.CoroutineScope import kotlinx.coroutines.CoroutineScope
import kotlinx.coroutines.Dispatchers import kotlinx.coroutines.Dispatchers
@@ -104,6 +105,8 @@ class CamUseCaseRepository @Inject constructor(
private val usbSerialTransport: UsbSerialTransport, private val usbSerialTransport: UsbSerialTransport,
private val camCodec: RealAsn1UperCodec, private val camCodec: RealAsn1UperCodec,
private val obuHardwarePrefs: ObuHardwarePreferences, private val obuHardwarePrefs: ObuHardwarePreferences,
private val pseudonymManager: PseudonymManager,
private val camPinger: CamPinger,
@ApplicationContext private val context: Context, @ApplicationContext private val context: Context,
) { ) {
private val scope = CoroutineScope(SupervisorJob() + Dispatchers.Default) private val scope = CoroutineScope(SupervisorJob() + Dispatchers.Default)
@@ -312,8 +315,8 @@ class CamUseCaseRepository @Inject constructor(
} }
// Our own station ID. On the CiT One path it's learned from v2x/rx/obu_gnss; the ESP32-C5 // Our own station ID. On the CiT One path it's learned from v2x/rx/obu_gnss; the ESP32-C5
// path has no such topic, so it comes from the same persisted value CamTransmitLoop puts // path has no such topic, so it follows the current transmit pseudonym, the same one
// in outgoing CAMs. // CamTransmitLoop puts in outgoing CAMs, across every rotation.
// //
// Without this the ID stayed null on the ESP32 path and the self-heard-TX filter in // Without this the ID stayed null on the ESP32 path and the self-heard-TX filter in
// [handleCamFromSerial] never fired - so the phone's own CAMs, which the ESP32 hears back // [handleCamFromSerial] never fired - so the phone's own CAMs, which the ESP32 hears back
@@ -321,10 +324,13 @@ class CamUseCaseRepository @Inject constructor(
// sitting exactly on top of the ego position, fed into the detection engine as a // sitting exactly on top of the ego position, fed into the detection engine as a
// collision partner for itself. // collision partner for itself.
scope.launch { scope.launch {
obuHardwarePrefs.obuHardwareFlow.collect { hardware -> combine(obuHardwarePrefs.obuHardwareFlow, pseudonymManager.currentFlow) { hardware, pseudonym ->
hardware to pseudonym
}.collect { (hardware, pseudonym) ->
currentHardware = hardware currentHardware = hardware
if (hardware == ObuHardware.ESP32_C5) { if (hardware == ObuHardware.ESP32_C5) {
_ownStationId.value = obuHardwarePrefs.getOrCreateOwnStationId() // currentFlow re-emits on every rotation, so this tracks the live identity.
_ownStationId.value = (pseudonym ?: pseudonymManager.current()).stationId
} }
} }
} }
@@ -339,11 +345,17 @@ class CamUseCaseRepository @Inject constructor(
* recognised as our own rather than tracked as another road user. Also drives the OWN/REMOTE * recognised as our own rather than tracked as another road user. Also drives the OWN/REMOTE
* badges in the raw message list. * badges in the raw message list.
* *
* The rule lives in [OwnStationIds], which explains why there are two such ids and what goes * The rule lives in [OwnStationIds], which explains which ids count and what goes wrong when
* wrong when only one of them is checked. * one is missed. The set passed in holds the current transmit pseudonym and the ones it most
* recently replaced, plus, on the CiT One path, the OBU's own id from obu_gnss. The bench
* ping id counts only while this phone's own pinger is running.
*/ */
fun isOwnStationId(stationId: Long): Boolean = fun isOwnStationId(stationId: Long): Boolean =
OwnStationIds.isOwn(stationId, _ownStationId.value) OwnStationIds.isOwn(
stationId,
ownIds = pseudonymManager.ownStationIds() + setOfNotNull(_ownStationId.value),
benchPingIsOurs = camPinger.benchPingIsOurs(),
)
/** /**
* Primary ego state source: `v2x/rx/obu_gnss`, ~4 Hz, carries position/speed/heading/yaw * Primary ego state source: `v2x/rx/obu_gnss`, ~4 Hz, carries position/speed/heading/yaw
@@ -392,9 +404,11 @@ class CamUseCaseRepository @Inject constructor(
private fun handleCam(payload: String, timestamp: Long) { private fun handleCam(payload: String, timestamp: Long) {
val cam = CamParser.parse(payload, _ownStationId.value, timestamp) ?: return val cam = CamParser.parse(payload, _ownStationId.value, timestamp) ?: return
// A bench ping the CiT One's radio picked up and relayed here. Not a road user, and not // This phone's own bench ping, relayed back by the CiT One's radio: not a road user, and not
// ego state either: the ping is built from the same phone GNSS the engine already has. // ego state either, since it is built from the same phone GNSS the engine already has.
if (cam.stationId == OwnStationIds.BENCH_PING) return // Only while this phone is the one pinging, though. Another phone's pings carry the same
// fixed id and are genuine remote traffic to this one.
if (cam.stationId == OwnStationIds.BENCH_PING && camPinger.benchPingIsOurs()) return
if (cam.isOwn) { if (cam.isOwn) {
// Third fallback - the CAM topic's own low-rate entry. onOwnCam() keeps whichever // Third fallback - the CAM topic's own low-rate entry. onOwnCam() keeps whichever
// update is freshest, so this only actually wins when both obu_gnss and phone GNSS // update is freshest, so this only actually wins when both obu_gnss and phone GNSS
app/src/main/java/com/hawhamburg/micr0bu/data/cam/PseudonymManager.kt
+90
View File
@@ -0,0 +1,90 @@
package com.hawhamburg.micr0bu.data.cam
import android.util.Log
import com.hawhamburg.micr0bu.data.mqtt.ObuHardwarePreferences
import com.hawhamburg.micr0bu.domain.cam.Pseudonym
import kotlinx.coroutines.flow.MutableStateFlow
import kotlinx.coroutines.flow.StateFlow
import kotlinx.coroutines.flow.asStateFlow
import kotlinx.coroutines.flow.update
import kotlinx.coroutines.sync.Mutex
import kotlinx.coroutines.sync.withLock
import javax.inject.Inject
import javax.inject.Singleton
/**
* Owns the phone's transmit identity on the ESP32-C5 path and rotates it every
* [Pseudonym.ROTATION_INTERVAL_MS].
*
* A singleton because there must be exactly one of these. [com.hawhamburg.micr0bu.service.CamTransmitLoop]
* runs inside the foreground recording service and [CamUseCaseRepository] filters received frames;
* if each held its own identity, the phone could transmit under one pseudonym while its receive
* path recognised another, which brings back the ghost road user sitting on the ego position.
* The bench pinger deliberately does not use this: it keeps a fixed identity so pings stay
* recognisable in a capture.
*/
@Singleton
class PseudonymManager @Inject constructor(
private val prefs: ObuHardwarePreferences,
) {
private val mutex = Mutex()
private val _current = MutableStateFlow<Pseudonym?>(null)
/** The identity in use, or null before the first call to [current] has loaded one. */
val currentFlow: StateFlow<Pseudonym?> = _current.asStateFlow()
/** Station IDs replaced most recently, newest first. See [ownStationIds]. */
@Volatile private var recentlyRetired: List<Long> = emptyList()
/**
* Every station ID one of our own frames could still be carrying: the current pseudonym's and
* the ones it replaced most recently.
*
* The previous IDs matter because the ESP32 hears our own transmissions back. A frame sent just
* before a rotation can come back just after it, and if its ID no longer counted as ours it
* would be tracked as another road user sitting exactly on the ego position.
*/
fun ownStationIds(): Set<Long> = buildSet {
_current.value?.let { add(it.stationId) }
addAll(recentlyRetired)
}
/**
* The pseudonym to transmit under right now, rotating first if the current one has expired.
*
* Rotation happens here, at the moment an identity is about to be used, rather than on a
* timer. Each frame therefore carries one complete identity chosen in a single step, so a
* rotation can never land between the CAM being built and its position vector being attached.
*
* Persisted, so an app restart inside the interval keeps the same identity. Only elapsed time
* rotates it, never a crash or a relaunch.
*/
suspend fun current(nowMs: Long = System.currentTimeMillis()): Pseudonym = mutex.withLock {
val existing = _current.value ?: prefs.loadPseudonym()
if (existing != null && !existing.isExpired(nowMs)) {
_current.value = existing
existing
} else {
val next = Pseudonym.generate(nowMs)
prefs.savePseudonym(next)
if (existing != null) {
recentlyRetired = (listOf(existing.stationId) + recentlyRetired).take(RETIRED_TO_KEEP)
}
_current.update { next }
Log.i(TAG, "pseudonym rotated: station ${existing?.stationId} -> ${next.stationId}")
next
}
}
private companion object {
const val TAG = "PseudonymManager"
/**
* A loopback arrives within milliseconds, so one previous ID would already be ample. Two
* costs nothing and covers a rotation that fires twice in quick succession after a clock
* correction.
*/
const val RETIRED_TO_KEEP = 2
}
}
app/src/main/java/com/hawhamburg/micr0bu/data/db/AppDatabase.kt
+18 -3
View File
@@ -11,10 +11,9 @@ import androidx.sqlite.db.SupportSQLiteDatabase
entities = [ entities = [
SessionEntity::class, SessionEntity::class,
RecordedTripEntity::class, RecordedTripEntity::class,
DetectedEventEntity::class,
V2xMessageEntity::class, V2xMessageEntity::class,
], ],
version = 4, version = 5,
exportSchema = false, exportSchema = false,
) )
abstract class AppDatabase : RoomDatabase() { abstract class AppDatabase : RoomDatabase() {
@@ -34,13 +33,29 @@ abstract class AppDatabase : RoomDatabase() {
AppDatabase::class.java, AppDatabase::class.java,
"micr0bu.db", "micr0bu.db",
) )
.addMigrations(MIGRATION_1_2, MIGRATION_2_3, MIGRATION_3_4) .addMigrations(MIGRATION_1_2, MIGRATION_2_3, MIGRATION_3_4, MIGRATION_4_5)
.build() .build()
.also { INSTANCE = it } .also { INSTANCE = it }
} }
// ── Migrations ──────────────────────────────────────────────────────── // ── Migrations ────────────────────────────────────────────────────────
/**
* Drops `detected_events`. The cyclist event detector still runs, but its output is now
* consumed only by the CAM transmit-rate policy (see EventDetector's KDoc) and is no
* longer persisted, displayed, or exported, so the table had no reader left.
*
* `trips.eventCount` is deliberately kept. Dropping a column means recreating `trips`
* and copying every recorded ride across, which is real risk for one unused integer;
* the service still writes an accurate count into it and the CSV header still reports it.
*/
private val MIGRATION_4_5 = object : Migration(4, 5) {
override fun migrate(database: SupportSQLiteDatabase) {
database.execSQL("DROP INDEX IF EXISTS `index_detected_events_tripId`")
database.execSQL("DROP TABLE IF EXISTS `detected_events`")
}
}
/** /**
* Two additions: * Two additions:
* - `trips.sessionId` links a trip to the CSV recording session captured alongside it, so * - `trips.sessionId` links a trip to the CSV recording session captured alongside it, so
app/src/main/java/com/hawhamburg/micr0bu/data/db/DetectedEventEntity.kt
-50
View File
@@ -1,50 +0,0 @@
package com.hawhamburg.micr0bu.data.db
import androidx.room.ColumnInfo
import androidx.room.Entity
import androidx.room.ForeignKey
import androidx.room.PrimaryKey
/**
* One detected cyclist event (braking / turning / stopping) linked to a
* [RecordedTripEntity] via the [tripId] foreign key.
*
* [type] and [confidence] are stored as the enum name strings so that the
* database remains human-readable.
*/
@Entity(
tableName = "detected_events",
foreignKeys = [
ForeignKey(
entity = RecordedTripEntity::class,
parentColumns = ["id"],
childColumns = ["tripId"],
onDelete = ForeignKey.CASCADE,
)
],
)
data class DetectedEventEntity(
@PrimaryKey(autoGenerate = true)
val id: Long = 0,
@ColumnInfo(index = true)
val tripId: Long,
/** Wall-clock epoch ms of the first qualifying sensor frame. */
val timestamp: Long,
/** EventType.name — one of BRAKING, TURNING, STOPPING. */
val type: String,
/** Confidence.name — one of HIGH, MEDIUM, LOW. */
val confidence: String,
val latitude: Double,
val longitude: Double,
val speedMps: Float,
val peakAccelMagnitude: Float,
val peakGyroMagnitude: Float,
/** Duration from first qualifying frame to emission (ms). */
val durationMs: Long,
)
app/src/main/java/com/hawhamburg/micr0bu/data/db/TripDao.kt
-11
View File
@@ -27,17 +27,6 @@ interface TripDao {
@Query("DELETE FROM trips WHERE id = :id") @Query("DELETE FROM trips WHERE id = :id")
suspend fun deleteTripById(id: Long) suspend fun deleteTripById(id: Long)
// ── Events ────────────────────────────────────────────────────────────────
@Insert(onConflict = OnConflictStrategy.REPLACE)
suspend fun insertEvent(event: DetectedEventEntity)
@Query("SELECT * FROM detected_events WHERE tripId = :tripId ORDER BY timestamp ASC")
fun getEventsForTrip(tripId: Long): Flow<List<DetectedEventEntity>>
@Query("SELECT COUNT(*) FROM detected_events WHERE tripId = :tripId")
suspend fun getEventCountForTrip(tripId: Long): Int
// ── V2X messages (Phase 03) ────────────────────────────────────────────────── // ── V2X messages (Phase 03) ──────────────────────────────────────────────────
@Insert(onConflict = OnConflictStrategy.REPLACE) @Insert(onConflict = OnConflictStrategy.REPLACE)
app/src/main/java/com/hawhamburg/micr0bu/data/mqtt/ObuHardwarePreferences.kt
+34 -24
View File
@@ -6,12 +6,13 @@ import androidx.datastore.preferences.core.longPreferencesKey
import androidx.datastore.preferences.core.stringPreferencesKey import androidx.datastore.preferences.core.stringPreferencesKey
import androidx.datastore.preferences.preferencesDataStore import androidx.datastore.preferences.preferencesDataStore
import com.hawhamburg.micr0bu.data.transport.ObuHardware import com.hawhamburg.micr0bu.data.transport.ObuHardware
import com.hawhamburg.micr0bu.domain.cam.Pseudonym
import dagger.hilt.android.qualifiers.ApplicationContext import dagger.hilt.android.qualifiers.ApplicationContext
import kotlinx.coroutines.flow.Flow import kotlinx.coroutines.flow.Flow
import kotlinx.coroutines.flow.first
import kotlinx.coroutines.flow.map import kotlinx.coroutines.flow.map
import javax.inject.Inject import javax.inject.Inject
import javax.inject.Singleton import javax.inject.Singleton
import kotlin.random.Random
private val Context.obuHardwareDataStore by preferencesDataStore(name = "obu_hardware_prefs") private val Context.obuHardwareDataStore by preferencesDataStore(name = "obu_hardware_prefs")
@@ -26,7 +27,11 @@ class ObuHardwarePreferences @Inject constructor(
) { ) {
private object Keys { private object Keys {
val OBU_HARDWARE = stringPreferencesKey("obu_hardware") val OBU_HARDWARE = stringPreferencesKey("obu_hardware")
// The current transmit pseudonym. Three keys, but only ever read or written together;
// see loadPseudonym.
val OWN_STATION_ID = longPreferencesKey("own_station_id") val OWN_STATION_ID = longPreferencesKey("own_station_id")
val OWN_MAC = stringPreferencesKey("own_mac")
val OWN_PSEUDONYM_CREATED_MS = longPreferencesKey("own_pseudonym_created_ms")
} }
val obuHardwareFlow: Flow<ObuHardware> = context.obuHardwareDataStore.data.map { prefs -> val obuHardwareFlow: Flow<ObuHardware> = context.obuHardwareDataStore.data.map { prefs ->
@@ -37,31 +42,36 @@ class ObuHardwarePreferences @Inject constructor(
context.obuHardwareDataStore.edit { prefs -> prefs[Keys.OBU_HARDWARE] = hardware.id } context.obuHardwareDataStore.edit { prefs -> prefs[Keys.OBU_HARDWARE] = hardware.id }
} }
/** This device's own CAM StationID, or null if one hasn't been assigned yet. */ /**
val ownStationIdFlow: Flow<Long?> = context.obuHardwareDataStore.data.map { prefs -> * The transmit pseudonym last saved by [savePseudonym], or null if there is none.
prefs[Keys.OWN_STATION_ID] *
* All three parts must be present. An install from before pseudonym rotation has a station ID
* but no MAC or creation time, and loads as null so that a complete new pseudonym is
* generated. Keeping the old ID alongside a fresh MAC would be exactly the partial rotation
* [Pseudonym] exists to rule out.
*
* Only [com.hawhamburg.micr0bu.data.cam.PseudonymManager] should call this: it is the one
* owner of the phone's transmit identity.
*/
suspend fun loadPseudonym(): Pseudonym? {
val prefs = context.obuHardwareDataStore.data.first()
val stationId = prefs[Keys.OWN_STATION_ID] ?: return null
val mac = prefs[Keys.OWN_MAC]?.let(::macFromHex) ?: return null
val createdAtMs = prefs[Keys.OWN_PSEUDONYM_CREATED_MS] ?: return null
return Pseudonym(stationId, mac, createdAtMs)
} }
/** /** Persists [pseudonym] in a single edit, so a crash can never leave half an identity stored. */
* Returns this device's own CAM StationID, generating and persisting a random one on first suspend fun savePseudonym(pseudonym: Pseudonym) {
* call. context.obuHardwareDataStore.edit { p ->
* p[Keys.OWN_STATION_ID] = pseudonym.stationId
* Replaces the previous hardcoded 0: receivers key on StationID to track a station across p[Keys.OWN_MAC] = pseudonym.mac.joinToString("") { "%02x".format(it) }
* successive CAMs, so every MicrOBU broadcasting 0 makes two units in the same area p[Keys.OWN_PSEUDONYM_CREATED_MS] = pseudonym.createdAtMs
* indistinguishable to any receiver — including this app's own detection engine, which
* dedupes remote stations by ID. Random rather than derived from a hardware identifier both
* because ETSI expects station IDs to be pseudonymous and because Android hardware IDs aren't
* readable without privileged permissions on modern versions.
*
* Range is 1..2^32-2: StationID is INTEGER(0..4294967295), and 0 is avoided so leftover
* placeholder traffic stays distinguishable from a real assignment.
*/
suspend fun getOrCreateOwnStationId(): Long {
val prefs = context.obuHardwareDataStore.edit { p ->
if (p[Keys.OWN_STATION_ID] == null) {
p[Keys.OWN_STATION_ID] = Random.nextLong(1L, 0xFFFF_FFFEL)
}
} }
return prefs[Keys.OWN_STATION_ID]!!
} }
private fun macFromHex(hex: String): ByteArray? =
if (hex.length != 12) null
else runCatching { ByteArray(6) { i -> hex.substring(2 * i, 2 * i + 2).toInt(16).toByte() } }
.getOrNull()
} }
app/src/main/java/com/hawhamburg/micr0bu/data/transport/SerialFrame.kt
+137
View File
@@ -1,5 +1,10 @@
package com.hawhamburg.micr0bu.data.transport package com.hawhamburg.micr0bu.data.transport
import com.hawhamburg.micr0bu.domain.asn1.ItsTime
import com.hawhamburg.micr0bu.domain.cam.Cam
import kotlin.math.roundToInt
import kotlin.math.roundToLong
/** /**
* Binary framing for the phone <-> ESP32-C5 link (Phase 03). Kotlin counterpart of the * Binary framing for the phone <-> ESP32-C5 link (Phase 03). Kotlin counterpart of the
* firmware's `obu-firmware/main/serial_link.c`/`.h` — frame shape and CRC algorithm MUST stay * firmware's `obu-firmware/main/serial_link.c`/`.h` — frame shape and CRC algorithm MUST stay
@@ -23,6 +28,15 @@ object SerialFrameType {
/** ESP32 -> phone: periodic heartbeat + drop counters, independent of CAM traffic. /** ESP32 -> phone: periodic heartbeat + drop counters, independent of CAM traffic.
* Payload layout is [EspLinkStatus] — see its KDoc. */ * Payload layout is [EspLinkStatus] — see its KDoc. */
const val STATUS: Int = 0x03 const val STATUS: Int = 0x03
/**
* Phone -> ESP32: a CAM together with the GeoNetworking Source Position Vector to transmit it
* under. Payload is the [GnPositionVector.PREFIX_SIZE]-byte [GnPositionVector] prefix, then
* the CAM UPER. Sent only to firmware whose heartbeat advertises
* [EspLinkStatus.supportsCamTxPv]; `serial_link.h` explains why this is a new type rather
* than a changed [CAM_TX].
*/
const val CAM_TX_PV: Int = 0x05
} }
/** /**
@@ -59,10 +73,22 @@ data class EspLinkStatus(
val txFailures: Int, val txFailures: Int,
/** Frames from the phone the firmware dropped on CRC mismatch. */ /** Frames from the phone the firmware dropped on CRC mismatch. */
val rxCrcErrors: Int, val rxCrcErrors: Int,
/**
* What the firmware accepts, as `SERIAL_CAP_*` bits from `serial_link.h`. Byte 7 of the
* payload; 0 for firmware that predates it and sends only 7 bytes, which is exactly the answer
* the phone needs from such firmware: it accepts nothing beyond the original messages.
*/
val capabilities: Int = 0,
) { ) {
/** True when the firmware accepts [SerialFrameType.CAM_TX_PV]. */
val supportsCamTxPv: Boolean get() = capabilities and CAP_CAM_TX_PV != 0
companion object { companion object {
const val PAYLOAD_SIZE = 7 const val PAYLOAD_SIZE = 7
/** Mirrors `SERIAL_CAP_CAM_TX_PV` in `serial_link.h`. */
const val CAP_CAM_TX_PV = 0x01
/** Returns null if [payload] isn't a well-formed status payload (e.g. older firmware). */ /** Returns null if [payload] isn't a well-formed status payload (e.g. older firmware). */
fun parse(payload: ByteArray): EspLinkStatus? { fun parse(payload: ByteArray): EspLinkStatus? {
if (payload.size < PAYLOAD_SIZE) return null if (payload.size < PAYLOAD_SIZE) return null
@@ -72,6 +98,7 @@ data class EspLinkStatus(
oversizeDrops = u16(1), oversizeDrops = u16(1),
txFailures = u16(3), txFailures = u16(3),
rxCrcErrors = u16(5), rxCrcErrors = u16(5),
capabilities = if (payload.size > PAYLOAD_SIZE) payload[7].toInt() and 0xFF else 0,
) )
} }
} }
@@ -161,6 +188,116 @@ data class V2xRxFrame(
} }
} }
/**
* The GeoNetworking Source Position Vector content sent with each CAM: the 24-byte little-endian
* prefix of a [SerialFrameType.CAM_TX_PV] payload. Must stay in lockstep with the layout at
* `SERIAL_MSG_CAM_TX_PV` in `serial_link.h`, which the firmware decodes into `gn_lpv_t`.
*
* Every field is something the ESP32-C5 cannot know by itself, since it has no GNSS and no clock
* on the OCB channel. That is why its GN header used to carry fixed bench placeholders instead,
* describing a stationary car at the bench while the CAM inside described the moving rider.
*/
data class GnPositionVector(
/** Pseudonym, 6 bytes: both the 802.11 source address and the GN_ADDR MID. */
val mac: ByteArray,
/** TS 102 894-2 StationType. */
val stationType: Int,
/** Position Accuracy Indicator. */
val pai: Boolean,
/** TimestampIts at which the position was acquired; reduced modulo 2^32 on the wire. */
val tstMs: Long,
/** 1/10 microdegree. */
val latTenMicroDeg: Int,
/** 1/10 microdegree. */
val lonTenMicroDeg: Int,
/** 0.01 m/s, within the GN field's 15-bit signed range. */
val speedCms: Int,
/** 0.1 degree from north, clockwise, 0..3599. */
val headingDeciDeg: Int,
) {
init {
require(mac.size == 6) { "a MAC is 6 bytes, got ${mac.size}" }
}
/** The 24-byte prefix, little-endian like the rest of this framing. */
fun toSerialPrefix(): ByteArray {
val out = ByteArray(PREFIX_SIZE)
mac.copyInto(out, destinationOffset = 0)
out[6] = stationType.toByte()
out[7] = (if (pai) 0x01 else 0x00).toByte()
putLe(out, 8, tstMs, 4)
putLe(out, 12, latTenMicroDeg.toLong(), 4)
putLe(out, 16, lonTenMicroDeg.toLong(), 4)
putLe(out, 20, speedCms.toLong(), 2)
putLe(out, 22, headingDeciDeg.toLong(), 2)
return out
}
// Generated equals/hashCode would compare the MAC array by identity.
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (other !is GnPositionVector) return false
return mac.contentEquals(other.mac) && stationType == other.stationType &&
pai == other.pai && tstMs == other.tstMs && latTenMicroDeg == other.latTenMicroDeg &&
lonTenMicroDeg == other.lonTenMicroDeg && speedCms == other.speedCms &&
headingDeciDeg == other.headingDeciDeg
}
override fun hashCode(): Int {
var h = mac.contentHashCode()
for (v in listOf(stationType, pai.hashCode(), tstMs.hashCode(), latTenMicroDeg,
lonTenMicroDeg, speedCms, headingDeciDeg)) h = 31 * h + v
return h
}
companion object {
const val PREFIX_SIZE = 24
/** The GN speed field is 15-bit signed, in 0.01 m/s. */
const val SPEED_MIN_CMS = -16384
const val SPEED_MAX_CMS = 16383
/**
* Largest Android horizontal accuracy, in metres, that still sets the Position Accuracy
* Indicator.
*
* EN 302 636-4-1 sets PAI when the 95% semi-major confidence is below itsGnPaiInterval / 2,
* and itsGnPaiInterval defaults to 80 m, so the bound is 40 m at 95%. Android reports a 68%
* radius instead, and for a circular 2-D error the 95% radius is about 1.62 times the 68%
* one, so 40 m becomes about 24.7 m on Android's scale.
*/
const val PAI_MAX_ACCURACY_M = 24.7f
/**
* The position vector for [cam], built from the same values the CAM payload carries, so
* the two layers of one frame describe the same station at the same moment. [accuracyM] is
* Android's horizontal accuracy; null or 0 means unknown and leaves PAI clear.
*/
fun fromCam(cam: Cam, accuracyM: Float?, mac: ByteArray): GnPositionVector =
GnPositionVector(
mac = mac,
stationType = cam.stationType,
pai = accuracyM != null && accuracyM > 0f && accuracyM <= PAI_MAX_ACCURACY_M,
tstMs = ItsTime.timestampIts(cam.timestamp),
// Same rounding as CamUperCodec's referencePosition, so the GN position and the
// CAM's own position agree to the last digit.
latTenMicroDeg = (cam.latitude * 1e7).roundToLong().toInt(),
lonTenMicroDeg = (cam.longitude * 1e7).roundToLong().toInt(),
// Clamped, never wrapped: a wrapped 15-bit speed flips sign and reads as reversing.
speedCms = if (cam.speedMps.isFinite()) {
(cam.speedMps * 100).roundToInt().coerceIn(SPEED_MIN_CMS, SPEED_MAX_CMS)
} else 0,
headingDeciDeg = if (cam.headingDeg.isFinite()) {
Math.floorMod((cam.headingDeg * 10).roundToInt(), 3600)
} else 0,
)
}
}
private fun putLe(out: ByteArray, offset: Int, value: Long, bytes: Int) {
for (i in 0 until bytes) out[offset + i] = ((value ushr (8 * i)) and 0xFF).toByte()
}
data class DecodedFrame(val type: Int, val payload: ByteArray) data class DecodedFrame(val type: Int, val payload: ByteArray)
object SerialFrameEncoder { object SerialFrameEncoder {
app/src/main/java/com/hawhamburg/micr0bu/data/transport/UsbSerialTransport.kt
+38 -4
View File
@@ -329,12 +329,14 @@ class UsbSerialTransport @Inject constructor(
prev.oversizeDrops != status.oversizeDrops || prev.oversizeDrops != status.oversizeDrops ||
prev.txFailures != status.txFailures || prev.txFailures != status.txFailures ||
prev.rxCrcErrors != status.rxCrcErrors || prev.rxCrcErrors != status.rxCrcErrors ||
prev.status != status.status prev.status != status.status ||
prev.capabilities != status.capabilities
) { ) {
Log.i(TAG, "ESP32 counters: status=${status.status} " + Log.i(TAG, "ESP32 counters: status=${status.status} " +
"oversizeDrops=${status.oversizeDrops} " + "oversizeDrops=${status.oversizeDrops} " +
"txFailures=${status.txFailures} " + "txFailures=${status.txFailures} " +
"rxCrcErrors=${status.rxCrcErrors}") "rxCrcErrors=${status.rxCrcErrors} " +
"capabilities=${status.capabilities}")
} }
_linkStatus.value = status _linkStatus.value = status
} }
@@ -386,6 +388,25 @@ class UsbSerialTransport @Inject constructor(
} }
} }
/** Which frame type the last CAM went out as, so a change of path is logged once, not per CAM. */
@Volatile private var lastTxWithPositionVector: Boolean? = null
/**
* Logs whenever CAMs switch between [SerialFrameType.CAM_TX_PV] and legacy
* [SerialFrameType.CAM_TX]. Without it, "the GN header still says bench" has no visible cause
* in a logcat capture: it looks identical whether the firmware is old or the phone is.
*/
private fun noteTxPath(withPositionVector: Boolean, requested: Boolean) {
if (lastTxWithPositionVector == withPositionVector) return
lastTxWithPositionVector = withPositionVector
Log.i(TAG, when {
withPositionVector -> "CAM TX path: CAM_TX_PV, GN position vector supplied by the phone"
requested -> "CAM TX path: legacy CAM_TX, firmware has not advertised CAM_TX_PV yet; " +
"GN position vector is the firmware's bench placeholder"
else -> "CAM TX path: legacy CAM_TX, no position vector supplied"
})
}
/** /**
* Encodes [camUperBytes] as a [SerialFrameType.CAM_TX] frame and writes it to the port. * Encodes [camUperBytes] as a [SerialFrameType.CAM_TX] frame and writes it to the port.
* No-op (returns false) if not currently connected — callers (the CAM transmit loop) should * No-op (returns false) if not currently connected — callers (the CAM transmit loop) should
@@ -394,15 +415,28 @@ class UsbSerialTransport @Inject constructor(
* [consecutiveWriteFailures] so they can't stay invisible. * [consecutiveWriteFailures] so they can't stay invisible.
* *
* Blocking: writes with a 200 ms timeout, so call from a background dispatcher. * Blocking: writes with a 200 ms timeout, so call from a background dispatcher.
*
* [positionVector], when given, travels with the CAM as a [SerialFrameType.CAM_TX_PV] frame so
* the ESP32 builds the GeoNetworking Source Position Vector from real values. It is used only
* once the heartbeat advertises [EspLinkStatus.supportsCamTxPv]. Until then, and against
* firmware that predates it, the CAM goes out as a plain [SerialFrameType.CAM_TX] exactly as
* before and the GN header carries the firmware's bench placeholders. Neither mixed-version
* combination breaks transmission; `serial_link.h` explains why.
*/ */
fun sendCamTx(camUperBytes: ByteArray): Boolean { fun sendCamTx(camUperBytes: ByteArray, positionVector: GnPositionVector? = null): Boolean {
val p = port val p = port
if (p == null) { if (p == null) {
_consecutiveWriteFailures.update { it + 1 } _consecutiveWriteFailures.update { it + 1 }
return false return false
} }
return try { return try {
val frame = SerialFrameEncoder.encode(SerialFrameType.CAM_TX, camUperBytes) val pv = positionVector?.takeIf { _linkStatus.value?.supportsCamTxPv == true }
noteTxPath(withPositionVector = pv != null, requested = positionVector != null)
val frame = if (pv != null) {
SerialFrameEncoder.encode(SerialFrameType.CAM_TX_PV, pv.toSerialPrefix() + camUperBytes)
} else {
SerialFrameEncoder.encode(SerialFrameType.CAM_TX, camUperBytes)
}
p.write(frame, /* timeout ms */ 200) p.write(frame, /* timeout ms */ 200)
_consecutiveWriteFailures.value = 0 _consecutiveWriteFailures.value = 0
true true
app/src/main/java/com/hawhamburg/micr0bu/domain/asn1/CamUperCodec.kt
+6 -5
View File
@@ -34,9 +34,6 @@ object CamUperCodec {
/** Encode buffer size — matches `cam.c`'s `cam_payload[96]`, the known-sufficient size. */ /** Encode buffer size — matches `cam.c`'s `cam_payload[96]`, the known-sufficient size. */
private const val ENCODE_BUFFER_BYTES = 96 private const val ENCODE_BUFFER_BYTES = 96
// TimestampIts epoch: 2004-01-01T00:00:00Z, in Unix epoch milliseconds.
private const val TS_ITS_EPOCH_MS = 1_072_915_200_000L
// ASN.1 "unavailable" sentinel values, straight from the CAM/ITS-Container modules (also // ASN.1 "unavailable" sentinel values, straight from the CAM/ITS-Container modules (also
// documented inline in cam.c against each field). // documented inline in cam.c against each field).
private const val HEADING_UNAVAILABLE = 3601 private const val HEADING_UNAVAILABLE = 3601
@@ -47,9 +44,13 @@ object CamUperCodec {
private const val ACCEL_UNAVAILABLE = 161 private const val ACCEL_UNAVAILABLE = 161
private const val YAW_RATE_UNAVAILABLE = 32767 private const val YAW_RATE_UNAVAILABLE = 32767
/** Converts a wall-clock epoch-ms timestamp to a UPER GenerationDeltaTime (TimestampIts mod 65536). */ /**
* Converts a wall-clock epoch-ms timestamp to a UPER GenerationDeltaTime (TimestampIts mod
* 65536). Goes through [ItsTime], the same rule the GeoNetworking TST uses, so the two
* timestamps in one transmitted frame cannot disagree.
*/
fun generationDeltaTime(epochMs: Long): Int { fun generationDeltaTime(epochMs: Long): Int {
val itsMs = epochMs - TS_ITS_EPOCH_MS val itsMs = ItsTime.timestampIts(epochMs)
// floorMod so this stays well-defined even for epochMs before the ITS epoch (shouldn't // floorMod so this stays well-defined even for epochMs before the ITS epoch (shouldn't
// happen with a real clock, but avoids a negative/UB result if it ever does). // happen with a real clock, but avoids a negative/UB result if it ever does).
return Math.floorMod(itsMs, 65536L).toInt() return Math.floorMod(itsMs, 65536L).toInt()
app/src/main/java/com/hawhamburg/micr0bu/domain/asn1/ItsTime.kt
+40
View File
@@ -0,0 +1,40 @@
package com.hawhamburg.micr0bu.domain.asn1
/**
* ITS time, as used by every timestamp this app puts on the air.
*
* TimestampIts (ETSI TS 102 894-2) counts milliseconds from 2004-01-01T00:00:00Z. Two fields in a
* single transmitted frame come from it: the CAM's generationDeltaTime (modulo 65536) and the
* GeoNetworking Source Position Vector's TST (modulo 2^32). A receiver can compare the two, so
* they must follow one rule. Both go through here so they cannot drift apart.
*
* **Which clock.** The input should be GNSS time, not the phone's wall clock. A phone with no SIM
* and no internet time has no automatic time source at all, and the bench phone was found 24
* minutes fast that way. `GnssTimeSource` moves a timestamp onto GNSS time, using [onGnssTime],
* before it gets here.
*
* **Open question: leap seconds.** This is Unix time minus the 2004 epoch, with no leap-second
* term. If TimestampIts is read as TAI-based, the correct value is currently 5 s higher, for the
* five leap seconds inserted since 2004. Whichever reading turns out right, it is changed here and
* nowhere else. Settling it needs a frame from a third-party stack with a trusted clock, such as
* the RSU's CAM compared against GNSS time, and no such traffic was on air when this was written.
*/
object ItsTime {
/** 2004-01-01T00:00:00Z in Unix epoch milliseconds. */
const val EPOCH_MS = 1_072_915_200_000L
/** TimestampIts for wall-clock [epochMs], before any modulo is applied. */
fun timestampIts(epochMs: Long): Long = epochMs - EPOCH_MS
/**
* Moves [systemMs], a reading of this phone's wall clock, onto GNSS time, using one pair of
* simultaneous readings of both clocks: [gnssNowMs] and [systemNowMs]. Their difference is the
* wall clock's error, whatever caused it, and the age of [systemMs] is preserved. Returns
* [systemMs] unchanged when there is no GNSS reading.
*
* Pure so the arithmetic can be tested apart from the Android clock API, which is where the
* readings come from (see `GnssTimeSource`).
*/
fun onGnssTime(systemMs: Long, gnssNowMs: Long?, systemNowMs: Long): Long =
if (gnssNowMs == null) systemMs else systemMs + (gnssNowMs - systemNowMs)
}
app/src/main/java/com/hawhamburg/micr0bu/domain/cam/OwnStationIds.kt
+55 -28
View File
@@ -5,26 +5,27 @@ package com.hawhamburg.micr0bu.domain.cam
* user when a frame comes back off the air. * user when a frame comes back off the air.
* *
* ## Why this exists * ## Why this exists
* On the ESP32-C5 path the radio receives promiscuously, so it hears the phone's own * A receiver that fails to recognise its own transmissions tracks itself: a station sitting exactly
* transmissions. Anything that decodes received CAMs has to recognise them, or the phone tracks * on top of the ego position, moving at the ego's own speed and heading, handed to
* itself: a station sitting exactly on top of the ego position, moving at the ego's own speed and * [com.hawhamburg.micr0bu.domain.usecase.UseCaseDetectionEngine] as a collision partner for itself.
* heading, handed to [com.hawhamburg.micr0bu.domain.usecase.UseCaseDetectionEngine] as a * The phone's own frames can come back to it off the air, for example relayed by the CiT One's
* collision partner for itself. * radio when a phone is connected to both OBUs at once.
* *
* ## Why two IDs * ## Which IDs count
* The phone transmits under two different station IDs by design: * - The current transmit pseudonym used by [com.hawhamburg.micr0bu.service.CamTransmitLoop], and
* the one or two it most recently replaced. The pseudonym rotates every ten minutes (see
* [Pseudonym]), and a frame sent just before a rotation can come back just after it, so a
* retired ID has to stay ours for a while. `PseudonymManager.ownStationIds()` supplies these.
* - On the CiT One path, the OBU's own ID learned from obu_gnss.
* - [BENCH_PING], but only while this phone's own pinger is running or has just stopped. See
* [benchPingIsOurs].
* *
* - [com.hawhamburg.micr0bu.service.CamTransmitLoop] uses the persisted per-install ID from * ## Why the bench ID is conditional
* `ObuHardwarePreferences.getOrCreateOwnStationId()`, which is the real identity this station * It used to count as ours unconditionally, on every phone, and that hid other phones' pings. On
* presents to the world. * the 2026-09-10 bench one phone pinged through an ESP32 while a second phone watched through the
* - [com.hawhamburg.micr0bu.service.CamPinger] uses [BENCH_PING], a fixed and recognisable value, * CiT One, and the watcher silently discarded every ping as its own frame heard back, although it
* so manual bench pings stay identifiable in captures and cannot be confused with the * had sent none. A fixed ID shared by every MicrOBU is only ours on the phone actually using it.
* recording-driven stream when both run at once. * The one case this cannot resolve is two phones pinging at the same time: each hides the other.
*
* That second ID is the whole reason this object exists. A filter that knew only the persisted ID
* let every bench ping return as a ghost road user, which is the bug this centralises the fix
* for. Keeping the rule in one place, in a layer with no Android dependencies, is what makes it
* testable and what stops the next transmit path from reintroducing the same gap.
*/ */
object OwnStationIds { object OwnStationIds {
@@ -34,21 +35,47 @@ object OwnStationIds {
*/ */
const val BENCH_PING = 999_999L const val BENCH_PING = 999_999L
/**
* The bench pinger's link-layer address, which the ESP32 writes into both the 802.11 source
* address and the GN_ADDR MID. It is the address the firmware always used for its fixed
* pseudonym, so bench traffic looks the same in a capture before and after the phone took
* over the GeoNetworking identity. A fresh copy each time, so no caller can alter it for all.
*/
val BENCH_PING_MAC: ByteArray get() = byteArrayOf(0x02, 0x00, 0x00, 0x00, 0x00, 0x01)
/**
* How long after this phone's pinger stops its pings still count as ours. A frame sent just
* before Stop can arrive just after it, relayed through another radio. A relay takes a
* fraction of a second, so five seconds leaves ample margin without hiding a genuine sender
* for long.
*/
const val BENCH_PING_GRACE_MS = 5_000L
/**
* True when station [BENCH_PING] on air is this phone's own ping: while [pingerActive], or
* within [BENCH_PING_GRACE_MS] of [pingerStoppedAtMs]. Both times must come from one monotonic
* clock. A [nowMs] earlier than the stop time means that clock is not monotonic after all, and
* the ping is then not claimed.
*/
fun benchPingIsOurs(pingerActive: Boolean, pingerStoppedAtMs: Long?, nowMs: Long): Boolean {
if (pingerActive) return true
val stoppedAt = pingerStoppedAtMs ?: return false
return nowMs - stoppedAt in 0..BENCH_PING_GRACE_MS
}
/** /**
* True when [stationId] is one this phone transmits under. * True when [stationId] is one this phone transmits under.
* *
* [persistedOwnId] is the per-install station ID, or null before it has been loaded. Station * [ownIds] is every non-bench ID currently counted as ours: the current and recently retired
* ID 0 is never ours: it is the "not known yet" placeholder used while the ego identity is * transmit pseudonyms, plus the CiT One's own ID on that path. [benchPingIsOurs] says whether
* still being resolved, and matching on it would swallow real traffic. * [BENCH_PING] is ours right now; see the function of the same name.
* *
* [BENCH_PING] counts as ours unconditionally, not merely while the pinger is running. A * Station ID 0 is never ours: it is the "not known yet" placeholder used while the ego
* time-windowed check would still let a frame transmitted moments before Stop arrive * identity is still being resolved, and matching on it would swallow real traffic.
* afterwards and be tracked as a stranger. The cost is that a genuine remote station using
* this ID would be ignored, which is not a real risk at a lab site and is the bargain that
* reserving a fixed ID already implies.
*/ */
fun isOwn(stationId: Long, persistedOwnId: Long?): Boolean { fun isOwn(stationId: Long, ownIds: Set<Long>, benchPingIsOurs: Boolean): Boolean {
if (stationId == 0L) return false if (stationId == 0L) return false
return stationId == persistedOwnId || stationId == BENCH_PING if (stationId == BENCH_PING) return benchPingIsOurs
return stationId in ownIds
} }
} }
app/src/main/java/com/hawhamburg/micr0bu/domain/cam/PhoneCamBuilder.kt
+4 -4
View File
@@ -24,10 +24,10 @@ object PhoneCamBuilder {
* @param gyroZRadPerSec latest gyroscope z-axis reading, rad/s (device frame). Positive per * @param gyroZRadPerSec latest gyroscope z-axis reading, rad/s (device frame). Positive per
* Android's convention is counter-clockwise around +Z; converted to the clockwise-positive * Android's convention is counter-clockwise around +Z; converted to the clockwise-positive
* yaw rate convention already used by [Cam.yawRateDps] to match OBU/remote CAM data. * yaw rate convention already used by [Cam.yawRateDps] to match OBU/remote CAM data.
* @param stationId this device's own station ID, from * @param stationId the station ID to transmit under: the current pseudonym from
* [com.hawhamburg.micr0bu.data.mqtt.ObuHardwarePreferences.getOrCreateOwnStationId] — a * [com.hawhamburg.micr0bu.data.cam.PseudonymManager], or the bench pinger's fixed ID.
* persisted random value, not a placeholder. Receivers use it to track this station across * Receivers track a station across successive CAMs by this ID, which is why it only ever
* successive CAMs, so it must be stable for the life of the install and distinct per device. * changes in a coordinated rotation together with the link-layer address.
* @param longitudinalAccelMps2 along-track acceleration, signed (positive = accelerating). * @param longitudinalAccelMps2 along-track acceleration, signed (positive = accelerating).
* Derived from successive GNSS speed samples by [com.hawhamburg.micr0bu.service.CamTransmitLoop] * Derived from successive GNSS speed samples by [com.hawhamburg.micr0bu.service.CamTransmitLoop]
* rather than from the accelerometer: CAM wants acceleration along the direction of travel, * rather than from the accelerometer: CAM wants acceleration along the direction of travel,
app/src/main/java/com/hawhamburg/micr0bu/domain/cam/Pseudonym.kt
+84
View File
@@ -0,0 +1,84 @@
package com.hawhamburg.micr0bu.domain.cam
import kotlin.random.Random
/**
* The identity this phone transmits under on the ESP32-C5 path: the CAM stationID, and the
* link-layer address the firmware writes into both the GeoNetworking GN_ADDR and the 802.11
* source address.
*
* ## Why the two change together
* A pseudonym only makes a station harder to follow if every identifier on the frame changes at
* the same moment. Rotating the address while keeping the stationID, or the reverse, leaves the
* unchanged one as a stable handle, so a receiver loses nothing and the rotation buys nothing.
* Holding both in one value that is only ever replaced whole makes a partial rotation impossible
* to express.
*
* ## Why every [ROTATION_INTERVAL_MS]
* Real ITS stacks change pseudonym every few minutes, 5 to 15 being typical, and the CiT One was
* seen rotating its station ID twice within one bench session. Ten minutes sits in that range.
*
* ## A limit worth stating
* Nothing this app transmits is signed (there is no ETSI TS 103 097 security), so rotation gives
* nominal unlinkability at best: an unsigned frame's content can still be correlated across a
* change. This is the correct behaviour to build on, not a privacy guarantee.
*/
data class Pseudonym(
val stationId: Long,
/** Six bytes, locally administered and unicast. See [generate]. */
val mac: ByteArray,
/** Wall-clock ms this pseudonym was created, for [isExpired]. */
val createdAtMs: Long,
) {
init {
require(mac.size == 6) { "a MAC is 6 bytes, got ${mac.size}" }
}
/**
* True once this pseudonym has been in use for [intervalMs], or if the clock has moved back
* past its creation time. The second case rotates rather than trusting a creation time that
* now lies in the future, which would otherwise pin one identity until the clock caught up.
*/
fun isExpired(nowMs: Long, intervalMs: Long = ROTATION_INTERVAL_MS): Boolean =
nowMs < createdAtMs || nowMs - createdAtMs >= intervalMs
// Generated equals/hashCode would compare the MAC array by identity, so two pseudonyms with
// the same bytes would compare unequal.
override fun equals(other: Any?): Boolean {
if (this === other) return true
if (other !is Pseudonym) return false
return stationId == other.stationId && createdAtMs == other.createdAtMs &&
mac.contentEquals(other.mac)
}
override fun hashCode(): Int =
31 * (31 * stationId.hashCode() + mac.contentHashCode()) + createdAtMs.hashCode()
companion object {
const val ROTATION_INTERVAL_MS = 10 * 60_000L
/**
* A fresh identity. StationID is INTEGER(0..4294967295); 0 is avoided because it is the
* "not yet known" placeholder elsewhere in this app, and [OwnStationIds.BENCH_PING] is
* avoided so a rider can never be mistaken for the bench pinger.
*
* The MAC is random with the locally-administered bit set and the group bit clear. A
* source address must never be a group address, and a random one must not claim a real
* vendor's OUI. [OwnStationIds.BENCH_PING_MAC] is excluded for the same reason as the ID.
*/
fun generate(nowMs: Long, random: Random = Random.Default): Pseudonym {
var stationId: Long
do {
stationId = random.nextLong(1L, 0xFFFF_FFFEL)
} while (stationId == OwnStationIds.BENCH_PING)
var mac: ByteArray
do {
mac = random.nextBytes(6)
mac[0] = ((mac[0].toInt() and 0xFC) or 0x02).toByte()
} while (mac.contentEquals(OwnStationIds.BENCH_PING_MAC))
return Pseudonym(stationId, mac, nowMs)
}
}
}
app/src/main/java/com/hawhamburg/micr0bu/domain/detection/DetectionConfig.kt
+42 -14
View File
@@ -4,7 +4,26 @@ package com.hawhamburg.micr0bu.domain.detection
* All detection thresholds in one place. * All detection thresholds in one place.
* *
* Pass a custom instance to [EventDetector] to tune behaviour without * Pass a custom instance to [EventDetector] to tune behaviour without
* recompiling. The defaults match the Phase A specification. * recompiling.
*
* **These defaults are the values the app actually runs.** They are *not* the
* Phase A specification figures. Phase A specified a more sensitive detector;
* running it on a real bicycle over-triggered, so every signal threshold was
* raised and every sustain requirement lengthened. Those tuned values used to
* live as literals in `TripRecordingService`'s constructor, which meant the
* unit tests exercised the Phase A defaults and nothing exercised what shipped.
* They are the defaults now so that there is exactly one configuration.
*
* The original Phase A figures, kept for provenance:
* `brakingSpeedDropThreshold` 0.5, `brakingAccelStdDevThreshold` 1.2,
* `brakingSustainedFrames` 15, `turningGyroMeanThreshold` 0.4,
* `turningBearingChangeThreshold` 10.0, `turningSustainedFrames` 20,
* `stoppingSpeedThreshold` 0.5, `stoppingFrames` 100,
* `stoppingAccelStdDevThreshold` 0.15.
*
* What motivated each change was never recorded, and the effect on the
* false-positive and false-negative rates has never been measured. That
* remains open; sensitivity is deliberately unchanged by this consolidation.
*/ */
data class DetectionConfig( data class DetectionConfig(
@@ -17,42 +36,51 @@ data class DetectionConfig(
* Minimum speed drop (m/s) from the reference speed at braking onset for * Minimum speed drop (m/s) from the reference speed at braking onset for
* a frame to qualify as a braking frame. * a frame to qualify as a braking frame.
*/ */
val brakingSpeedDropThreshold: Double = 0.5, val brakingSpeedDropThreshold: Double = 1.0,
/** Minimum accel std-dev (m/s²) required for a frame to count as braking. */ /** Minimum accel std-dev (m/s²) required for a frame to count as braking. */
val brakingAccelStdDevThreshold: Double = 1.2, val brakingAccelStdDevThreshold: Double = 1.8,
/** Consecutive braking frames required before an event is emitted. */ /** Consecutive braking frames required before an event is emitted. */
val brakingSustainedFrames: Int = 15, val brakingSustainedFrames: Int = 25,
/** /**
* Peak speed-drop rate (m/s per GPS update ≈ m/s²) above which the braking * Peak *cumulative* speed drop (m/s) from the onset reference speed above
* confidence is upgraded from MEDIUM to HIGH. * which the braking confidence is upgraded from MEDIUM to HIGH.
*
* This is a total drop for the episode, not a rate. It was previously
* named `brakingHighConfidenceRate` and documented as "m/s per GPS update
* ≈ m/s²", but the quantity it is compared against in
* [EventDetector.detectBraking] has always been the cumulative drop, which
* grows for as long as the episode lasts. The name was wrong, not the
* comparison: "the rider lost more than this much speed in one braking
* episode" is a coherent criterion, so the name was corrected to match the
* behaviour rather than the other way round. Detector output is unchanged.
*/ */
val brakingHighConfidenceRate: Double = 1.5, val brakingHighConfidencePeakDrop: Double = 1.5,
// ── TURNING ─────────────────────────────────────────────────────────────── // ── TURNING ───────────────────────────────────────────────────────────────
/** Minimum gyro mean (rad/s) required for a frame to qualify as turning. */ /** Minimum gyro mean (rad/s) required for a frame to qualify as turning. */
val turningGyroMeanThreshold: Double = 0.4, val turningGyroMeanThreshold: Double = 0.6,
/** Bearing-change rate (°/s) that must be exceeded when speed is above the /** Bearing-change rate (°/s) that must be exceeded when speed is above the
* minimum threshold for a HIGH-confidence turning confirmation. */ * minimum threshold for a HIGH-confidence turning confirmation. */
val turningBearingChangeThreshold: Double = 10.0, val turningBearingChangeThreshold: Double = 15.0,
/** GPS speed (m/s) above which the bearing-change criterion is enforced. */ /** GPS speed (m/s) above which the bearing-change criterion is enforced. */
val turningMinSpeedThreshold: Double = 2.0, val turningMinSpeedThreshold: Double = 2.0,
/** Consecutive turning frames required before an event is emitted. */ /** Consecutive turning frames required before an event is emitted. */
val turningSustainedFrames: Int = 20, val turningSustainedFrames: Int = 30,
// ── STOPPING ───────────────────────────────────────────────────────────── // ── STOPPING ─────────────────────────────────────────────────────────────
/** GPS speed (m/s) below which a frame is considered a potential stop. */ /** GPS speed (m/s) below which a frame is considered a potential stop. */
val stoppingSpeedThreshold: Double = 0.5, val stoppingSpeedThreshold: Double = 0.3,
/** Consecutive stop frames required (> this value) before an event is emitted. /** Consecutive stop frames required (> this value) before an event is emitted.
* At 50 Hz, 100 frames ≈ 2 s. */ * At 50 Hz, 150 frames ≈ 3 s. */
val stoppingFrames: Int = 100, val stoppingFrames: Int = 150,
/** Maximum accel std-dev (m/s²) allowed for a frame to count as stationary. */ /** Maximum accel std-dev (m/s²) allowed for a frame to count as stationary. */
val stoppingAccelStdDevThreshold: Double = 0.15, val stoppingAccelStdDevThreshold: Double = 0.10,
) )
app/src/main/java/com/hawhamburg/micr0bu/domain/detection/EventDetector.kt
+12 -2
View File
@@ -14,6 +14,16 @@ import kotlin.math.abs
* to [events] (a hot [SharedFlow]). Debounce is implemented with * to [events] (a hot [SharedFlow]). Debounce is implemented with
* consecutive-frame counters, not timers. * consecutive-frame counters, not timers.
* *
* **Who consumes this.** The detector's live consumer is the CAM transmit-rate
* policy: [com.hawhamburg.micr0bu.service.TripRecordingService] forwards every
* emitted event to
* [com.hawhamburg.micr0bu.service.CamTransmitLoop.onDetectedEvent], which
* raises the CAM rate from 1 Hz to the elevated rate for a hold window so that
* nearby stations get denser updates *through* a manoeuvre rather than only at
* the instant it was detected. These thresholds therefore govern a V2X
* behaviour, not a statistic. Events are also persisted per trip for offline
* analysis and CSV export, but nothing in the UI displays them.
*
* GPS updates at 1 Hz whilst sensors fire at ~50 Hz. [speedMps] and * GPS updates at 1 Hz whilst sensors fire at ~50 Hz. [speedMps] and
* [bearingChangeDegPerSec] should be the values from the last known GPS fix; * [bearingChangeDegPerSec] should be the values from the last known GPS fix;
* the detector compares speed against a *reference speed at braking onset* * the detector compares speed against a *reference speed at braking onset*
@@ -37,7 +47,7 @@ class EventDetector(private val config: DetectionConfig = DetectionConfig()) {
private var brakingFrames = 0 private var brakingFrames = 0
private var brakingOnsetSpeed = 0.0 // reference speed when braking started private var brakingOnsetSpeed = 0.0 // reference speed when braking started
private var brakingStartTime = 0L private var brakingStartTime = 0L
private var peakBrakingDrop = 0.0 // peak speed drop observed during this window private var peakBrakingDrop = 0.0 // peak CUMULATIVE drop from onset speed, m/s (not a rate)
private var peakAccelBraking = 0.0 private var peakAccelBraking = 0.0
// ── Turning state ───────────────────────────────────────────────────────── // ── Turning state ─────────────────────────────────────────────────────────
@@ -124,7 +134,7 @@ class EventDetector(private val config: DetectionConfig = DetectionConfig()) {
if (brakingFrames == config.brakingSustainedFrames) { if (brakingFrames == config.brakingSustainedFrames) {
val confidence = val confidence =
if (peakBrakingDrop > config.brakingHighConfidenceRate) Confidence.HIGH if (peakBrakingDrop > config.brakingHighConfidencePeakDrop) Confidence.HIGH
else Confidence.MEDIUM else Confidence.MEDIUM
_events.tryEmit( _events.tryEmit(
app/src/main/java/com/hawhamburg/micr0bu/service/CamPinger.kt
+26 -2
View File
@@ -1,8 +1,11 @@
package com.hawhamburg.micr0bu.service package com.hawhamburg.micr0bu.service
import android.content.Context import android.content.Context
import android.os.SystemClock
import com.hawhamburg.micr0bu.data.GnssReading import com.hawhamburg.micr0bu.data.GnssReading
import com.hawhamburg.micr0bu.data.GnssTimeSource
import com.hawhamburg.micr0bu.data.SensorRepository import com.hawhamburg.micr0bu.data.SensorRepository
import com.hawhamburg.micr0bu.data.transport.GnPositionVector
import com.hawhamburg.micr0bu.data.transport.UsbSerialTransport import com.hawhamburg.micr0bu.data.transport.UsbSerialTransport
import com.hawhamburg.micr0bu.domain.asn1.RealAsn1UperCodec import com.hawhamburg.micr0bu.domain.asn1.RealAsn1UperCodec
import com.hawhamburg.micr0bu.domain.cam.OwnStationIds import com.hawhamburg.micr0bu.domain.cam.OwnStationIds
@@ -68,6 +71,20 @@ class CamPinger @Inject constructor(
/** False while the pinger is running but has no GNSS fix yet — nothing is being transmitted. */ /** False while the pinger is running but has no GNSS fix yet — nothing is being transmitted. */
val hasFix: StateFlow<Boolean> = _hasFix.asStateFlow() val hasFix: StateFlow<Boolean> = _hasFix.asStateFlow()
/** [SystemClock.elapsedRealtime] when the pinger last stopped, or null if it never ran. */
@Volatile private var stoppedAtElapsedMs: Long? = null
/**
* True while station [OwnStationIds.BENCH_PING] on air is this phone's own ping: while the
* pinger runs, and briefly after it stops, so a frame sent just before Stop is not taken for a
* stranger. Uses elapsed realtime, so changing the wall clock cannot move the window.
*
* Otherwise that ID belongs to someone else, typically another MicrOBU phone pinging on the
* same bench, and must be shown like any remote station. See [OwnStationIds.benchPingIsOurs].
*/
fun benchPingIsOurs(): Boolean =
OwnStationIds.benchPingIsOurs(_isActive.value, stoppedAtElapsedMs, SystemClock.elapsedRealtime())
fun start() { fun start() {
if (job?.isActive == true) return if (job?.isActive == true) return
_sentCount.value = 0 _sentCount.value = 0
@@ -87,13 +104,17 @@ class CamPinger @Inject constructor(
_hasFix.value = gnss != null _hasFix.value = gnss != null
if (gnss != null) { if (gnss != null) {
val cam = PhoneCamBuilder.build( val cam = PhoneCamBuilder.build(
gnss = gnss, // Stamped on GNSS time rather than the phone clock; see GnssTimeSource.
gnss = gnss.copy(timestamp = GnssTimeSource.correct(gnss.timestamp)),
gyroZRadPerSec = latestGyroZ, gyroZRadPerSec = latestGyroZ,
stationId = OwnStationIds.BENCH_PING, stationId = OwnStationIds.BENCH_PING,
longitudinalAccelMps2 = longitudinalAccel(gnss), longitudinalAccelMps2 = longitudinalAccel(gnss),
) )
val bytes = codec.encodeCam(cam) val bytes = codec.encodeCam(cam)
if (usbSerialTransport.sendCamTx(bytes)) { // Fixed bench identity on every layer, the link-layer address included, so a ping
// stays recognisable in a capture and never rotates.
val pv = GnPositionVector.fromCam(cam, gnss.accuracyM, OwnStationIds.BENCH_PING_MAC)
if (usbSerialTransport.sendCamTx(bytes, pv)) {
_sentCount.update { it + 1 } _sentCount.update { it + 1 }
} }
} }
@@ -120,6 +141,9 @@ class CamPinger @Inject constructor(
} }
fun stop() { fun stop() {
// Only a real stop opens the grace window. stop() is also called unconditionally on
// teardown, and that must not make a phone that never pinged claim 999999 for a while.
if (_isActive.value) stoppedAtElapsedMs = SystemClock.elapsedRealtime()
job?.cancel() job?.cancel()
job = null job = null
_isActive.value = false _isActive.value = false
app/src/main/java/com/hawhamburg/micr0bu/service/CamTransmitLoop.kt
+12 -11
View File
@@ -2,8 +2,11 @@ package com.hawhamburg.micr0bu.service
import android.content.Context import android.content.Context
import com.hawhamburg.micr0bu.data.GnssReading import com.hawhamburg.micr0bu.data.GnssReading
import com.hawhamburg.micr0bu.data.GnssTimeSource
import com.hawhamburg.micr0bu.data.SensorRepository import com.hawhamburg.micr0bu.data.SensorRepository
import com.hawhamburg.micr0bu.data.cam.PseudonymManager
import com.hawhamburg.micr0bu.data.mqtt.ObuHardwarePreferences import com.hawhamburg.micr0bu.data.mqtt.ObuHardwarePreferences
import com.hawhamburg.micr0bu.data.transport.GnPositionVector
import com.hawhamburg.micr0bu.data.transport.ObuHardware import com.hawhamburg.micr0bu.data.transport.ObuHardware
import com.hawhamburg.micr0bu.data.transport.UsbSerialTransport import com.hawhamburg.micr0bu.data.transport.UsbSerialTransport
import com.hawhamburg.micr0bu.domain.asn1.RealAsn1UperCodec import com.hawhamburg.micr0bu.domain.asn1.RealAsn1UperCodec
@@ -49,6 +52,7 @@ class CamTransmitLoop @Inject constructor(
private val obuHardwarePrefs: ObuHardwarePreferences, private val obuHardwarePrefs: ObuHardwarePreferences,
private val usbSerialTransport: UsbSerialTransport, private val usbSerialTransport: UsbSerialTransport,
private val codec: RealAsn1UperCodec, private val codec: RealAsn1UperCodec,
private val pseudonymManager: PseudonymManager,
) { ) {
private val config = CamTransmitConfig() private val config = CamTransmitConfig()
private val sensorRepository = SensorRepository(context) private val sensorRepository = SensorRepository(context)
@@ -63,14 +67,6 @@ class CamTransmitLoop @Inject constructor(
/** Previous GNSS fix, kept only to derive along-track acceleration — see [longitudinalAccel]. */ /** Previous GNSS fix, kept only to derive along-track acceleration — see [longitudinalAccel]. */
@Volatile private var previousGnss: GnssReading? = null @Volatile private var previousGnss: GnssReading? = null
/**
* Own station id for the ESP32-C5 path, loaded once per [start] from
* [ObuHardwarePreferences.getOrCreateOwnStationId]. 0 means "not loaded yet" — the loop waits
* for the real value rather than beaconing as station 0, which would be indistinguishable
* from every other MicrOBU to any receiver.
*/
@Volatile var stationId: Long = 0L
/** /**
* Call when a braking/turning/stopping event fires during an active trip — bumps the CAM * Call when a braking/turning/stopping event fires during an active trip — bumps the CAM
* rate to [CamTransmitConfig.elevatedRateHz] for [ELEVATED_HOLD_MS] so nearby stations get * rate to [CamTransmitConfig.elevatedRateHz] for [ELEVATED_HOLD_MS] so nearby stations get
@@ -90,7 +86,6 @@ class CamTransmitLoop @Inject constructor(
elevatedUntilMs = 0L elevatedUntilMs = 0L
previousGnss = null previousGnss = null
job = scope.launch { job = scope.launch {
stationId = obuHardwarePrefs.getOrCreateOwnStationId()
obuHardwarePrefs.obuHardwareFlow.collectLatest { hardware -> obuHardwarePrefs.obuHardwareFlow.collectLatest { hardware ->
if (hardware != ObuHardware.ESP32_C5) return@collectLatest if (hardware != ObuHardware.ESP32_C5) return@collectLatest
runTransmitLoop() runTransmitLoop()
@@ -111,9 +106,15 @@ class CamTransmitLoop @Inject constructor(
while (true) { while (true) {
val gnss = latestGnss val gnss = latestGnss
if (gnss != null) { if (gnss != null) {
val cam = PhoneCamBuilder.build(gnss, latestGyroZ, stationId, longitudinalAccel(gnss)) // Asked for per CAM rather than once per trip: that is what lets a pseudonym
// rotation fall cleanly between two frames instead of inside one.
val pseudonym = pseudonymManager.current()
// Stamped on GNSS time rather than the phone clock; see GnssTimeSource. Only the
// outgoing CAM is: acceleration below still differences wall-clock samples.
val fix = gnss.copy(timestamp = GnssTimeSource.correct(gnss.timestamp))
val cam = PhoneCamBuilder.build(fix, latestGyroZ, pseudonym.stationId, longitudinalAccel(gnss))
val bytes = codec.encodeCam(cam) val bytes = codec.encodeCam(cam)
usbSerialTransport.sendCamTx(bytes) usbSerialTransport.sendCamTx(bytes, GnPositionVector.fromCam(cam, gnss.accuracyM, pseudonym.mac))
} }
delay((1000.0 / currentRateHz(gnss)).toLong()) delay((1000.0 / currentRateHz(gnss)).toLong())
} }
app/src/main/java/com/hawhamburg/micr0bu/service/TripRecordingService.kt
+16 -46
View File
@@ -26,9 +26,7 @@ import com.hawhamburg.micr0bu.R
import com.hawhamburg.micr0bu.data.TripRepository import com.hawhamburg.micr0bu.data.TripRepository
import com.hawhamburg.micr0bu.data.cam.CamUseCaseRepository import com.hawhamburg.micr0bu.data.cam.CamUseCaseRepository
import com.hawhamburg.micr0bu.data.db.AppDatabase import com.hawhamburg.micr0bu.data.db.AppDatabase
import com.hawhamburg.micr0bu.domain.detection.DetectionConfig
import com.hawhamburg.micr0bu.domain.detection.EventDetector import com.hawhamburg.micr0bu.domain.detection.EventDetector
import com.hawhamburg.micr0bu.domain.detection.EventType
import dagger.hilt.android.AndroidEntryPoint import dagger.hilt.android.AndroidEntryPoint
import javax.inject.Inject import javax.inject.Inject
import kotlinx.coroutines.CoroutineScope import kotlinx.coroutines.CoroutineScope
@@ -108,19 +106,10 @@ class TripRecordingService : Service() {
// V2xMessageEntity's KDoc for why nothing is retained outside of one. // V2xMessageEntity's KDoc for why nothing is retained outside of one.
@Inject lateinit var camUseCaseRepository: CamUseCaseRepository @Inject lateinit var camUseCaseRepository: CamUseCaseRepository
private var v2xLoggingJob: Job? = null private var v2xLoggingJob: Job? = null
private val detector = EventDetector( // These nine thresholds used to be overridden here; they are now the DetectionConfig
DetectionConfig( // defaults, so there is one configuration and the unit tests exercise it. Behaviour is
brakingSpeedDropThreshold = 1.0, // unchanged - see DetectionConfig's KDoc.
brakingAccelStdDevThreshold = 1.8, private val detector = EventDetector()
brakingSustainedFrames = 25,
turningGyroMeanThreshold = 0.6,
turningBearingChangeThreshold = 15.0,
turningSustainedFrames = 30,
stoppingSpeedThreshold = 0.3,
stoppingFrames = 150,
stoppingAccelStdDevThreshold = 0.10,
)
)
// ── Sensor fusion state ─────────────────────────────────────────────────── // ── Sensor fusion state ───────────────────────────────────────────────────
@@ -153,10 +142,11 @@ class TripRecordingService : Service() {
private val gpsTrackBuilder = StringBuilder("[") private val gpsTrackBuilder = StringBuilder("[")
private var gpsPointCount = 0 private var gpsPointCount = 0
// Event counts // Number of manoeuvres the detector fired during this trip. The only thing kept about
private var brakingCount = 0 // them: it fills the trips.eventCount column, which predates this change and cannot be
private var turningCount = 0 // dropped without rebuilding the trips table. See EventDetector's KDoc for why the
private var stoppingCount = 0 // detector still runs at all.
private var detectedEventCount = 0
// ── SensorEventListener ─────────────────────────────────────────────────── // ── SensorEventListener ───────────────────────────────────────────────────
@@ -253,9 +243,7 @@ class TripRecordingService : Service() {
).also { it.acquire() } ).also { it.acquire() }
detector.reset() detector.reset()
brakingCount = 0 detectedEventCount = 0
turningCount = 0
stoppingCount = 0
distanceMetres = 0f distanceMetres = 0f
prevLat = Double.NaN prevLat = Double.NaN
prevLon = Double.NaN prevLon = Double.NaN
@@ -273,35 +261,20 @@ class TripRecordingService : Service() {
isRecording = true, isRecording = true,
currentTripId = currentTripId, currentTripId = currentTripId,
elapsedSeconds = 0L, elapsedSeconds = 0L,
brakingCount = 0,
turningCount = 0,
stoppingCount = 0,
currentSpeedMs = 0f, currentSpeedMs = 0f,
) )
} }
} }
// Collect detector events and persist them // Collect detector events. The CAM transmit-rate policy is their only consumer:
// detected manoeuvres are not persisted, exported, or displayed.
serviceScope.launch { serviceScope.launch {
detector.events.collect { event -> detector.events.collect { _ ->
if (currentTripId < 0) return@collect if (currentTripId < 0) return@collect
repository.insertEvent(currentTripId, event)
// Bump the CAM transmit rate through the maneuver, not just at detection instant. // Bump the CAM transmit rate through the maneuver, not just at detection instant.
// No-op on the CiT One path (see CamTransmitLoop's KDoc). // No-op on the CiT One path (see CamTransmitLoop's KDoc).
camTransmitLoop.onDetectedEvent() camTransmitLoop.onDetectedEvent()
when (event.type) { detectedEventCount++
EventType.BRAKING -> brakingCount++
EventType.TURNING -> turningCount++
EventType.STOPPING -> stoppingCount++
}
TripServiceBus.update {
copy(
brakingCount = this@TripRecordingService.brakingCount,
turningCount = this@TripRecordingService.turningCount,
stoppingCount = this@TripRecordingService.stoppingCount,
)
}
updateNotification()
} }
} }
@@ -356,7 +329,7 @@ class TripRecordingService : Service() {
v2xLoggingJob = null v2xLoggingJob = null
val endTime = System.currentTimeMillis() val endTime = System.currentTimeMillis()
val totalEvents = brakingCount + turningCount + stoppingCount val totalEvents = detectedEventCount
// Close GPS track JSON // Close GPS track JSON
gpsTrackBuilder.append("]") gpsTrackBuilder.append("]")
@@ -454,10 +427,7 @@ class TripRecordingService : Service() {
private fun buildNotification(elapsedSeconds: Long) = private fun buildNotification(elapsedSeconds: Long) =
NotificationCompat.Builder(this, CHANNEL_ID) NotificationCompat.Builder(this, CHANNEL_ID)
.setContentTitle("Recording trip") .setContentTitle("Recording trip")
.setContentText( .setContentText("⏱ ${formatElapsed(elapsedSeconds)}")
"⏱ ${formatElapsed(elapsedSeconds)} · " +
"🚨 $brakingCount 🔄 $turningCount 🛑 $stoppingCount"
)
.setSmallIcon(R.mipmap.ic_launcher_foreground) .setSmallIcon(R.mipmap.ic_launcher_foreground)
.setOngoing(true) .setOngoing(true)
.setOnlyAlertOnce(true) .setOnlyAlertOnce(true)
app/src/main/java/com/hawhamburg/micr0bu/service/TripServiceBus.kt
-3
View File
@@ -17,9 +17,6 @@ object TripServiceBus {
val isRecording: Boolean = false, val isRecording: Boolean = false,
val currentTripId: Long = -1L, val currentTripId: Long = -1L,
val elapsedSeconds: Long = 0L, val elapsedSeconds: Long = 0L,
val brakingCount: Int = 0,
val turningCount: Int = 0,
val stoppingCount: Int = 0,
val currentSpeedMs: Float = 0f, val currentSpeedMs: Float = 0f,
) )
app/src/main/java/com/hawhamburg/micr0bu/ui/screens/RecordingScreen.kt
-59
View File
@@ -141,46 +141,6 @@ fun RecordingScreen(
Spacer(Modifier.height(8.dp)) Spacer(Modifier.height(8.dp))
// ── Event Detection Counters ─────────────────────────────────────────
if (state.isRecording || tripServiceState.isRecording) {
Text(
stringResource(R.string.rec_events_detected),
style = MaterialTheme.typography.titleMedium,
fontWeight = FontWeight.SemiBold,
modifier = Modifier.align(Alignment.Start),
)
Card(
modifier = Modifier.fillMaxWidth(),
colors = CardDefaults.cardColors(containerColor = MaterialTheme.colorScheme.secondaryContainer),
) {
Row(
modifier = Modifier
.fillMaxWidth()
.padding(horizontal = 16.dp, vertical = 12.dp),
horizontalArrangement = Arrangement.SpaceEvenly,
) {
EventCountBadge(
label = stringResource(R.string.rec_event_braking),
count = tripServiceState.brakingCount,
color = Color(0xFFFF5252),
)
EventCountBadge(
label = stringResource(R.string.rec_event_turning),
count = tripServiceState.turningCount,
color = Color(0xFFFFB300),
)
EventCountBadge(
label = stringResource(R.string.rec_event_stopping),
count = tripServiceState.stoppingCount,
color = Color(0xFF42A5F5),
)
}
}
Spacer(Modifier.height(4.dp))
}
// ── CSV Session Log shortcut ───────────────────────────────────────── // ── CSV Session Log shortcut ─────────────────────────────────────────
if (!state.isRecording) { if (!state.isRecording) {
OutlinedButton( OutlinedButton(
@@ -228,25 +188,6 @@ fun RecordingScreen(
} }
} }
@Composable
private fun EventCountBadge(label: String, count: Int, color: Color) {
Column(horizontalAlignment = Alignment.CenterHorizontally) {
Text(
text = count.toString(),
style = MaterialTheme.typography.headlineSmall,
fontWeight = FontWeight.Bold,
fontFamily = FontFamily.Monospace,
color = color,
)
Spacer(Modifier.height(2.dp))
Text(
text = label,
style = MaterialTheme.typography.labelSmall,
color = MaterialTheme.colorScheme.onSecondaryContainer,
)
}
}
@Composable @Composable
private fun StreamRow(label: String, active: Boolean) { private fun StreamRow(label: String, active: Boolean) {
Row( Row(
app/src/main/java/com/hawhamburg/micr0bu/ui/screens/TripHistoryScreen.kt
-1
View File
@@ -145,7 +145,6 @@ private fun TripCard(
val durationSec = ((trip.endTime - trip.startTime) / 1000).coerceAtLeast(0) val durationSec = ((trip.endTime - trip.startTime) / 1000).coerceAtLeast(0)
TripStatChip("⏱ ${formatDuration(durationSec)}") TripStatChip("⏱ ${formatDuration(durationSec)}")
TripStatChip("📍 ${formatDistance(trip.distanceMetres)}") TripStatChip("📍 ${formatDistance(trip.distanceMetres)}")
TripStatChip("🚨 ${trip.eventCount} events")
} }
} }
IconButton(onClick = onOpen) { IconButton(onClick = onOpen) {
app/src/main/java/com/hawhamburg/micr0bu/ui/screens/TripReviewScreen.kt
-120
View File
@@ -42,9 +42,7 @@ import androidx.compose.ui.viewinterop.AndroidView
import androidx.lifecycle.Lifecycle import androidx.lifecycle.Lifecycle
import androidx.lifecycle.LifecycleEventObserver import androidx.lifecycle.LifecycleEventObserver
import androidx.lifecycle.compose.LocalLifecycleOwner import androidx.lifecycle.compose.LocalLifecycleOwner
import com.hawhamburg.micr0bu.data.db.DetectedEventEntity
import com.hawhamburg.micr0bu.data.db.RecordedTripEntity import com.hawhamburg.micr0bu.data.db.RecordedTripEntity
import com.hawhamburg.micr0bu.viewmodel.TripRecordingViewModel
import kotlinx.coroutines.launch import kotlinx.coroutines.launch
import org.osmdroid.config.Configuration import org.osmdroid.config.Configuration
import org.osmdroid.tileprovider.tilesource.TileSourceFactory import org.osmdroid.tileprovider.tilesource.TileSourceFactory
@@ -61,7 +59,6 @@ import java.util.Locale
@Composable @Composable
fun TripReviewScreen( fun TripReviewScreen(
trip: RecordedTripEntity, trip: RecordedTripEntity,
viewModel: TripRecordingViewModel,
modifier: Modifier = Modifier, modifier: Modifier = Modifier,
) { ) {
val context = LocalContext.current val context = LocalContext.current
@@ -70,15 +67,8 @@ fun TripReviewScreen(
// provider is ready before MapView is constructed in the factory block. // provider is ready before MapView is constructed in the factory block.
initOsmReview(context) initOsmReview(context)
LaunchedEffect(trip.id) { viewModel.loadTripEvents(trip.id) }
val events by viewModel.selectedTripEvents.collectAsState()
val gpsPoints = remember(trip.gpsTrackJson) { parseGpsTrack(trip.gpsTrackJson) } val gpsPoints = remember(trip.gpsTrackJson) { parseGpsTrack(trip.gpsTrackJson) }
var selectedEvent by remember { mutableStateOf<DetectedEventEntity?>(null) }
val sheetState = rememberModalBottomSheetState(skipPartiallyExpanded = true)
val scope = rememberCoroutineScope()
val mapViewRef = remember { mutableStateOf<MapView?>(null) } val mapViewRef = remember { mutableStateOf<MapView?>(null) }
val lifecycleOwner = LocalLifecycleOwner.current val lifecycleOwner = LocalLifecycleOwner.current
@@ -108,13 +98,6 @@ fun TripReviewScreen(
fontWeight = FontWeight.Medium, fontWeight = FontWeight.Medium,
color = MaterialTheme.colorScheme.onSurfaceVariant, color = MaterialTheme.colorScheme.onSurfaceVariant,
) )
Text(
"🚨 ${events.count { it.type == "BRAKING" }} " +
"🔄 ${events.count { it.type == "TURNING" }} " +
"🛑 ${events.count { it.type == "STOPPING" }}",
style = MaterialTheme.typography.labelSmall,
color = MaterialTheme.colorScheme.onSurfaceVariant,
)
} }
// ── Map ─────────────────────────────────────────────────────────────── // ── Map ───────────────────────────────────────────────────────────────
@@ -141,33 +124,6 @@ fun TripReviewScreen(
mv.overlays.add(polyline) mv.overlays.add(polyline)
} }
// Event pins
events.forEach { event ->
val pinColor = when (event.type) {
"BRAKING" -> Color(0xFFFF5252)
"TURNING" -> Color(0xFFFFB300)
"STOPPING" -> Color(0xFF42A5F5)
else -> Color.Gray
}
val marker = Marker(mv).apply {
position = GeoPoint(event.latitude, event.longitude)
setAnchor(Marker.ANCHOR_CENTER, Marker.ANCHOR_BOTTOM)
title = "${event.type} (${event.confidence})"
setOnMarkerClickListener { _, _ ->
selectedEvent = event
scope.launch { sheetState.show() }
true
}
// Solid-circle pin in the event color
icon = GradientDrawable().apply {
shape = GradientDrawable.OVAL
setColor(pinColor.toArgb())
setSize(32, 32)
}
}
mv.overlays.add(marker)
}
// Auto-fit the camera to the track — deferred via post() so the // Auto-fit the camera to the track — deferred via post() so the
// MapView has been measured before zoomToBoundingBox is called. // MapView has been measured before zoomToBoundingBox is called.
// Calling it with width/height == 0 (before first layout) crashes osmdroid. // Calling it with width/height == 0 (before first layout) crashes osmdroid.
@@ -193,82 +149,6 @@ fun TripReviewScreen(
) )
} }
// ── Event detail bottom sheet ─────────────────────────────────────────────
val ev = selectedEvent
if (ev != null) {
ModalBottomSheet(
onDismissRequest = { selectedEvent = null },
sheetState = sheetState,
dragHandle = { BottomSheetDefaults.DragHandle() },
) {
EventDetailSheet(event = ev, onDismiss = {
scope.launch { sheetState.hide() }.invokeOnCompletion { selectedEvent = null }
})
}
}
}
// ── Event detail sheet content ────────────────────────────────────────────────
@Composable
private fun EventDetailSheet(event: DetectedEventEntity, onDismiss: () -> Unit) {
// Created here (not as a top-level static field) so it always uses the
// current locale even if the user changes it while the app is running.
val sdf = remember { SimpleDateFormat("HH:mm:ss", Locale.getDefault()) }
val accentColor = when (event.type) {
"BRAKING" -> Color(0xFFFF5252)
"TURNING" -> Color(0xFFFFB300)
"STOPPING" -> Color(0xFF42A5F5)
else -> MaterialTheme.colorScheme.primary
}
Column(modifier = Modifier.padding(horizontal = 20.dp).padding(bottom = 32.dp)) {
Row(verticalAlignment = Alignment.CenterVertically, modifier = Modifier.fillMaxWidth()) {
Text(
event.type.replaceFirstChar { it.titlecase() },
style = MaterialTheme.typography.headlineSmall,
fontWeight = FontWeight.Bold,
color = accentColor,
modifier = Modifier.weight(1f),
)
IconButton(onClick = onDismiss) {
Icon(Icons.Default.Close, contentDescription = "Close")
}
}
Text(
"Confidence: ${event.confidence}",
style = MaterialTheme.typography.bodyMedium,
color = MaterialTheme.colorScheme.onSurfaceVariant,
)
Text(
sdf.format(Date(event.timestamp)),
style = MaterialTheme.typography.bodySmall,
color = MaterialTheme.colorScheme.onSurfaceVariant,
)
Spacer(Modifier.height(12.dp))
HorizontalDivider()
Spacer(Modifier.height(12.dp))
EventDetailRow("Speed", "%.1f m/s".format(event.speedMps))
EventDetailRow("Peak accel", "%.2f m/s²".format(event.peakAccelMagnitude))
EventDetailRow("Peak gyro", "%.3f rad/s".format(event.peakGyroMagnitude))
EventDetailRow("Duration", "${event.durationMs} ms")
EventDetailRow("Location", "%.5f°, %.5f°".format(event.latitude, event.longitude))
}
}
@Composable
private fun EventDetailRow(label: String, value: String) {
Row(
modifier = Modifier.fillMaxWidth().padding(vertical = 4.dp),
horizontalArrangement = Arrangement.SpaceBetween,
) {
Text(label, style = MaterialTheme.typography.bodyMedium, color = MaterialTheme.colorScheme.onSurfaceVariant)
Text(value, style = MaterialTheme.typography.bodyMedium, fontFamily = FontFamily.Monospace, fontWeight = FontWeight.Medium)
}
} }
// ── GPS track parsing ───────────────────────────────────────────────────────── // ── GPS track parsing ─────────────────────────────────────────────────────────
app/src/main/java/com/hawhamburg/micr0bu/viewmodel/TripRecordingViewModel.kt
-16
View File
@@ -9,7 +9,6 @@ import androidx.lifecycle.viewModelScope
import com.hawhamburg.micr0bu.data.TripRepository import com.hawhamburg.micr0bu.data.TripRepository
import com.hawhamburg.micr0bu.data.shareTripCsv import com.hawhamburg.micr0bu.data.shareTripCsv
import com.hawhamburg.micr0bu.data.db.AppDatabase import com.hawhamburg.micr0bu.data.db.AppDatabase
import com.hawhamburg.micr0bu.data.db.DetectedEventEntity
import com.hawhamburg.micr0bu.data.db.RecordedTripEntity import com.hawhamburg.micr0bu.data.db.RecordedTripEntity
import com.hawhamburg.micr0bu.service.TripRecordingService import com.hawhamburg.micr0bu.service.TripRecordingService
import com.hawhamburg.micr0bu.service.TripServiceBus import com.hawhamburg.micr0bu.service.TripServiceBus
@@ -66,20 +65,6 @@ class TripRecordingViewModel(application: Application) : AndroidViewModel(applic
/** All recorded trips, newest first. */ /** All recorded trips, newest first. */
val trips: Flow<List<RecordedTripEntity>> = repository.getAllTrips() val trips: Flow<List<RecordedTripEntity>> = repository.getAllTrips()
// ── Trip review ───────────────────────────────────────────────────────────
private val _selectedTripEvents = MutableStateFlow<List<DetectedEventEntity>>(emptyList())
val selectedTripEvents: StateFlow<List<DetectedEventEntity>> = _selectedTripEvents.asStateFlow()
/** Load events for [tripId] into [selectedTripEvents]. */
fun loadTripEvents(tripId: Long) {
viewModelScope.launch {
repository.getEventsForTrip(tripId).collect { events ->
_selectedTripEvents.value = events
}
}
}
// ── Recording control ───────────────────────────────────────────────────── // ── Recording control ─────────────────────────────────────────────────────
/** /**
@@ -132,7 +117,6 @@ class TripRecordingViewModel(application: Application) : AndroidViewModel(applic
shareTripCsv( shareTripCsv(
context = context, context = context,
trip = trip, trip = trip,
events = repository.getEventsForTripOnce(tripId),
v2xMessages = repository.getV2xMessagesForTripOnce(tripId), v2xMessages = repository.getV2xMessagesForTripOnce(tripId),
) )
} }
app/src/main/res/values-de/strings.xml
-4
View File
@@ -292,10 +292,6 @@
<string name="nav_trips">Fahrten</string> <string name="nav_trips">Fahrten</string>
<!-- Phase A: Recording screen event counters --> <!-- Phase A: Recording screen event counters -->
<string name="rec_events_detected">Erkannte Ereignisse</string>
<string name="rec_event_braking">Bremsen</string>
<string name="rec_event_turning">Abbiegen</string>
<string name="rec_event_stopping">Anhalten</string>
<string name="rec_stream_event_detection">Ereigniserkennung</string> <string name="rec_stream_event_detection">Ereigniserkennung</string>
<string name="rec_open_session_log">CSV-Sitzungsprotokoll</string> <string name="rec_open_session_log">CSV-Sitzungsprotokoll</string>
app/src/main/res/values/strings.xml
-4
View File
@@ -305,10 +305,6 @@
<string name="nav_trips">Trips</string> <string name="nav_trips">Trips</string>
<!-- Phase A: Recording screen event counters --> <!-- Phase A: Recording screen event counters -->
<string name="rec_events_detected">Detected Events</string>
<string name="rec_event_braking">Braking</string>
<string name="rec_event_turning">Turning</string>
<string name="rec_event_stopping">Stopping</string>
<string name="rec_stream_event_detection">Event Detection</string> <string name="rec_stream_event_detection">Event Detection</string>
<string name="rec_open_session_log">CSV Session Log</string> <string name="rec_open_session_log">CSV Session Log</string>
app/src/test/java/com/hawhamburg/micr0bu/CamTxPvSerialTest.kt
+177
View File
@@ -0,0 +1,177 @@
package com.hawhamburg.micr0bu
import com.hawhamburg.micr0bu.data.transport.EspLinkStatus
import com.hawhamburg.micr0bu.data.transport.GnPositionVector
import com.hawhamburg.micr0bu.domain.asn1.ItsTime
import com.hawhamburg.micr0bu.domain.cam.Cam
import com.hawhamburg.micr0bu.domain.cam.StationType
import org.junit.Assert.assertEquals
import org.junit.Assert.assertFalse
import org.junit.Assert.assertTrue
import org.junit.Test
/**
* Pins the phone side of SERIAL_MSG_CAM_TX_PV: the 24-byte prefix the ESP32 turns into the
* GeoNetworking Source Position Vector, and the heartbeat capability bit that decides whether the
* phone may send that message at all.
*
* ## Where the expected bytes come from
* Not from this code. They were produced with Python's `struct.pack("<IiihH", ...)` from the
* layout documented at SERIAL_MSG_CAM_TX_PV in `serial_link.h`, independently of this encoder, so
* an agreement here is not an encoder agreeing with itself.
*
* That same `struct.pack` call is what the bench harness used on 2026-09-10 to drive an
* ESP32-C5 over its native USB port with this message. The CiT One OBU, an independent
* GeoNetworking stack, decoded every Source Position Vector field of the resulting
* transmissions (station type, PAI, latitude, longitude, speed, heading and timestamp) back to
* the values sent. These are bytes a third-party receiver has accepted on air, not only bytes
* this app agrees with.
*/
class CamTxPvSerialTest {
private fun String.hexToBytes(): ByteArray =
chunked(2).map { it.toInt(16).toByte() }.toByteArray()
private fun ByteArray.u32le(at: Int): Long =
(0 until 4).fold(0L) { acc, i -> acc or ((this[at + i].toLong() and 0xFF) shl (8 * i)) }
// ---- the wire layout -------------------------------------------------------------------
@Test
fun `encodes the prefix byte for byte`() {
val pv = GnPositionVector(
mac = "024d49435230".hexToBytes(),
stationType = 2,
pai = true,
tstMs = 0x12345678L,
latTenMicroDeg = 535_543_026,
lonTenMicroDeg = 100_226_476,
speedCms = 543,
headingDeciDeg = 1234,
)
// 024d49435230 | 02 | 01 | 78563412 | f2bceb1f | ac55f905 | 1f02 | d204
assertEquals("024d49435230020178563412f2bceb1fac55f9051f02d204", pv.toSerialPrefix().toHex())
}
@Test
fun `encodes negative, extreme and flag-clear values`() {
// Southern and western hemisphere, full reverse speed, heading at its maximum, PAI clear:
// the sign handling that a northern-hemisphere bench test never exercises.
val pv = GnPositionVector(
mac = "020000000001".hexToBytes(),
stationType = 2,
pai = false,
tstMs = 0xFFFF_FFFFL,
latTenMicroDeg = -335_543_026,
lonTenMicroDeg = -100_226_476,
speedCms = -16384,
headingDeciDeg = 3599,
)
assertEquals("0200000000010200ffffffff0e0500ec54aa06fa00c00f0e", pv.toSerialPrefix().toHex())
}
@Test
fun `the timestamp is reduced modulo 2^32 on the wire`() {
// TimestampIts passed 2^32 ms about 49.7 days after its 2004 epoch, so every real value
// today is wider than 32 bits and the reduction is the normal case, not an edge case.
val pv = vectorAt(tstMs = 716_121_572_779L)
assertEquals(3_157_001_643L, pv.toSerialPrefix().u32le(8))
}
// ---- building it from a CAM ------------------------------------------------------------
private val cam = Cam(
stationId = 1_234_567_890L,
stationType = StationType.CYCLIST,
latitude = 53.5543026,
longitude = 10.0226476,
speedMps = 5.43,
headingDeg = 123.4,
yawRateDps = null,
accelerationMps2 = null,
timestamp = 1_789_036_772_779L,
isOwn = true,
)
@Test
fun `fromCam takes the same values the CAM payload carries`() {
val pv = GnPositionVector.fromCam(cam, accuracyM = 5f, mac = "024d49435230".hexToBytes())
assertEquals(2, pv.stationType)
assertEquals(535_543_026, pv.latTenMicroDeg)
assertEquals(100_226_476, pv.lonTenMicroDeg)
assertEquals(543, pv.speedCms)
assertEquals(1234, pv.headingDeciDeg)
assertTrue(pv.pai)
// The GN TST and the CAM's generationDeltaTime must follow one time rule.
assertEquals(ItsTime.timestampIts(cam.timestamp), pv.tstMs)
assertEquals(716_121_572_779L, pv.tstMs)
}
@Test
fun `speed is clamped to the 15-bit field, never wrapped`() {
// A wrapped 15-bit speed flips its sign bit and reads as reversing at speed.
assertEquals(16383, GnPositionVector.fromCam(cam.copy(speedMps = 400.0), 5f, mac).speedCms)
assertEquals(-16384, GnPositionVector.fromCam(cam.copy(speedMps = -400.0), 5f, mac).speedCms)
}
@Test
fun `heading wraps into 0 to 3599`() {
assertEquals(0, GnPositionVector.fromCam(cam.copy(headingDeg = 360.0), 5f, mac).headingDeciDeg)
assertEquals(50, GnPositionVector.fromCam(cam.copy(headingDeg = 725.0), 5f, mac).headingDeciDeg)
assertEquals(3590, GnPositionVector.fromCam(cam.copy(headingDeg = -1.0), 5f, mac).headingDeciDeg)
}
@Test
fun `non-finite speed or heading does not throw`() {
val pv = GnPositionVector.fromCam(
cam.copy(speedMps = Double.NaN, headingDeg = Double.POSITIVE_INFINITY), 5f, mac,
)
assertEquals(0, pv.speedCms)
assertEquals(0, pv.headingDeciDeg)
}
@Test
fun `PAI follows the horizontal accuracy`() {
assertTrue(GnPositionVector.fromCam(cam, GnPositionVector.PAI_MAX_ACCURACY_M, mac).pai)
assertFalse(GnPositionVector.fromCam(cam, 25f, mac).pai)
// Android reports 0 when it has no accuracy estimate: unknown is not accurate.
assertFalse(GnPositionVector.fromCam(cam, 0f, mac).pai)
assertFalse(GnPositionVector.fromCam(cam, null, mac).pai)
}
@Test(expected = IllegalArgumentException::class)
fun `an address that is not six bytes is rejected`() {
GnPositionVector.fromCam(cam, 5f, ByteArray(5))
}
// ---- capability negotiation ------------------------------------------------------------
@Test
fun `firmware that predates the capability byte advertises nothing`() {
// Old firmware sends a 7-byte heartbeat. Reading that as "no CAM_TX_PV" is what keeps a
// new app on the legacy message, which that firmware still understands.
val status = EspLinkStatus.parse("00000000000000".hexToBytes())!!
assertEquals(0, status.capabilities)
assertFalse(status.supportsCamTxPv)
}
@Test
fun `firmware that advertises CAM_TX_PV is recognised`() {
val status = EspLinkStatus.parse("0000000000000001".hexToBytes())!!
assertTrue(status.supportsCamTxPv)
}
@Test
fun `a capability byte without the CAM_TX_PV bit does not enable it`() {
assertFalse(EspLinkStatus.parse("0000000000000002".hexToBytes())!!.supportsCamTxPv)
}
private val mac = "024d49435230".hexToBytes()
private fun vectorAt(tstMs: Long) = GnPositionVector(
mac = mac, stationType = 2, pai = false, tstMs = tstMs,
latTenMicroDeg = 0, lonTenMicroDeg = 0, speedCms = 0, headingDeciDeg = 0,
)
private fun ByteArray.toHex() = joinToString("") { "%02x".format(it) }
}
app/src/test/java/com/hawhamburg/micr0bu/EventDetectorTest.kt
+42 -39
View File
@@ -21,34 +21,34 @@ import kotlin.math.sqrt
* *
* No Android emulator required — all production classes have zero Android imports. * No Android emulator required — all production classes have zero Android imports.
* *
* The test [config] uses a smaller window and fewer sustained frames than the * The test [config] shortens only the window and the sustained-frame counts, so
* production defaults so tests run in milliseconds without generating thousands * tests run in milliseconds instead of generating thousands of synthetic
* of synthetic samples. * samples. Every *signal* threshold is inherited from [DetectionConfig]'s
* defaults, which are the values the app actually runs — the two cannot drift
* apart, which they previously did: the service overrode nine of the twelve
* parameters and these tests validated the un-overridden ones.
* *
* Accel-std-dev notes * Accel-std-dev notes
* ------------------- * -------------------
* A production threshold of 1.2 m/s² requires genuine variability in the window. * The braking accel-std-dev threshold of 1.8 m/s² requires genuine variability
* In the "hard brake" tests we alternate between high and low accel values * in the window. In the "hard brake" tests we alternate between high and low
* (e.g. 3.5 / 0.5), which yields std dev ≈ 1.5 with a 10-sample window. * accel values (4.5 / 0.5), which yields a population std dev of |hi − lo| / 2
* = 2.0 in a full window — above the threshold with margin.
*/ */
@OptIn(ExperimentalCoroutinesApi::class) @OptIn(ExperimentalCoroutinesApi::class)
class EventDetectorTest { class EventDetectorTest {
/** Tighter config so fewer frames are needed to trigger each event. */ /**
* Shortens the window and the sustained-frame counts so fewer synthetic frames are
* needed per test. Every signal threshold is deliberately left at its default, so
* these tests exercise the thresholds the app ships with. Do not restate a signal
* threshold here — that is exactly how the two configurations drifted apart before.
*/
private val config = DetectionConfig( private val config = DetectionConfig(
windowSize = 10, windowSize = 10,
brakingSustainedFrames = 5, brakingSustainedFrames = 5,
turningSustainedFrames = 8, turningSustainedFrames = 8,
stoppingFrames = 20, stoppingFrames = 20,
// Keep production thresholds for all signal values:
brakingSpeedDropThreshold = 0.5,
brakingAccelStdDevThreshold = 1.2,
brakingHighConfidenceRate = 1.5,
turningGyroMeanThreshold = 0.4,
turningBearingChangeThreshold = 10.0,
turningMinSpeedThreshold = 2.0,
stoppingSpeedThreshold = 0.5,
stoppingAccelStdDevThreshold = 0.15,
) )
private lateinit var detector: EventDetector private lateinit var detector: EventDetector
@@ -71,12 +71,12 @@ class EventDetectorTest {
/** /**
* Produces [n] frames with alternating accelMagnitude values of [hi] and [lo], * Produces [n] frames with alternating accelMagnitude values of [hi] and [lo],
* giving a population std dev of |hi - lo| / 2, which exceeds the production * giving a population std dev of |hi - lo| / 2, which exceeds the shipping
* threshold of 1.2 m/s² when hi=3.5 and lo=0.5 (std dev = 1.5). * threshold of 1.8 m/s² when hi=4.5 and lo=0.5 (std dev = 2.0).
*/ */
private fun alternatingAccelFrames( private fun alternatingAccelFrames(
n: Int, n: Int,
hi: Double = 3.5, hi: Double = 4.5,
lo: Double = 0.5, lo: Double = 0.5,
speedMps: Double = 10.0, speedMps: Double = 10.0,
bearingChangeDps: Double = 0.0, bearingChangeDps: Double = 0.0,
@@ -139,12 +139,12 @@ class EventDetectorTest {
@Test fun `hard brake with large speed drop has HIGH confidence`() = runCollecting { events -> @Test fun `hard brake with large speed drop has HIGH confidence`() = runCollecting { events ->
// Variability established before the drop - see the note in the test above. // Variability established before the drop - see the note in the test above.
alternatingAccelFrames(n = config.windowSize, speedMps = 10.0, timeOffset = 0) alternatingAccelFrames(n = config.windowSize, speedMps = 10.0, timeOffset = 0)
// Drop of 8 m/s > brakingHighConfidenceRate (1.5) // Drop of 8 m/s > brakingHighConfidencePeakDrop (1.5)
alternatingAccelFrames( alternatingAccelFrames(
n = config.brakingSustainedFrames + 5, n = config.brakingSustainedFrames + 5,
hi = 3.5, hi = 4.5,
lo = 0.5, lo = 0.5,
speedMps = 2.0, // drop from 10 → 8 m/s speedMps = 2.0, // drop from 10 → 2 m/s
timeOffset = config.windowSize, timeOffset = config.windowSize,
) )
val braking = events.filter { it.type == EventType.BRAKING } val braking = events.filter { it.type == EventType.BRAKING }
@@ -159,12 +159,16 @@ class EventDetectorTest {
@Test fun `moderate speed drop has MEDIUM confidence`() = runCollecting { events -> @Test fun `moderate speed drop has MEDIUM confidence`() = runCollecting { events ->
// Variability established before the drop - see `hard brake triggers BRAKING event`. // Variability established before the drop - see `hard brake triggers BRAKING event`.
alternatingAccelFrames(n = config.windowSize, speedMps = 3.0, timeOffset = 0) alternatingAccelFrames(n = config.windowSize, speedMps = 3.0, timeOffset = 0)
// Drop of 0.8 m/s — above speed-drop threshold (0.5) but below high-conf rate (1.5) // Drop of 1.2 m/s — above the speed-drop threshold (1.0) but below the
// high-confidence peak drop (1.5), so this must land as MEDIUM. The window
// between those two values is narrow at the shipping thresholds, which is
// itself worth knowing: MEDIUM braking is only emitted for drops in
// (1.0, 1.5] m/s.
alternatingAccelFrames( alternatingAccelFrames(
n = config.brakingSustainedFrames + 5, n = config.brakingSustainedFrames + 5,
hi = 3.5, hi = 4.5,
lo = 0.5, lo = 0.5,
speedMps = 2.2, // drop = 0.8 m/s speedMps = 1.8, // drop = 1.2 m/s
timeOffset = config.windowSize, timeOffset = config.windowSize,
) )
val braking = events.filter { it.type == EventType.BRAKING } val braking = events.filter { it.type == EventType.BRAKING }
@@ -179,9 +183,9 @@ class EventDetectorTest {
repeat(total) { i -> repeat(total) { i ->
detector.processSample( detector.processSample(
accelMagnitude = 0.3, accelMagnitude = 0.3,
gyroMagnitude = 0.8, // mean → well above 0.4 threshold gyroMagnitude = 0.8, // mean → above the 0.6 threshold
speedMps = 4.0, // above 2 m/s → bearing also checked speedMps = 4.0, // above 2 m/s → bearing also checked
bearingChangeDegPerSec = 15.0, // above 10 °/s → both signals agree bearingChangeDegPerSec = 20.0, // above 15 °/s → both signals agree
latitude = 53.5, latitude = 53.5,
longitude = 10.0, longitude = 10.0,
timestamp = i * 20L, timestamp = i * 20L,
@@ -193,7 +197,7 @@ class EventDetectorTest {
@Test fun `turning with both signals agreeing gets HIGH confidence`() = runCollecting { events -> @Test fun `turning with both signals agreeing gets HIGH confidence`() = runCollecting { events ->
val total = config.windowSize + config.turningSustainedFrames + 4 val total = config.windowSize + config.turningSustainedFrames + 4
repeat(total) { i -> repeat(total) { i ->
detector.processSample(0.3, 0.8, 4.0, 15.0, 53.5, 10.0, i * 20L) detector.processSample(0.3, 0.8, 4.0, 20.0, 53.5, 10.0, i * 20L)
} }
val turning = events.filter { it.type == EventType.TURNING } val turning = events.filter { it.type == EventType.TURNING }
assertTrue(turning.isNotEmpty()) assertTrue(turning.isNotEmpty())
@@ -205,9 +209,9 @@ class EventDetectorTest {
repeat(total) { i -> repeat(total) { i ->
detector.processSample( detector.processSample(
accelMagnitude = 0.2, accelMagnitude = 0.2,
gyroMagnitude = 0.6, // above gyro threshold gyroMagnitude = 0.9, // above the 0.6 gyro threshold
speedMps = 1.0, // below 2 m/s → bearing not enforced speedMps = 1.0, // below 2 m/s → bearing not enforced
bearingChangeDegPerSec = 3.0, // below bearing threshold bearingChangeDegPerSec = 3.0, // below the 15 °/s bearing threshold
latitude = 53.5, latitude = 53.5,
longitude = 10.0, longitude = 10.0,
timestamp = i * 20L, timestamp = i * 20L,
@@ -253,7 +257,7 @@ class EventDetectorTest {
// Speed stays at zero; occasional accel/gyro spikes from bag jostle // Speed stays at zero; occasional accel/gyro spikes from bag jostle
repeat(50) { i -> repeat(50) { i ->
val accel = if (i % 5 == 0) 1.8 else 0.3 // jitter but mean is below std-dev threshold val accel = if (i % 5 == 0) 1.8 else 0.3 // jitter but mean is below std-dev threshold
val gyro = if (i % 7 == 0) 0.35 else 0.05 // occasional spike but mean stays < 0.4 val gyro = if (i % 7 == 0) 0.35 else 0.05 // occasional spike but mean stays < 0.6
detector.processSample( detector.processSample(
accelMagnitude = accel, accelMagnitude = accel,
gyroMagnitude = gyro, gyroMagnitude = gyro,
@@ -265,7 +269,7 @@ class EventDetectorTest {
) )
} }
// speed = 0 → no speed drop possible → no BRAKING // speed = 0 → no speed drop possible → no BRAKING
// gyro mean stays below 0.4 (only 1/7 frames spike to 0.35) → no TURNING // gyro mean stays below 0.6 (only 1/7 frames spike to 0.35) → no TURNING
val unwanted = events.filter { it.type == EventType.BRAKING || it.type == EventType.TURNING } val unwanted = events.filter { it.type == EventType.BRAKING || it.type == EventType.TURNING }
assertTrue("Bag movement must not trigger BRAKING or TURNING, got: $events", unwanted.isEmpty()) assertTrue("Bag movement must not trigger BRAKING or TURNING, got: $events", unwanted.isEmpty())
} }
@@ -299,13 +303,12 @@ class EventDetectorTest {
} }
// Second stop episode. Deliberately longer than the first: stopping also requires the // Second stop episode. Deliberately longer than the first: stopping also requires the
// accel std dev to be BELOW a threshold, and the rolling window still holds the five // accel std dev to be BELOW a threshold, and the rolling window still holds the five
// moving samples above. It takes 8 further frames for those to drain out far enough for // moving samples above. At the shipping threshold of 0.10 m/s² even a single 0.5 sample
// the std dev to fall under 0.15, and only then does the counter start. The first episode // left in a 10-sample window gives a std dev of ~0.14, so ALL five have to be evicted
// needs no such allowance because the window begins empty. // before the counter can start - that is a full windowSize of stationary frames. Only
// // then do the 21 qualifying frames the event needs begin to accumulate. The first
// stoppingFrames + 5 was not enough - the second episode reached 17 of the 21 frames it // episode needs no such allowance because the window begins empty.
// needs and silently emitted nothing, which is what made this test fail. repeat(config.stoppingFrames + 20) {
repeat(config.stoppingFrames + 10) {
detector.processSample(0.02, 0.01, 0.1, 0.0, 53.5, 10.0, t++ * 20L) detector.processSample(0.02, 0.01, 0.1, 0.0, 53.5, 10.0, t++ * 20L)
} }
app/src/test/java/com/hawhamburg/micr0bu/ItsTimeTest.kt
+41
View File
@@ -0,0 +1,41 @@
package com.hawhamburg.micr0bu
import com.hawhamburg.micr0bu.domain.asn1.ItsTime
import org.junit.Assert.assertEquals
import org.junit.Test
/**
* Pins the arithmetic that moves a transmit timestamp from the phone's wall clock onto GNSS time.
*
* The cases come from the 2026-09-10 bench session. The sending phone's clock was 1456 s fast
* because it had no automatic time source, and every CAM it sent was stamped 24 minutes in the
* future. After a manual correction it was 6 s slow. Both have to come out on GNSS time.
*/
class ItsTimeTest {
private val gnssNow = 1_789_038_922_000L
@Test
fun `without a GNSS reading the wall-clock time is used unchanged`() {
assertEquals(1_000L, ItsTime.onGnssTime(systemMs = 1_000L, gnssNowMs = null, systemNowMs = 5_000L))
}
@Test
fun `a phone clock running fast is pulled back onto GNSS time`() {
val systemNow = gnssNow + 1_456_000L
// A fix the wall clock stamped 0.8 s ago. It must still be 0.8 s old afterwards.
val fix = systemNow - 800L
assertEquals(gnssNow - 800L, ItsTime.onGnssTime(fix, gnssNow, systemNow))
}
@Test
fun `a phone clock running slow is pushed forward onto GNSS time`() {
val systemNow = gnssNow - 6_000L
assertEquals(gnssNow - 250L, ItsTime.onGnssTime(systemNow - 250L, gnssNow, systemNow))
}
@Test
fun `an accurate phone clock is left where it is`() {
assertEquals(gnssNow - 40L, ItsTime.onGnssTime(gnssNow - 40L, gnssNow, gnssNow))
}
}
app/src/test/java/com/hawhamburg/micr0bu/OwnStationIdsTest.kt
+61 -32
View File
@@ -1,66 +1,95 @@
package com.hawhamburg.micr0bu package com.hawhamburg.micr0bu
import com.hawhamburg.micr0bu.domain.cam.OwnStationIds import com.hawhamburg.micr0bu.domain.cam.OwnStationIds
import com.hawhamburg.micr0bu.domain.cam.OwnStationIds.BENCH_PING
import com.hawhamburg.micr0bu.domain.cam.OwnStationIds.BENCH_PING_GRACE_MS
import org.junit.Assert.assertEquals
import org.junit.Assert.assertFalse import org.junit.Assert.assertFalse
import org.junit.Assert.assertNotEquals
import org.junit.Assert.assertTrue import org.junit.Assert.assertTrue
import org.junit.Test import org.junit.Test
/** /**
* Pins the rule that decides whether a received CAM is one this phone sent. * Pins the rule that decides whether a received CAM is one this phone sent.
* *
* ## The bug this exists to prevent * ## The bugs this exists to prevent
* The phone transmits under two station IDs: the persisted per-install one used by * Getting it wrong fails in two opposite directions, and each has happened:
* `CamTransmitLoop`, and a fixed bench ID used by `CamPinger` so pings stay identifiable in
* captures. The ESP32-C5 receives promiscuously, so both come straight back off the air.
* *
* The filter originally checked only the persisted ID. Every bench ping therefore returned as a * - **Too narrow.** An own frame that is not recognised comes back as a remote road user sitting
* remote road user sitting exactly on top of the ego position, moving at the ego's own speed and * exactly on the ego position, and is fed to the detection engine as a collision partner for
* heading, and was fed to the detection engine as a collision partner for itself. Nothing failed * itself. That happened with the bench pinger's separate ID, and pseudonym rotation creates the
* loudly: the app simply raised use case alerts against itself for as long as the pinger ran. * same risk for an ID that has just been retired.
* * - **Too wide.** On 2026-09-10 the bench ID counted as ours on every phone, so a phone watching
* These tests are what should fail if a third transmit path is ever added without teaching this * through the CiT One silently discarded another phone's pings as its own, although it had sent
* rule about it. * none. Nothing appeared on its V2X screen while the broker was full of them.
*/ */
class OwnStationIdsTest { class OwnStationIdsTest {
private val persisted = 1_691_338_363L private val current = 1_691_338_363L
private val retired = 2_222_222_222L
private val ours = setOf(current, retired)
@Test @Test
fun `recognises the persisted transmit id`() { fun `recognises the current transmit id`() {
assertTrue(OwnStationIds.isOwn(persisted, persisted)) assertTrue(OwnStationIds.isOwn(current, ours, benchPingIsOurs = false))
} }
@Test @Test
fun `recognises the bench ping id even though it is not the persisted one`() { fun `recognises a recently retired id, so a frame sent just before a rotation is still ours`() {
// The regression. The pinger's id is deliberately different, which is exactly why a assertTrue(OwnStationIds.isOwn(retired, ours, benchPingIsOurs = false))
// filter written around the persisted id alone let every ping through.
assertNotEquals(
"the bench id is meant to be distinct, or this test proves nothing",
persisted,
OwnStationIds.BENCH_PING,
)
assertTrue(OwnStationIds.isOwn(OwnStationIds.BENCH_PING, persisted))
} }
@Test @Test
fun `recognises the bench ping id before the persisted id has loaded`() { fun `another phone's bench ping is shown, not swallowed as our own`() {
// The persisted id is read asynchronously, so it can still be null while the pinger is // The 2026-09-10 regression: this phone is not pinging, so 999999 is someone else.
// already transmitting. The ping must be recognised as ours regardless. assertFalse(OwnStationIds.isOwn(BENCH_PING, ours, benchPingIsOurs = false))
assertTrue(OwnStationIds.isOwn(OwnStationIds.BENCH_PING, null)) assertFalse(OwnStationIds.isOwn(BENCH_PING, emptySet(), benchPingIsOurs = false))
}
@Test
fun `our own bench ping is recognised while we are pinging, even before any transmit id loads`() {
assertTrue(OwnStationIds.isOwn(BENCH_PING, emptySet(), benchPingIsOurs = true))
} }
@Test @Test
fun `treats a genuine remote station as remote`() { fun `treats a genuine remote station as remote`() {
assertFalse(OwnStationIds.isOwn(2_741_041_966L, persisted)) assertFalse(OwnStationIds.isOwn(2_741_041_966L, ours, benchPingIsOurs = true))
assertFalse(OwnStationIds.isOwn(2_741_041_966L, null)) assertFalse(OwnStationIds.isOwn(2_741_041_966L, emptySet(), benchPingIsOurs = false))
} }
@Test @Test
fun `station id zero is never ours`() { fun `station id zero is never ours`() {
// 0 is the "not resolved yet" placeholder for the ego identity. Matching on it would // 0 is the "not resolved yet" placeholder for the ego identity. Matching on it would
// swallow real traffic from any station that reported 0. // swallow real traffic from any station that reported 0.
assertFalse(OwnStationIds.isOwn(0L, null)) assertFalse(OwnStationIds.isOwn(0L, setOf(0L), benchPingIsOurs = true))
assertFalse(OwnStationIds.isOwn(0L, 0L)) }
// ---- when the bench id is ours ---------------------------------------------------------
@Test
fun `the bench id is ours while the pinger runs`() {
assertTrue(OwnStationIds.benchPingIsOurs(pingerActive = true, pingerStoppedAtMs = null, nowMs = 0L))
}
@Test
fun `the bench id is not ours on a phone that never pinged`() {
assertFalse(OwnStationIds.benchPingIsOurs(pingerActive = false, pingerStoppedAtMs = null, nowMs = 50_000L))
}
@Test
fun `the bench id stays ours for the grace window after Stop, and not a moment longer`() {
val stop = 100_000L
assertTrue(OwnStationIds.benchPingIsOurs(false, stop, stop + BENCH_PING_GRACE_MS))
assertFalse(OwnStationIds.benchPingIsOurs(false, stop, stop + BENCH_PING_GRACE_MS + 1))
}
@Test
fun `a clock reading before the stop time does not claim the bench id`() {
assertFalse(OwnStationIds.benchPingIsOurs(false, pingerStoppedAtMs = 100_000L, nowMs = 99_000L))
}
@Test
fun `the bench MAC is a locally administered unicast address`() {
// Bit 1 set, bit 0 clear. A source address must never be a group address.
assertEquals(0x02, OwnStationIds.BENCH_PING_MAC[0].toInt() and 0x03)
} }
} }
app/src/test/java/com/hawhamburg/micr0bu/PseudonymTest.kt
+96
View File
@@ -0,0 +1,96 @@
package com.hawhamburg.micr0bu
import com.hawhamburg.micr0bu.domain.cam.OwnStationIds
import com.hawhamburg.micr0bu.domain.cam.Pseudonym
import org.junit.Assert.assertEquals
import org.junit.Assert.assertFalse
import org.junit.Assert.assertNotEquals
import org.junit.Assert.assertTrue
import org.junit.Test
import kotlin.random.Random
/**
* Pins what a transmit pseudonym is allowed to look like, and when it rotates.
*
* The address rules matter on air, not just in the app: the ESP32 writes this MAC straight into
* the 802.11 source address. A group (multicast) source address is invalid, and a random address
* without the locally-administered bit claims to belong to a real hardware vendor.
*/
class PseudonymTest {
@Test
fun `rotates every ten minutes`() {
assertEquals(10 * 60_000L, Pseudonym.ROTATION_INTERVAL_MS)
}
@Test
fun `expires exactly at the rotation interval, not a millisecond before`() {
val p = Pseudonym(stationId = 42L, mac = mac(0x02), createdAtMs = 1_000L)
assertFalse(p.isExpired(1_000L + Pseudonym.ROTATION_INTERVAL_MS - 1))
assertTrue(p.isExpired(1_000L + Pseudonym.ROTATION_INTERVAL_MS))
}
@Test
fun `a clock that moved back past the creation time forces a rotation`() {
// Otherwise a creation time now lying in the future would pin one identity until the
// clock caught up, which after a large correction could be hours.
val p = Pseudonym(stationId = 42L, mac = mac(0x02), createdAtMs = 1_000L)
assertTrue(p.isExpired(999L))
}
@Test
fun `generated addresses are locally administered unicast, whatever the random bytes`() {
repeat(500) { seed ->
val first = Pseudonym.generate(0L, Random(seed)).mac[0].toInt()
assertEquals("seed $seed: bit 1 set, bit 0 clear", 0x02, first and 0x03)
}
}
@Test
fun `generated station ids stay in range`() {
repeat(500) { seed ->
val id = Pseudonym.generate(0L, Random(seed)).stationId
assertTrue("seed $seed: $id", id in 1L until 0xFFFF_FFFEL)
}
}
@Test
fun `never generates the bench pinger's identity`() {
// Scripted so the exclusion loops actually run: the first draw of each is the bench
// value, which must be rejected in favour of the second.
val random = ScriptedRandom(
longs = ArrayDeque(listOf(OwnStationIds.BENCH_PING, 42L)),
bytes = ArrayDeque(listOf(OwnStationIds.BENCH_PING_MAC, byteArrayOf(0x13, 1, 2, 3, 4, 5))),
)
val p = Pseudonym.generate(0L, random)
assertEquals(42L, p.stationId)
assertEquals("0x13 with the group bit cleared and the local bit set", 0x12, p.mac[0].toInt() and 0xFF)
}
@Test
fun `a rotation replaces the station id and the address together`() {
val a = Pseudonym.generate(0L, Random(1))
val b = Pseudonym.generate(Pseudonym.ROTATION_INTERVAL_MS, Random(2))
assertNotEquals(a.stationId, b.stationId)
assertFalse(a.mac.contentEquals(b.mac))
}
@Test
fun `equality compares the address bytes, not the array instance`() {
assertEquals(
Pseudonym(7L, mac(0x02), 5L),
Pseudonym(7L, mac(0x02), 5L),
)
}
private fun mac(first: Int) = byteArrayOf(first.toByte(), 0x11, 0x22, 0x33, 0x44, 0x55)
private class ScriptedRandom(
private val longs: ArrayDeque<Long>,
private val bytes: ArrayDeque<ByteArray>,
) : Random() {
override fun nextBits(bitCount: Int): Int = error("not used by Pseudonym.generate")
override fun nextLong(from: Long, until: Long): Long = longs.removeFirst()
override fun nextBytes(size: Int): ByteArray = bytes.removeFirst().copyOf()
}
}
capture/README.md
+102
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# Sniffer board and capture tooling
How to put an ESP32-C5 on the ITS-G5 channel as a passive sniffer, pull its captures onto this
PC, and check what is on air. The sniffer firmware itself is the third-party
`its-g5-receiver-firmware` checkout beside this repo; only the tooling and these notes are ours.
| File | What it does |
|---|---|
| `live_capture.py` | Streams the device's captures into a growing `.pcap` while it runs. The usual choice. |
| `dump_pcap.py` | Pulls one capture out of the device's in-memory buffer after the fact. |
| `../obu-firmware/test/pcap_gn_tally.py` | Tallies GeoNetworking headers per station over a `.pcap`. |
One-time: `pip install pyserial` (present in Python 3.11 on the bench PC, so `py -3.11` works).
## Which port
The sniffer firmware's console, and with it the pcap stream, goes out **UART0** - the board's
USB-bridge port (a CH343, its own COM number), not the native USB-C port. A board with only one
USB-C port cannot be used as a sniffer for this reason. On the bench this has been COM5 and, after
a re-enumeration, COM8.
## Live capture (preferred)
```powershell
cd capture
py -3.11 live_capture.py COM8
```
It writes `recordings/capture_<timestamp>.pcap` next to itself, flushing after every packet, so
the file can be read while it grows. Stop it with Ctrl+C. Use `-o <dir>` to write elsewhere;
`recordings/` is gitignored, since captures are large and are data rather than source. Captures
taken before 2026-09-14 are still in `its-g5-receiver-firmware/recordings/`; the host tests read
both directories.
### The CR insertion, and why captures used to be corrupt
ESP-IDF's newlib console converts LF to CRLF on its way out, and that applies to every `0x0a` byte
of the **binary** pcap stream, not only to log text. Each inserted CR shifts everything after it,
so pcap record headers and captured frames alike come out corrupt, and the file stops being
parseable at the first occurrence.
Measured on 2026-09-14: a 787 KB capture parsed cleanly for only 82 of about 2000 records, and
DENMs appeared on nonsense BTP ports because their payloads contain `0x0a` often. `undo_crlf()` in
`live_capture.py` reverses it on the raw stream before any framing, which is exact; afterwards a
capture parsed to EOF and DENMs read as port 2002 again.
**Captures taken before 2026-09-14 are truncated at their first corrupted record.** Anything
measured from them is worth re-checking. `dump_pcap.py` reads the same console and has not been
given the same treatment yet.
## Checking a capture
```powershell
py -3.11 ..\obu-firmware\test\pcap_gn_tally.py recordings\capture_<timestamp>.pcap
```
One row per station, packet type, BTP port and GN lifetime. For the messages themselves, decode
the payloads with `asn1tools` against the modules in `../asn1/` and re-encode them: identical bytes
mean the message was read exactly, wrong bytes mean it was not. `obu-firmware/test/check_replay.py`
does this over a whole capture.
## Flashing the sniffer firmware
From the receiver checkout, with its **pinned** ESP-IDF (not the global 5.5.4 install):
```powershell
cd its-g5-receiver-firmware
git submodule update --init --recursive
.\esp-idf\install.bat
Set-ExecutionPolicy -Scope Process -ExecutionPolicy Bypass
.\esp-idf\export.ps1
idf.py set-target esp32c5
idf.py -p COM8 -b 921600 flash
```
Its `sdkconfig` for a bare board (nothing wired) needs SPI Ethernet off, and the pcap destination
set to Memory, both under `idf.py menuconfig`. Wired variants have ready-made configs in that
checkout: `sdkconfig.proto-w5500`, `sdkconfig.proto-enc28j60`, `sdkconfig.proto-spi-eppp`.
To reflash a board that already has a built image, without a toolchain terminal:
```powershell
cd its-g5-receiver-firmware\build
C:\Espressif\python_env\idf5.5_py3.11_env\Scripts\python.exe -m esptool --chip esp32c5 -p COM8 -b 921600 write_flash --flash_mode dio --flash_freq 80m --flash_size 16MB 0x2000 bootloader/bootloader.bin 0x8000 partition_table/partition-table.bin 0x1e000 ota_data_initial.bin 0x20000 its-g5-receiver-firmware.bin
```
## Pulling a capture after the fact
Only for the Memory destination, and the buffer is small (`SNIFFER_PCAP_MEMORY_SIZE`, 4096 bytes
by default) - a smoke test, not a session. In the device console (`idf.py -p COM8 monitor`, exit
with Ctrl+T then Ctrl+X):
```
sniffer -P
sniffer --stop
```
Then, with the port free:
```powershell
py -3.11 dump_pcap.py COM8
```
capture/dump_pcap.py
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#!/usr/bin/env python3
"""
Pulls a capture off the ITS-G5 receiver's in-memory pcap buffer over the existing USB serial
connection and saves it as a real .pcap file on this machine.
Requires the firmware to be built with:
Example Configuration -> Select destination to store pcap file -> Memory
Usage (typical):
1. Close idf.py monitor (only one program can hold the COM port at a time).
2. Run a capture on the device: `sniffer -P` ... let it run ... `sniffer --stop`
3. python dump_pcap.py COM5
The device has no access to this computer's filesystem, so it can't write here directly. Instead,
`pcap --dump` streams the raw pcap bytes back over the same serial link, wrapped in plain-text
markers ("===PCAP-DUMP-START:<len>===" ... raw bytes ... "===PCAP-DUMP-END==="). This script finds
those markers and writes just the raw bytes out as a .pcap file.
Install dependency once: pip install pyserial
"""
import argparse
import datetime
import re
import sys
try:
import serial
except ImportError:
print("Missing dependency. Install it with: pip install pyserial", file=sys.stderr)
sys.exit(1)
START_RE = re.compile(rb"===PCAP-DUMP-START:(\d+)===\n")
END_MARKER = b"\n===PCAP-DUMP-END===\n"
def main():
parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument("port", help="Serial port the device is on, e.g. COM5")
parser.add_argument("-b", "--baud", type=int, default=115200, help="Baud rate (default: 115200)")
parser.add_argument("-o", "--outdir", default="recordings", help="Output directory (default: ./recordings)")
parser.add_argument("-t", "--timeout", type=float, default=15.0, help="Seconds to wait for the dump to start")
args = parser.parse_args()
import os
os.makedirs(args.outdir, exist_ok=True)
print(f"Opening {args.port} @ {args.baud}...")
with serial.Serial(args.port, args.baud, timeout=1) as ser:
# Nudge the console in case there's stale input, then request the dump.
ser.reset_input_buffer()
ser.write(b"\r\n")
ser.write(b"pcap -f dump --dump\r\n")
print("Waiting for dump to start...")
buf = b""
match = None
deadline = datetime.datetime.now() + datetime.timedelta(seconds=args.timeout)
while datetime.datetime.now() < deadline:
chunk = ser.read(256)
if chunk:
buf += chunk
match = START_RE.search(buf)
if match:
break
if not match:
print("Timed out waiting for '===PCAP-DUMP-START:...===' marker.\n"
"Check that: the firmware is built with the Memory pcap destination, a capture was\n"
"actually taken ('sniffer -P' then 'sniffer --stop'), and no other program (like\n"
"idf.py monitor) is holding the serial port open.", file=sys.stderr)
sys.exit(1)
length = int(match.group(1))
print(f"Dump starting, {length} bytes expected.")
# Anything after the marker in our buffer is already part of the payload.
payload = buf[match.end():]
remaining = length - len(payload)
while remaining > 0:
chunk = ser.read(min(remaining, 4096))
if not chunk:
print(f"Serial read timed out with {remaining} bytes still missing.", file=sys.stderr)
sys.exit(1)
payload += chunk
remaining -= len(chunk)
# Drain (and sanity-check) the trailing end marker, but don't fail hard if it's not exact.
tail = ser.read(len(END_MARKER))
if tail != END_MARKER:
print("Warning: end marker didn't match exactly - payload may still be fine.", file=sys.stderr)
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
outpath = os.path.join(args.outdir, f"capture_{timestamp}.pcap")
with open(outpath, "wb") as f:
f.write(payload)
print(f"Saved {len(payload)} bytes to {outpath}")
if __name__ == "__main__":
main()
capture/live_capture.py
+226
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@@ -0,0 +1,226 @@
#!/usr/bin/env python3
"""
Continuously listens on the ITS-G5 receiver's serial console and writes every captured packet into a
live-growing .pcap file, with no console commands needed on the device side.
The firmware streams every packet it captures out over the same serial connection the console runs on,
automatically, as soon as the sniffer is running (which happens on boot by default). Each packet is framed
with plain-text markers so this script can pull the binary pcap bytes out of the stream even though
regular log lines are interleaved with it:
===PCAP-LIVE-HEADER:<len>===\\n<24 raw bytes>\\n (sent once, the pcap global header)
===PCAP-LIVE-PKT:<len>===\\n<raw bytes>\\n (sent once per captured packet)
Usage:
python live_capture.py COM5
Runs until you press Ctrl+C. Writes to recordings/capture_<timestamp>.pcap, flushing after every packet
so you can open the file in Wireshark while it's still being written (use "File > Open" again, or
Wireshark's own "Follow" won't auto-refresh but re-opening will show the latest packets).
Install dependency once: pip install pyserial
"""
import argparse
import datetime
import os
import re
import sys
import time
try:
import serial
except ImportError:
print("Missing dependency. Install it with: pip install pyserial", file=sys.stderr)
sys.exit(1)
# \r? because the ESP console emits CRLF: on Windows the markers arrive as
# "===PCAP-LIVE-PKT:310===\r\n", which never matched a bare \n and left the capture silently
# empty while the device was streaming perfectly well.
HEADER_RE = re.compile(rb"===PCAP-LIVE-HEADER:(\d+)===\r?\n")
PKT_RE = re.compile(rb"===PCAP-LIVE-PKT:(\d+)===\r?\n")
LINKTYPE_ETHERNET = 1
LINKTYPE_IEEE802_11_RADIOTAP = 127
def mac_str(b):
return ":".join(f"{x:02x}" for x in b)
def build_default_pcap_header(link_type):
"""Synthesizes the same 24-byte global pcap header the firmware would have sent, for when we
connect after the device's one-time header already went out (see the race note in main())."""
header = bytearray(24)
header[0:4] = bytes([0xD4, 0xC3, 0xB2, 0xA1]) # magic (LE bytes of 0xA1B2C3D4)
header[4:6] = (2).to_bytes(2, "little") # major version
header[6:8] = (4).to_bytes(2, "little") # minor version
header[16:20] = (0x40000).to_bytes(4, "little") # snaplen
header[20:24] = link_type.to_bytes(4, "little")
return bytes(header)
def summarize_packet(link_type, record_bytes, index):
"""Best-effort human-readable one-line summary of a captured packet, for live feedback.
record_bytes is the raw 16-byte pcap record header followed by the captured frame."""
seconds = int.from_bytes(record_bytes[0:4], "little")
microseconds = int.from_bytes(record_bytes[4:8], "little")
cap_len = int.from_bytes(record_bytes[8:12], "little")
frame = record_bytes[16:]
ts = f"{seconds}.{microseconds:06d}"
if link_type == LINKTYPE_IEEE802_11_RADIOTAP and len(frame) >= 24:
radiotap_len = int.from_bytes(frame[2:4], "little")
rssi = frame[8] - 256 if frame[8] >= 128 else frame[8]
station_id = int.from_bytes(frame[16:24], "little")
mac_frame = frame[radiotap_len:]
if len(mac_frame) >= 16:
dst = mac_str(mac_frame[4:10])
src = mac_str(mac_frame[10:16])
else:
dst = src = "?"
station = f"{station_id:012x}" if station_id else "unknown"
return (f"#{index:<5} [{ts}] len={cap_len:<5} rssi={rssi:>4}dBm "
f"station={station} {src} -> {dst}")
if link_type == LINKTYPE_ETHERNET and len(frame) >= 14:
dst = mac_str(frame[0:6])
src = mac_str(frame[6:12])
ethertype = int.from_bytes(frame[12:14], "big")
return f"#{index:<5} [{ts}] len={cap_len:<5} eth {src} -> {dst} type=0x{ethertype:04x}"
return f"#{index:<5} [{ts}] len={cap_len:<5} (unrecognized frame format)"
def undo_crlf(chunk, state):
"""Undo the CR the device console inserts before every LF.
ESP-IDF's newlib console converts LF to CRLF on its way out, and that happens to every 0x0A
byte of the binary pcap stream too, not only to log text. Each inserted CR shifts everything
after it, so pcap record headers and captured frames alike come out corrupt. This is the
"byte inserted mid-frame" seen in older recordings; with DENM traffic on air it wrecks most
of a capture (measured 2026-09-14: a 787 KB file parsed cleanly for only 82 records).
Dropping one CR immediately before each LF undoes it exactly, provided it is done on the raw
stream before any framing and a trailing CR is carried across read boundaries. CR and LF are
written as byte values here so the transformation cannot be confused with an escape.
"""
CR, LF = bytes([13]), bytes([10])
if state["pending_cr"]:
chunk = CR + chunk
state["pending_cr"] = False
if chunk.endswith(CR):
chunk = chunk[:-1]
state["pending_cr"] = True
return chunk.replace(CR + LF, LF)
def main():
parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument("port", help="Serial port the device is on, e.g. COM5")
parser.add_argument("-b", "--baud", type=int, default=115200, help="Baud rate (default: 115200)")
parser.add_argument("-o", "--outdir", default="recordings", help="Output directory (default: ./recordings)")
args = parser.parse_args()
os.makedirs(args.outdir, exist_ok=True)
timestamp = datetime.datetime.now().strftime("%Y%m%d_%H%M%S")
outpath = os.path.join(args.outdir, f"capture_{timestamp}.pcap")
print(f"Opening {args.port} @ {args.baud}...")
print(f"Writing live capture to {outpath}")
print("Press Ctrl+C to stop.")
header_written = False
link_type = None
packet_count = 0
buf = b""
total_bytes = 0
last_status = time.monotonic()
printed_raw_preview = False
crlf_state = {"pending_cr": False}
with serial.Serial(args.port, args.baud, timeout=1) as ser, open(outpath, "wb") as outfile:
def read_bytes(n):
return undo_crlf(ser.read(n), crlf_state)
try:
while True:
chunk = read_bytes(256)
if chunk:
buf += chunk
total_bytes += len(chunk)
now = time.monotonic()
if now - last_status >= 2:
last_status = now
print(f"[diagnostic] {total_bytes} raw bytes received so far, "
f"{packet_count} packets recognized, header_written={header_written}")
if total_bytes > 0 and not printed_raw_preview and not header_written and not PKT_RE.search(buf):
# We're getting bytes but none of them look like our markers - show a preview
# so we can tell whether this is plain log text (markers just haven't shown up
# yet), garbage (baud/port mismatch), or something else entirely.
preview = buf[:200]
print(f"[diagnostic] no markers matched yet - raw preview: {preview!r}")
printed_raw_preview = True
elif total_bytes == 0:
print("[diagnostic] zero bytes received from the port at all - this points at "
"the wrong COM port, another program holding the port, or a port that "
"isn't actually wired to the console/sniffer output.")
# The device only sends the global header once, right when the sniffer first starts
# (typically within a second or two of boot). If this script connects even slightly
# late - very likely right after a fresh flash, since esptool itself resets the board -
# that header is already gone before we ever see it. Rather than blocking forever
# waiting for a header that's never coming, look for whichever marker shows up first.
header_match = None if header_written else HEADER_RE.search(buf)
pkt_match = PKT_RE.search(buf)
if header_match and (not pkt_match or header_match.start() < pkt_match.start()):
length = int(header_match.group(1))
buf = buf[header_match.end():]
while len(buf) < length:
buf += read_bytes(length - len(buf))
header_bytes = buf[:length]
outfile.write(header_bytes)
outfile.flush()
buf = buf[length:]
header_written = True
if length >= 24:
link_type = int.from_bytes(header_bytes[20:24], "little")
print(f"Got pcap global header (link type {link_type}) - device is streaming.\n")
continue
if not header_written and pkt_match:
link_type = LINKTYPE_IEEE802_11_RADIOTAP
outfile.write(build_default_pcap_header(link_type))
outfile.flush()
header_written = True
print("Note: missed the device's one-time pcap header (it was likely sent before "
"this script connected, e.g. right after a flash/reset) - assuming WLAN "
"radiotap capture and writing a default header instead.\n")
# fall through and process pkt_match below, don't discard this packet
if not pkt_match:
# Keep the buffer from growing unbounded while waiting for a marker, but don't
# discard anything - a marker could be split across reads.
if len(buf) > 65536:
buf = buf[-4096:]
continue
length = int(pkt_match.group(1))
buf = buf[pkt_match.end():]
while len(buf) < length:
buf += read_bytes(length - len(buf))
record_bytes = buf[:length]
outfile.write(record_bytes)
outfile.flush()
buf = buf[length:]
packet_count += 1
print(summarize_packet(link_type, record_bytes, packet_count))
except KeyboardInterrupt:
print(f"\nStopped. {packet_count} packets saved to {outpath}")
if __name__ == "__main__":
main()
docs/01-requirements-traceability.md
+22 -2
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@@ -139,8 +139,8 @@ share no code. The requirement is satisfied twice, by different means.
| 11.1 | Orientation-Independent Sensor Strategy | **Done** | `SensorRepository.kt` (magnitude-based) | — | | 11.1 | Orientation-Independent Sensor Strategy | **Done** | `SensorRepository.kt` (magnitude-based) | — |
| 11.2 | Running Standard Deviation Event Detector | **Done** | `EventDetector.kt`, `RunningStats.kt` | **18 unit tests, 0 failures** | | 11.2 | Running Standard Deviation Event Detector | **Done** | `EventDetector.kt`, `RunningStats.kt` | **18 unit tests, 0 failures** |
| 11.3 | Trip Recording Architecture | **Done** | `TripRepository.kt`, `TripRecordingService.kt` *(cited)* | — | | 11.3 | Trip Recording Architecture | **Done** | `TripRepository.kt`, `TripRecordingService.kt` *(cited)* | — |
| 11.4 | Data Model | **Done** | `data/db/` Room entities *(cited)* | — | | 11.4 | Data Model | **Partial — scope reduced** | `data/db/` Room entities *(cited)* | `detected_events` dropped in schema v5, see scope note |
| 11.5 | New UI Elements for Phase A | **Done** | `TripHistoryScreen.kt`, `TripReviewScreen.kt` | — | | 11.5 | New UI Elements for Phase A | **Partial — scope reduced** | `TripHistoryScreen.kt`, `TripReviewScreen.kt` | event pins/counters removed by decision, see note |
| 11.6 | Phase A Success Criteria | **Partial** | — | needs a real ride; see Open Items | | 11.6 | Phase A Success Criteria | **Partial** | — | needs a real ride; see Open Items |
**Correction note (11.2).** Four `EventDetectorTest` cases had been failing since the initial commit. **Correction note (11.2).** Four `EventDetectorTest` cases had been failing since the initial commit.
@@ -149,6 +149,26 @@ described stimuli the detector cannot physically see, because they ignored the s
rolling standard-deviation window. Tests corrected, assertions unchanged, detector untouched. This is rolling standard-deviation window. Tests corrected, assertions unchanged, detector untouched. This is
worth reporting — it is a finding about test design, not a defect. worth reporting — it is a finding about test design, not a defect.
**Scope note (11.5).** The event-detection UI — the live per-type counters on the recording screen,
the coloured event pins and detail sheet on the trip review map, and the event count on the trip
history card — was removed deliberately. A count of the rider's own braking events is not a goal of
this project. The detector itself still runs: it is the input to the CAM transmit-rate policy
(§ 13), which raises the beacon rate from 1 Hz to the elevated rate for five seconds after a
detected manoeuvre. That is now its only effect: the `detected_events` table was dropped in schema
v5 and the per-event rows removed from the trip CSV, so a detected manoeuvre is consumed and
discarded. `trips.eventCount` is kept as a single integer per ride, since dropping a SQLite column
means recreating the table.
**Defect note (11.2).** Two defects found while documenting the detector were fixed on 2026-09-07.
The nine threshold overrides in `TripRecordingService`'s constructor were promoted to
`DetectionConfig`'s defaults and the override deleted, so there is one configuration and
`EventDetectorTest` exercises the shipping thresholds rather than the superseded Phase A ones;
detector sensitivity is unchanged, and the synthetic stimuli were re-derived because several no
longer cleared the stricter real thresholds. `brakingHighConfidenceRate` was renamed
`brakingHighConfidencePeakDrop`: it was documented as a rate but has always been compared against
the peak cumulative speed drop. The name was corrected rather than the comparison, so detector
output is unchanged and the confidence assertions remain valid evidence.
## 12. Future Architecture & Open Design Questions ## 12. Future Architecture & Open Design Questions
| § | Title | Status | Notes | | § | Title | Status | Notes |
docs/Architecture2.drawio
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obu-cam-transmistter/NOTES.md
+46
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@@ -51,3 +51,49 @@ Known gaps, tracked as TODOs in the source: no real GNSS (lat/long hardcoded
0), no real time source (detectionTime/referenceTime hardcoded 0, decodes as 0), no real time source (detectionTime/referenceTime hardcoded 0, decodes as
2004-01-01), fixed (non-rotating) pseudonym MAC, SHB instead of GeoBroadcast 2004-01-01), fixed (non-rotating) pseudonym MAC, SHB instead of GeoBroadcast
(no multi-hop forwarding), unsecured (no IEEE 1609.2 signing). (no multi-hop forwarding), unsecured (no IEEE 1609.2 signing).
## Running it as a bench beacon
This firmware needs no phone: it beacons a CAM every second by itself
(`TX_INTERVAL_MS`) from station `0x0BADC0DE` (195936478), stationType 5
(passengerCar), at the hardcoded bench position, under the fixed MAC
`02:00:00:00:00:01`, on 5900 MHz. That makes it the quickest way to put known,
repeatable traffic on air, and it is how the 4-bit `yawRateConfidence` encoding
was confirmed over the air on 2026-09-14.
A board with only one USB-C port is fine. This firmware's console is on UART0,
so such a board shows no log output, but nothing here needs the console.
Flash it from the toolchain terminal (ESP-IDF 5.5.4, see the table above):
```powershell
cd C:\Users\Ashin\AndroidStudioProjects\MicrOBU\obu-cam-transmistter
idf.py -p COM10 -b 921600 flash
```
Or flash the existing build without any toolchain terminal:
```powershell
cd obu-cam-transmistter\build
C:\Espressif\python_env\idf5.5_py3.11_env\Scripts\python.exe -m esptool --chip esp32c5 -p COM10 -b 921600 write_flash --flash_mode dio --flash_freq 80m --flash_size 2MB 0x2000 bootloader/bootloader.bin 0x8000 partition_table/partition-table.bin 0x10000 obu_firmware.bin
```
It starts beaconing as soon as it boots, so there is nothing to start by hand,
and unplugging it is how you stop it.
**It transmits under the same MAC as the phone's CAM pinger**, so on air the two
are told apart by station ID (195936478 here, 999999 for the pinger), never by
source address.
To see what it is sending, capture on the sniffer board and decode:
```powershell
cd capture
py -3.11 live_capture.py COM8
py -3.11 ..\obu-firmware\test\pcap_gn_tally.py recordings\capture_<timestamp>.pcap
```
The tally lists it as SHB / port 2001 / lifetime `0x05`. For the message itself,
decode the payload with `asn1tools` against `asn1/cam_1_4_1.asn` +
`asn1/cdd_1_3_1_1.asn`; re-encoding must return the identical bytes. On
2026-09-14, 72 of 72 frames did.
obu-cam-transmistter/main/cam.c
+6 -2
View File
@@ -117,9 +117,13 @@ int cam_encode(const cam_fields_t *f, uint8_t *buf, size_t buf_len)
bw_put_bits(&bw, 0, 1); // extension bit: value is in the root list bw_put_bits(&bw, 0, 1); // extension bit: value is in the root list
bw_put_bits(&bw, 2, 2); // unavailable(2) bw_put_bits(&bw, 2, 2); // unavailable(2)
// YawRate: YawRateValue(-32766..32767)->16 (offset from -32766), // YawRate: YawRateValue(-32766..32767)->16 (offset from -32766),
// YawRateConfidence ENUM 8 values -> 3 bits // YawRateConfidence ENUM with NINE values, degSec-000-01(0) .. unavailable(8)
// (cdd_1_3_1_1.asn) -> 4 bits. This wrote 3 bits with value 7, one bit short and the
// wrong symbol (7 is outOfRange), so every field after it shifted for any
// standards-compliant receiver. The app's CamUperCodec.kt fixed the same line on
// 2026-08-20; this copy was missed until 2026-09-11.
bw_put_bits(&bw, 32767 - (uint32_t)(-32766), 16); // yawRateValue: unavailable(32767) bw_put_bits(&bw, 32767 - (uint32_t)(-32766), 16); // yawRateValue: unavailable(32767)
bw_put_bits(&bw, 7, 3); // yawRateConfidence: unavailable(7) bw_put_bits(&bw, 8, 4); // yawRateConfidence: unavailable(8)
// ---- LowFrequencyContainer ---- CHOICE { basicVehicleContainerLowFrequency, // ---- LowFrequencyContainer ---- CHOICE { basicVehicleContainerLowFrequency,
// ... } - EXTENSIBLE, 1 root alternative (index needs 0 bits). // ... } - EXTENSIBLE, 1 root alternative (index needs 0 bits).
obu-cam-transmistter/main/geonet.c
+4 -1
View File
@@ -19,7 +19,10 @@ int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
// ---- GN Basic Header (4 bytes) ---- (EN 302 636-4-1 clause 9.6) // ---- GN Basic Header (4 bytes) ---- (EN 302 636-4-1 clause 9.6)
*p++ = (uint8_t)((1 << 4) | 1); // version=1, NextHeader=1 (Common Header, unsecured) *p++ = (uint8_t)((1 << 4) | 1); // version=1, NextHeader=1 (Common Header, unsecured)
*p++ = 0x00; // reserved *p++ = 0x00; // reserved
*p++ = 0x83; // lifetime (~60s in the base/multiplier encoding) - tune if needed // Lifetime: multiplier in the upper 6 bits, base in the lower 2 (0 = 50 ms, 1 = 1 s, 2 = 10 s,
// 3 = 100 s). 0x05 = 1 x 1 s, what real stations send their CAMs with. Was 0x83, commented as
// ~60 s but decoding to 32 x 100 s = 3200 s. See obu-firmware's geonet.c.
*p++ = 0x05;
*p++ = 1; // remaining hop limit = 1 (SHB single-hop; matches CAM in the Rust reference) *p++ = 1; // remaining hop limit = 1 (SHB single-hop; matches CAM in the Rust reference)
// ---- GN Common Header (8 bytes) ---- (clause 9.7) // ---- GN Common Header (8 bytes) ---- (clause 9.7)
obu-firmware/main/cam.c
+6 -2
View File
@@ -122,9 +122,13 @@ int cam_encode(const cam_fields_t *f, uint8_t *buf, size_t buf_len)
bw_put_bits(&bw, 0, 1); // extension bit: value is in the root list bw_put_bits(&bw, 0, 1); // extension bit: value is in the root list
bw_put_bits(&bw, 2, 2); // unavailable(2) bw_put_bits(&bw, 2, 2); // unavailable(2)
// YawRate: YawRateValue(-32766..32767)->16 (offset from -32766), // YawRate: YawRateValue(-32766..32767)->16 (offset from -32766),
// YawRateConfidence ENUM 8 values -> 3 bits // YawRateConfidence ENUM with NINE values, degSec-000-01(0) .. unavailable(8)
// (cdd_1_3_1_1.asn) -> 4 bits. This wrote 3 bits with value 7, one bit short and the
// wrong symbol (7 is outOfRange), so every field after it shifted for any
// standards-compliant receiver. The app's CamUperCodec.kt fixed the same line on
// 2026-08-20; this reference copy was missed until 2026-09-11.
bw_put_bits(&bw, 32767 - (uint32_t)(-32766), 16); // yawRateValue: unavailable(32767) bw_put_bits(&bw, 32767 - (uint32_t)(-32766), 16); // yawRateValue: unavailable(32767)
bw_put_bits(&bw, 7, 3); // yawRateConfidence: unavailable(7) bw_put_bits(&bw, 8, 4); // yawRateConfidence: unavailable(8)
// ---- LowFrequencyContainer ---- CHOICE { basicVehicleContainerLowFrequency, // ---- LowFrequencyContainer ---- CHOICE { basicVehicleContainerLowFrequency,
// ... } - EXTENSIBLE, 1 root alternative (index needs 0 bits). // ... } - EXTENSIBLE, 1 root alternative (index needs 0 bits).
obu-firmware/main/geonet.c
+39 -23
View File
@@ -1,9 +1,23 @@
#include "geonet.h" #include "geonet.h"
#include <string.h> #include <string.h>
// GeoNetworking is big-endian throughout, unlike this project's serial framing.
static void put_be16(uint8_t **p, uint16_t v)
{
*(*p)++ = (uint8_t)(v >> 8);
*(*p)++ = (uint8_t)(v);
}
static void put_be32(uint8_t **p, uint32_t v)
{
*(*p)++ = (uint8_t)(v >> 24);
*(*p)++ = (uint8_t)(v >> 16);
*(*p)++ = (uint8_t)(v >> 8);
*(*p)++ = (uint8_t)(v);
}
int geonet_wrap_shb(const uint8_t *its_payload, int its_len, int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
const uint8_t mac[6], uint8_t station_type, const gn_lpv_t *lpv,
int32_t latitude_tenmicrodeg, int32_t longitude_tenmicrodeg,
uint16_t btp_dest_port, uint16_t btp_dest_port,
uint8_t *out, size_t out_len) uint8_t *out, size_t out_len)
{ {
@@ -19,7 +33,12 @@ int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
// ---- GN Basic Header (4 bytes) ---- (EN 302 636-4-1 clause 9.6) // ---- GN Basic Header (4 bytes) ---- (EN 302 636-4-1 clause 9.6)
*p++ = (uint8_t)((1 << 4) | 1); // version=1, NextHeader=1 (Common Header, unsecured) *p++ = (uint8_t)((1 << 4) | 1); // version=1, NextHeader=1 (Common Header, unsecured)
*p++ = 0x00; // reserved *p++ = 0x00; // reserved
*p++ = 0x83; // lifetime (~60s in the base/multiplier encoding) - tune if needed // Lifetime: multiplier in the upper 6 bits, base in the lower 2 (0 = 50 ms, 1 = 1 s, 2 = 10 s,
// 3 = 100 s). 0x05 = 1 x 1 s, which is what every other station in
// its-g5-receiver-firmware/recordings sends its CAMs with. This was 0x83, commented as ~60 s but
// decoding to 32 x 100 s = 3200 s, beyond the 600 s itsGnMaxPacketLifetime a sender may use at
// all. A DENM would want a longer one (the captured GeoBroadcast DENMs use 0x79, 30 s).
*p++ = 0x05;
*p++ = 1; // remaining hop limit = 1 (SHB single-hop; matches CAM in the Rust reference) *p++ = 1; // remaining hop limit = 1 (SHB single-hop; matches CAM in the Rust reference)
// ---- GN Common Header (8 bytes) ---- (clause 9.7) // ---- GN Common Header (8 bytes) ---- (clause 9.7)
@@ -50,27 +69,24 @@ int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
// defined to BE the link-layer (802.11) address - so this must match // defined to BE the link-layer (802.11) address - so this must match
// the source address dot11p_build_frame uses, not just "look similar." // the source address dot11p_build_frame uses, not just "look similar."
uint8_t gn_addr[8]; uint8_t gn_addr[8];
gn_addr[0] = (uint8_t)((0 << 7) | ((station_type & 0x1F) << 2)); // M=0, ST=station_type, top 2 reserved bits=0 gn_addr[0] = (uint8_t)((0 << 7) | ((lpv->station_type & 0x1F) << 2)); // M=0, ST=station_type, top 2 reserved bits=0
gn_addr[1] = 0x00; // remaining 8 reserved bits gn_addr[1] = 0x00; // remaining 8 reserved bits
memcpy(&gn_addr[2], mac, 6); // MID = link-layer address memcpy(&gn_addr[2], lpv->mac, 6); // MID = link-layer address
memcpy(p, gn_addr, 8); p += 8; memcpy(p, gn_addr, 8); p += 8;
// Timestamp (4 bytes, ms since 2004-01-01 mod 2^32) - placeholder 0, // TST (4 bytes): when the position below was acquired, ms, TimestampIts mod 2^32.
// same caveat as detectionTime in denm.c. put_be32(&p, lpv->tst_ms);
memset(p, 0, 4); p += 4; // Latitude/Longitude (4+4 bytes, signed, 1/10 microdegree) - fixed-width binary fields, not
// Latitude/Longitude (4+4 bytes, signed, big-endian, 1/10 microdegree) - // UPER bit-packed like the CAM payload's own position.
// fixed-width binary fields, not UPER bit-packed. put_be32(&p, (uint32_t)lpv->lat_tenmicrodeg);
uint32_t lat_u = (uint32_t)latitude_tenmicrodeg; put_be32(&p, (uint32_t)lpv->lon_tenmicrodeg);
*p++ = (uint8_t)(lat_u >> 24); *p++ = (uint8_t)(lat_u >> 16); // PAI (1 bit) + Speed (15 bits, signed, 0.01 m/s). Clamped, not masked: a 15-bit value that
*p++ = (uint8_t)(lat_u >> 8); *p++ = (uint8_t)(lat_u); // overflows wraps its sign bit and reads as travelling backwards at speed.
uint32_t lon_u = (uint32_t)longitude_tenmicrodeg; int32_t speed = lpv->speed_cms;
*p++ = (uint8_t)(lon_u >> 24); *p++ = (uint8_t)(lon_u >> 16); if (speed > 16383) speed = 16383;
*p++ = (uint8_t)(lon_u >> 8); *p++ = (uint8_t)(lon_u); if (speed < -16384) speed = -16384;
// PAI(1 bit) + Speed(15 bits), packed into 2 bytes: 0 = PAI false, put_be16(&p, (uint16_t)(((lpv->pai ? 1u : 0u) << 15) | ((uint16_t)speed & 0x7FFFu)));
// speed 0 - which is actually correct semantics for a STATIONARY // Heading (16 bits, 0.1 degree from north, clockwise, 0..3599).
// vehicle beacon, not just a placeholder. put_be16(&p, (uint16_t)(lpv->heading_decideg % 3600u));
*p++ = 0x00; *p++ = 0x00;
// Heading (16 bits, 0.1 degree units): 0 = due north / unavailable
*p++ = 0x00; *p++ = 0x00;
// Reserved (4 bytes) - clause 9.8.4: the SHB extended header is the 24-byte Source Position // Reserved (4 bytes) - clause 9.8.4: the SHB extended header is the 24-byte Source Position
// Vector FOLLOWED BY a 4-byte reserved field (media-dependent data), 28 bytes in total. These // Vector FOLLOWED BY a 4-byte reserved field (media-dependent data), 28 bytes in total. These
// four bytes were missing, which is why a standards-compliant receiver read our CAM payload's // four bytes were missing, which is why a standards-compliant receiver read our CAM payload's
@@ -84,7 +100,7 @@ int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
*p++ = (uint8_t)(btp_dest_port & 0xFF); *p++ = (uint8_t)(btp_dest_port & 0xFF);
*p++ = 0x00; *p++ = 0x00; // destination port info, unused for BTP-B *p++ = 0x00; *p++ = 0x00; // destination port info, unused for BTP-B
// ---- ITS payload (DENM UPER bytes) ---- // ---- ITS payload (CAM UPER bytes from the phone) ----
memcpy(p, its_payload, its_len); memcpy(p, its_payload, its_len);
p += its_len; p += its_len;
obu-firmware/main/geonet.h
+43 -29
View File
@@ -1,43 +1,57 @@
#ifndef GEONET_H #ifndef GEONET_H
#define GEONET_H #define GEONET_H
#include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <stddef.h> #include <stddef.h>
// Wraps an ITS application payload (e.g. from denm_encode) with a minimal // The variable content of a GeoNetworking Long Position Vector (ETSI EN 302 636-4-1 clause
// GeoNetworking Basic Header + Common Header + Single-Hop-Broadcast // 9.5.2): who the sender is and where it was. This is the Source Position Vector every
// extended header (HeaderType=TSB(5), HeaderSubtype=SINGLE_HOP(0), per // GeoNetworking packet from this firmware carries.
// ETSI EN 302 636-4-1 table 9), then prepends a BTP-B header addressed to
// the DENM service port (2002).
// //
// `mac` is the 6-byte pseudonym/link-layer address - pass the SAME address // Every field here used to be a compile-time constant: the bench coordinates, speed 0, heading 0,
// you hand to dot11p_build_frame's src address, since GN_ADDR's MID field // timestamp 0, passengerCar, and one fixed MAC. The phone never told the firmware where it was,
// (the last 6 bytes of the 8-byte GN_ADDR) is defined to BE that // so the GN layer described a stationary car parked at the bench while the CAM inside it
// link-layer address (EN 302 636-4-1 clause 9.5.1). `station_type` is the // described a moving cyclist somewhere else. The phone now supplies these values with each frame
// 5-bit ITS-S type from the same clause (5 = passengerCar) and gets packed // (SERIAL_MSG_CAM_TX_PV in serial_link.h) and this firmware only lays them out on the wire.
// into GN_ADDR alongside the address. typedef struct {
// Pseudonym. Written into GN_ADDR's MID field here AND, by dot11p_build_frame, into the
// 802.11 source address. Clause 9.5.1 defines the MID as the link-layer address, so the two
// must be the same six bytes; taking both from this one field is what keeps them identical
// when the pseudonym rotates.
uint8_t mac[6];
// ITS-S type, TS 102 894-2 StationType (2 = cyclist). Only the low 5 bits fit in GN_ADDR.
uint8_t station_type;
// Position Accuracy Indicator.
bool pai;
// TST: the moment lat/lon were acquired, in ms, as TimestampIts modulo 2^32.
uint32_t tst_ms;
// 1/10 microdegree, signed.
int32_t lat_tenmicrodeg;
int32_t lon_tenmicrodeg;
// 0.01 m/s. The wire field is 15-bit signed, so this is clamped to -16384..16383 on encode.
int16_t speed_cms;
// 0.1 degree from north, clockwise. Wrapped into 0..3599 on encode.
uint16_t heading_decideg;
} gn_lpv_t;
// Wraps an ITS application payload (the CAM UPER bytes the phone built) in a GeoNetworking Basic
// Header + Common Header + Single-Hop-Broadcast extended header (HeaderType=TSB(5),
// HeaderSubtype=SINGLE_HOP(0), EN 302 636-4-1 table 9), then a BTP-B header addressed to
// `btp_dest_port`.
// //
// `latitude_tenmicrodeg`/`longitude_tenmicrodeg` go into the Source Long // Single-hop broadcast is the correct packet type for CAM, which ETSI defines as never forwarded,
// Position Vector (clause 9.5.2) as plain 32-bit signed big-endian fields - // so it has no destination area and no sequence number. A future DENM transmit path would need
// NOT UPER bit-packed like the DENM payload's position fields, this is a // GeoBroadcast (HeaderType=4) instead, which this function does not build.
// fixed-width binary protocol. Pass the SAME values you gave denm_encode's
// eventPosition, so the GN-layer position and the DENM's own claimed
// position agree.
// //
// Deliberate simplification: real DENM dissemination normally uses // `lpv` supplies the Source Position Vector. Hand the SAME lpv->mac to dot11p_build_frame as its
// GeoBroadcast (GBC, HeaderType=4) so RSUs/OBUs can forward it across an // source address, or the GN and 802.11 layers will name two different senders.
// area - that needs a sequence number + geo-area fields this skeleton
// doesn't build yet. Single-hop broadcast is simpler and is the
// best-tested decode path in the receiver firmware you already have
// working (same extended header shape as CAM). Fine for a single-vehicle
// beacon; revisit if you need real multi-hop forwarding later.
// //
// `btp_dest_port` is the BTP-B destination port for the service being carried // `btp_dest_port` is the BTP-B destination port (ETSI TS 103 248): 2001 = CAM, 2002 = DENM,
// (ETSI TS 103 248): 2001 = CAM, 2002 = DENM, 2003 = MAPEM, 2004 = SPATEM, ... // 2003 = MAPEM, 2004 = SPATEM.
// //
// Returns bytes written, or -1 if out buffer too small. // Returns bytes written, or -1 if the out buffer is too small.
int geonet_wrap_shb(const uint8_t *its_payload, int its_len, int geonet_wrap_shb(const uint8_t *its_payload, int its_len,
const uint8_t mac[6], uint8_t station_type, const gn_lpv_t *lpv,
int32_t latitude_tenmicrodeg, int32_t longitude_tenmicrodeg,
uint16_t btp_dest_port, uint16_t btp_dest_port,
uint8_t *out, size_t out_len); uint8_t *out, size_t out_len);
obu-firmware/main/gn_unwrap.c
+131 -15
View File
@@ -28,9 +28,20 @@
#define GN_HEADER_TYPE_TSB (5) // Topologically-Scoped Broadcast #define GN_HEADER_TYPE_TSB (5) // Topologically-Scoped Broadcast
#define GN_HEADER_SUBTYPE_SINGLE_HOP (0) #define GN_HEADER_SUBTYPE_SINGLE_HOP (0)
#define GN_NEXT_HEADER_COMMON (1) // unsecured; 2 would be a secured packet #define GN_NEXT_HEADER_COMMON (1) // unsecured: the Common Header follows
#define GN_NEXT_HEADER_SECURED (2) // a TS 103 097 envelope follows, Common Header inside it
#define GN_COMMON_NEXT_HEADER_BTP_B (2) #define GN_COMMON_NEXT_HEADER_BTP_B (2)
// Common Header field (clause 9.7): length of everything after the GeoNetworking headers, i.e.
// the BTP-B header plus the ITS payload.
#define GN_COMMON_PAYLOAD_LEN_OFFSET (4)
// IEEE 1609.2 / TS 103 097 envelope, COER encoded - see unwrap_secured().
#define IEEE1609DOT2_VERSION (3)
#define CONTENT_TAG_UNSECURED_DATA (0x80) // Ieee1609Dot2Content CHOICE, context tag 0
#define CONTENT_TAG_SIGNED_DATA (0x81) // context tag 1
#define SIGNED_PAYLOAD_HAS_DATA (0x40) // SignedDataPayload preamble: `data` present
#define BTP_DEST_PORT_CAM (2001) // ETSI TS 103 248 #define BTP_DEST_PORT_CAM (2001) // ETSI TS 103 248
#define BTP_DEST_PORT_DENM (2002) #define BTP_DEST_PORT_DENM (2002)
// NOTE the crossover: SPATEM is BTP port 2004 but ItsPduHeader messageID 4, while MAPEM is port // NOTE the crossover: SPATEM is BTP port 2004 but ItsPduHeader messageID 4, while MAPEM is port
@@ -51,6 +62,90 @@ static uint16_t be16(const uint8_t *p)
return (uint16_t)(((uint16_t)p[0] << 8) | (uint16_t)p[1]); return (uint16_t)(((uint16_t)p[0] << 8) | (uint16_t)p[1]);
} }
// COER length determinant (ITU-T X.696): a first byte below 0x80 is the length itself; otherwise
// its low 7 bits count the big-endian length bytes that follow. Two of them cover anything this
// radio can deliver. Returns how many bytes the determinant occupies, or 0 if it does not fit in
// `avail` or uses a form this does not read.
static int coer_length(const uint8_t *p, int avail, int *len)
{
if (avail < 1) {
return 0;
}
if (p[0] < 0x80) {
*len = p[0];
return 1;
}
const int n = p[0] & 0x7F;
if (n < 1 || n > 2 || avail < 1 + n) {
return 0;
}
int v = 0;
for (int i = 1; i <= n; i++) {
v = (v << 8) | p[i];
}
*len = v;
return 1 + n;
}
// Locates the GeoNetworking packet inside a secured one. `offset` points just past the Basic
// Header. Returns the offset of the inner Common Header and sets *inner_end to where the envelope
// says the inner packet ends - which lies beyond frame_len if the capture was cut short - or
// returns -1 for anything this does not unwrap.
//
// The envelope is an Ieee1609Dot2Data (IEEE 1609.2, profiled by TS 103 097 v1.3.1 and later),
// COER encoded. A signed message starts:
//
// 03 protocolVersion 3
// 81 content = signedData
// 00 hashId (sha256; any one-byte value is accepted - the hash is not checked)
// 40 tbsData.payload preamble: `data` present (bit 6)
// 03 80 <len> payload.data: an Ieee1609Dot2Data holding unsecuredData of <len> bytes, which
// are the Common Header, extended header, BTP-B header and ITS payload
// ... headerInfo, signer, signature: not read
//
// The inner packet comes first inside tbsData, so it is found without parsing the certificate
// or the signature, and its explicit length is what separates it from them. The shape is
// measured, not only read from the standard: all 157 signed frames in
// capture_20260817_171055.pcap have it (150 CAM, 7 GeoBroadcast DENM; <len> in all three COER
// forms), and asn1tools decodes every one of them to the same unsecuredData. A top-level
// unsecuredData (03 80 <len>, no signature at all) is accepted too.
static int unwrap_secured(const uint8_t *frame, int offset, int frame_len,
int *inner_end, bool *is_signed)
{
const uint8_t *p = frame + offset;
const int avail = frame_len - offset;
int i;
if (avail < 2 || p[0] != IEEE1609DOT2_VERSION) {
return -1; // includes the legacy TS 103 097 v1.2.1 envelope, protocolVersion 2
}
if (p[1] == CONTENT_TAG_SIGNED_DATA) {
if (avail < 6 ||
p[2] >= 0x80 || // hashId: a one-byte enumerated value
!(p[3] & SIGNED_PAYLOAD_HAS_DATA) || // signs only a hash of data sent elsewhere
p[4] != IEEE1609DOT2_VERSION ||
p[5] != CONTENT_TAG_UNSECURED_DATA) { // nested signing or encryption
return -1;
}
i = 6;
*is_signed = true;
} else if (p[1] == CONTENT_TAG_UNSECURED_DATA) {
i = 2;
*is_signed = false;
} else {
return -1; // encryptedData, certificate requests
}
int len;
const int used = coer_length(p + i, avail - i, &len);
if (used == 0) {
return -1;
}
i += used;
*inner_end = offset + i + len;
return offset + i;
}
bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out) bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out)
{ {
if (!frame || !out || frame_len < IEEE80211_HEADER_LEN) { if (!frame || !out || frame_len < IEEE80211_HEADER_LEN) {
@@ -91,22 +186,33 @@ bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out)
if (frame_len < offset + GN_BASIC_HEADER_LEN) { if (frame_len < offset + GN_BASIC_HEADER_LEN) {
return false; return false;
} }
// NextHeader distinguishes an unsecured packet (1 = Common Header follows) from a secured one const uint8_t basic_next_header = frame[offset] & 0x0F;
// (2 = a TS 103 097 SecuredMessage follows, with the Common Header buried inside it at a
// variable offset). Checking this rather than blindly skipping means a secured packet is
// rejected cleanly instead of having its security envelope misread as a Common Header.
if ((frame[offset] & 0x0F) != GN_NEXT_HEADER_COMMON) {
return false;
}
offset += GN_BASIC_HEADER_LEN; offset += GN_BASIC_HEADER_LEN;
// The headers from here on must end before `limit`: the end of the frame, or for a secured
// packet the end of the envelope's inner packet if that comes first.
int limit = frame_len;
int envelope_end = -1;
if (basic_next_header == GN_NEXT_HEADER_SECURED) {
offset = unwrap_secured(frame, offset, frame_len, &envelope_end, &out->signed_unverified);
if (offset < 0) {
return false;
}
if (envelope_end < limit) {
limit = envelope_end;
}
} else if (basic_next_header != GN_NEXT_HEADER_COMMON) {
return false;
}
// ---- GN Common Header (8 bytes) ---- // ---- GN Common Header (8 bytes) ----
if (frame_len < offset + GN_COMMON_HEADER_LEN) { if (limit < offset + GN_COMMON_HEADER_LEN) {
return false; return false;
} }
uint8_t next_header = (frame[offset + 0] >> 4) & 0x0F; uint8_t next_header = (frame[offset + 0] >> 4) & 0x0F;
uint8_t header_type = (frame[offset + 1] >> 4) & 0x0F; uint8_t header_type = (frame[offset + 1] >> 4) & 0x0F;
uint8_t header_subtype = frame[offset + 1] & 0x0F; uint8_t header_subtype = frame[offset + 1] & 0x0F;
const int gn_payload_len = be16(frame + offset + GN_COMMON_PAYLOAD_LEN_OFFSET);
if (next_header != GN_COMMON_NEXT_HEADER_BTP_B) { if (next_header != GN_COMMON_NEXT_HEADER_BTP_B) {
return false; return false;
} }
@@ -126,7 +232,7 @@ bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out)
} else { } else {
return false; // Beacon / GeoUnicast / GeoAnycast / multi-hop TSB - see header comment return false; // Beacon / GeoUnicast / GeoAnycast / multi-hop TSB - see header comment
} }
if (frame_len < offset + ext_len) { if (limit < offset + ext_len) {
return false; return false;
} }
if (is_gbc) { if (is_gbc) {
@@ -138,7 +244,7 @@ bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out)
offset += ext_len; offset += ext_len;
// ---- BTP-B header (4 bytes) ---- // ---- BTP-B header (4 bytes) ----
if (frame_len < offset + BTP_B_HEADER_LEN) { if (limit < offset + BTP_B_HEADER_LEN) {
return false; return false;
} }
uint16_t dest_port = be16(frame + offset); uint16_t dest_port = be16(frame + offset);
@@ -146,16 +252,26 @@ bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out)
dest_port != BTP_DEST_PORT_SPATEM) { dest_port != BTP_DEST_PORT_SPATEM) {
return false; return false;
} }
offset += BTP_B_HEADER_LEN;
// ---- Whatever's left is the ITS UPER payload ---- // ---- ITS payload: exactly as long as the Common Header declares ----
int payload_len = frame_len - offset; // Not "whatever is left of the frame": see "Payload bounds" in gn_unwrap.h for the 8 trailing
// bytes every received frame carries and the signature that follows a secured packet.
if (gn_payload_len <= BTP_B_HEADER_LEN) {
return false; // no ITS payload at all
}
const int payload_start = offset + BTP_B_HEADER_LEN;
const int payload_end = offset + gn_payload_len;
if (envelope_end >= 0 && payload_end > envelope_end) {
return false; // the inner packet claims more than its envelope holds
}
out->truncated = payload_end > frame_len;
const int payload_len = (out->truncated ? frame_len : payload_end) - payload_start;
if (payload_len <= 0) { if (payload_len <= 0) {
return false; return false;
} }
out->btp_dest_port = dest_port; out->btp_dest_port = dest_port;
out->payload = frame + offset; out->payload = frame + payload_start;
out->payload_len = payload_len; out->payload_len = payload_len;
return true; return true;
} }
obu-firmware/main/gn_unwrap.h
+35 -14
View File
@@ -6,8 +6,9 @@
// Inverse of geonet_wrap_shb() + dot11p_build_frame(): takes a raw 802.11 frame as delivered by // Inverse of geonet_wrap_shb() + dot11p_build_frame(): takes a raw 802.11 frame as delivered by
// the WiFi driver's promiscuous RX callback and strips 802.11 header -> LLC/SNAP -> // the WiFi driver's promiscuous RX callback and strips 802.11 header -> LLC/SNAP ->
// GeoNetworking Basic/Common/extended header -> BTP-B header, leaving the ITS payload (a UPER // GeoNetworking Basic Header -> [security envelope] -> Common/extended header -> BTP-B header,
// message) plus the metadata the phone needs to know what it received. // leaving the ITS payload (a UPER message) plus the metadata the phone needs to know what it
// received.
// //
// ---- Supported GeoNetworking header types -------------------------------------------------- // ---- Supported GeoNetworking header types --------------------------------------------------
// Two shapes, chosen by the Common Header's HeaderType, with DIFFERENT extended-header lengths: // Two shapes, chosen by the Common Header's HeaderType, with DIFFERENT extended-header lengths:
@@ -28,6 +29,23 @@
// Beacon, GeoUnicast, GeoAnycast and multi-hop TSB are still rejected - nothing this project // Beacon, GeoUnicast, GeoAnycast and multi-hop TSB are still rejected - nothing this project
// talks to sends them, and each has its own extended-header length that would need measuring. // talks to sends them, and each has its own extended-header length that would need measuring.
// //
// ---- Secured packets -----------------------------------------------------------------------
// A Basic Header NextHeader of 2 means an ETSI TS 103 097 (IEEE 1609.2) envelope follows, with
// the Common Header onward inside it. Signed messages are unwrapped WITHOUT verifying the
// signature or the certificate - this firmware has no trust store - and are reported with
// signed_unverified set so the phone can tell. Most real traffic is signed: the 2026-08-17
// capture held 157 signed frames from 15 source MACs. Encrypted payloads, nested signing and the
// legacy v1.2.1 envelope are rejected. The layout is documented at unwrap_secured() in
// gn_unwrap.c. Before 2026-09-11 every secured packet was rejected.
//
// ---- Payload bounds ------------------------------------------------------------------------
// The payload is exactly as long as the Common Header's payload-length field says, minus the
// BTP-B header - not "the rest of the frame". After the message comes, in a signed packet, the
// signature; and every frame recorded through this chip's promiscuous RX API (~15 000 of them)
// ends in 8 more bytes that are not part of the 802.11 frame and not a valid FCS. Until
// 2026-09-11 those 8 bytes were forwarded to the phone as the tail of every message. UPER
// decoders stop where the message ends, which is why nothing visibly broke.
//
// ---- Accepted BTP-B ports (ETSI TS 103 248) ------------------------------------------------ // ---- Accepted BTP-B ports (ETSI TS 103 248) ------------------------------------------------
// 2001 (CAM), 2002 (DENM) and 2004 (SPATEM). MAPEM (2003) and the rest are deliberately not // 2001 (CAM), 2002 (DENM) and 2004 (SPATEM). MAPEM (2003) and the rest are deliberately not
// accepted yet: the phone has no decoder for them, so forwarding would just burn serial // accepted yet: the phone has no decoder for them, so forwarding would just burn serial
@@ -38,17 +56,11 @@
// counted as an oversize drop rather than forwarded. The bench RSU trigger emits ~58-byte SPATEMs // counted as an oversize drop rather than forwarded. The bench RSU trigger emits ~58-byte SPATEMs
// and is unaffected, but real road RSUs measured 555 bytes median and 1243 max (2026-03-18 drive, // and is unaffected, but real road RSUs measured 555 bytes median and 1243 max (2026-03-18 drive,
// 79k messages), i.e. roughly 70% would be dropped. Raising the cap is deliberately deferred: it // 79k messages), i.e. roughly 70% would be dropped. Raising the cap is deliberately deferred: it
// also requires enlarging RX_FRAME_MAX_LEN and moving rx_item_t off the WiFi callback stack, // also requires enlarging main.c's RX_FRAME_MAX_LEN.
// which at that size would overflow it.
// //
// ---- What is NOT handled ------------------------------------------------------------------- // No FCS/CRC check here: the WiFi driver has already validated the frame.
// Secured packets (GN Basic Header NextHeader=2, i.e. ETSI TS 103 097 signed messages). The
// units on this bench run with ItsGnSecurity=0 so everything observed is unsecured; a secured
// packet is rejected rather than mis-parsed.
//
// No FCS/CRC check: the WiFi driver has already validated and stripped it.
typedef struct { typedef struct {
// BTP-B destination port, identifying the service: 2001 = CAM, 2002 = DENM. // BTP-B destination port, identifying the service: 2001 = CAM, 2002 = DENM, 2004 = SPATEM.
uint16_t btp_dest_port; uint16_t btp_dest_port;
// ITS payload (UPER message bytes). Points INTO the caller's `frame` buffer - NOT a copy, so // ITS payload (UPER message bytes). Points INTO the caller's `frame` buffer - NOT a copy, so
@@ -64,11 +76,20 @@ typedef struct {
int32_t geo_area_lat_tenmicrodeg; int32_t geo_area_lat_tenmicrodeg;
int32_t geo_area_lon_tenmicrodeg; int32_t geo_area_lon_tenmicrodeg;
uint16_t geo_area_distance_a_m; uint16_t geo_area_distance_a_m;
// The packet arrived inside a TS 103 097 signed envelope. The signature was NOT checked.
bool signed_unverified;
// The frame ended before the payload its headers declare. On the board only main.c's
// RX_FRAME_MAX_LEN capture limit causes this (the driver drops frames that fail their FCS).
// payload/payload_len then cover just the part that arrived, so it must not be forwarded.
bool truncated;
} gn_rx_t; } gn_rx_t;
// Returns true and fills *out if this was a well-formed, supported ITS frame. Returns false // Returns true and fills *out if this was a well-formed, supported ITS frame - check `truncated`
// otherwise (wrong ethertype, secured, unsupported header type, unaccepted BTP port, truncated, // before using the payload. Returns false otherwise (wrong ethertype, encrypted or unsupported
// or promiscuous-capture garbage) - all common and expected on an open-air capture, so the caller // envelope, unsupported header type, unaccepted BTP port, headers cut short, or
// promiscuous-capture garbage) - all common and expected on an open-air capture, so the caller
// should treat false as "not for us", not as an error worth logging per frame. // should treat false as "not for us", not as an error worth logging per frame.
bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out); bool gn_unwrap_its(const uint8_t *frame, int frame_len, gn_rx_t *out);
obu-firmware/main/main.c
+85 -21
View File
@@ -21,7 +21,9 @@
static const char *TAG = "obu-tx"; static const char *TAG = "obu-tx";
// Phase 03: CAM is no longer built on this chip. The phone fuses its own GNSS+IMU, UPER-encodes // Phase 03: CAM is no longer built on this chip. The phone fuses its own GNSS+IMU, UPER-encodes
// CAM itself, and hands the finished bytes down over serial_link (SERIAL_MSG_CAM_TX) - this // CAM itself, and hands the finished bytes down over serial_link (SERIAL_MSG_CAM_TX_PV, together
// with the GeoNetworking position vector to send them under; plain SERIAL_MSG_CAM_TX from an app
// that predates it) - this
// firmware's job on transmit shrinks to "GeoNetworking/BTP-wrap + 802.11-wrap + key the PA the // firmware's job on transmit shrinks to "GeoNetworking/BTP-wrap + 802.11-wrap + key the PA the
// instant a CAM arrives." There is no on-chip transmit timer anymore; the phone's send cadence // instant a CAM arrives." There is no on-chip transmit timer anymore; the phone's send cadence
// (1 Hz baseline, faster near intersections/events - all decided app-side) IS the air cadence. // (1 Hz baseline, faster near intersections/events - all decided app-side) IS the air cadence.
@@ -41,26 +43,25 @@ static const char *TAG = "obu-tx";
#define TX_FREQ_MHZ 5900 #define TX_FREQ_MHZ 5900
// ---- CAM beacon profile (used for the GeoNetworking layer only now - see below) ---- // ---- CAM beacon profile (used for the GeoNetworking layer only now - see below) ----
#define STATION_TYPE 5 // passengerCar (TS 102 894-2 StationType) - matches gn_addr's ST field #define STATION_TYPE 2 // cyclist (TS 102 894-2 StationType), legacy CAM_TX path only - see legacy_lpv()
#define BTP_PORT_CAM 2001 // BTP-B destination port for CAM (ETSI TS 103 248) #define BTP_PORT_CAM 2001 // BTP-B destination port for CAM (ETSI TS 103 248)
// Bench location, hardcoded since there's no GNSS module wired in yet and the unit is genuinely // Bench location, 53°33'16.8"N 10°01'20.6"E, in 1/10-microdegree units. Used only by the legacy
// stationary here: 53°33'16.8"N 10°01'20.6"E, in 1/10-microdegree units. Used ONLY for the // SERIAL_MSG_CAM_TX path (see legacy_lpv), which carries no position of its own. A current app
// GeoNetworking Source Long Position Vector now (geonet_wrap_shb's own claimed position) - the // sends SERIAL_MSG_CAM_TX_PV instead, and the GN Source Position Vector then comes from the
// CAM payload's own referencePosition comes from the phone's real GNSS and can legitimately // phone's real fix, the same one the CAM payload's own referencePosition is built from.
// differ from this bench placeholder until the GN layer is also given a real position source.
// TODO: feed this from the phone too (e.g. a lightweight position update piggybacked on
// SERIAL_MSG_CAM_TX, or a new small message type) instead of a fixed bench location.
#define BENCH_LATITUDE_TENMICRODEG 535546667 #define BENCH_LATITUDE_TENMICRODEG 535546667
#define BENCH_LONGITUDE_TENMICRODEG 100223889 #define BENCH_LONGITUDE_TENMICRODEG 100223889
// Single source of truth for the pseudonym/link-layer address: used both as // Link-layer address for the legacy SERIAL_MSG_CAM_TX path only. Locally-administered bit set
// the 802.11 source MAC (Addr2) and as GN_ADDR's MID field, since the GN // (0x02), per normal MAC convention.
// spec defines those as being the same address. Locally-administered bit //
// set (0x02) per normal MAC convention. Fixed/non-rotating for now - real // This reverses the Phase 03 decision that the pseudonym is owned entirely by this firmware. That
// stacks rotate this every 5-15 min for privacy. Owned entirely by this firmware (not the // was simplest while the address never changed, but a pseudonym only protects anyone if the
// phone) per the Phase 03 design decision - simplest given the phone never needs to know it. // 802.11 address, the GN_ADDR MID and the CAM's stationID all change together, and the phone owns
static const uint8_t pseudonym_mac[6] = {0x02, 0x00, 0x00, 0x00, 0x00, 0x01}; // the stationID. One identity needs one owner, so with CAM_TX_PV the phone sends the address with
// every frame and rotates it, and this constant is only what the legacy path falls back to.
static const uint8_t LEGACY_MAC[6] = {0x02, 0x00, 0x00, 0x00, 0x00, 0x01};
// Undocumented libphy.a calls that push the radio into 802.11p OCB mode on // Undocumented libphy.a calls that push the radio into 802.11p OCB mode on
// the 5.9 GHz ITS-G5 band. See docs/04-transmit-setup.md for source + what // the 5.9 GHz ITS-G5 band. See docs/04-transmit-setup.md for source + what
@@ -77,6 +78,7 @@ extern void phy_change_channel(int freq_mhz, int bw_mode, int sec_chan_offset, i
typedef struct { typedef struct {
uint8_t data[SERIAL_LINK_MAX_PAYLOAD]; uint8_t data[SERIAL_LINK_MAX_PAYLOAD];
int len; int len;
gn_lpv_t lpv; // the Source Position Vector this CAM goes out under
} cam_tx_item_t; } cam_tx_item_t;
static QueueHandle_t s_tx_queue; static QueueHandle_t s_tx_queue;
@@ -87,6 +89,23 @@ static QueueHandle_t s_tx_queue;
// tx_radio_task below, off the UART parsing path entirely. xQueueSend with 0 timeout: if the // tx_radio_task below, off the UART parsing path entirely. xQueueSend with 0 timeout: if the
// radio task is somehow behind, drop this CAM rather than stall UART frame parsing - the next // radio task is somehow behind, drop this CAM rather than stall UART frame parsing - the next
// one is only ~1s (or less, at elevated rate) away regardless. // one is only ~1s (or less, at elevated rate) away regardless.
// Source Position Vector for the legacy SERIAL_MSG_CAM_TX path, which carries no position of its
// own. Everything here describes the bench, not the rider: a fixed point, standing still, at an
// unknown time, under a fixed address. That is exactly why the phone now sends CAM_TX_PV. Kept so
// an app that predates it still transmits what it always did, except that the station type now
// says cyclist to agree with the CAM inside.
static void legacy_lpv(gn_lpv_t *lpv)
{
memcpy(lpv->mac, LEGACY_MAC, sizeof(lpv->mac));
lpv->station_type = STATION_TYPE;
lpv->pai = false;
lpv->tst_ms = 0;
lpv->lat_tenmicrodeg = BENCH_LATITUDE_TENMICRODEG;
lpv->lon_tenmicrodeg = BENCH_LONGITUDE_TENMICRODEG;
lpv->speed_cms = 0;
lpv->heading_decideg = 0;
}
static void on_cam_tx_from_phone(const uint8_t *cam_uper, int cam_len) static void on_cam_tx_from_phone(const uint8_t *cam_uper, int cam_len)
{ {
if (cam_len <= 0 || cam_len > SERIAL_LINK_MAX_PAYLOAD) { if (cam_len <= 0 || cam_len > SERIAL_LINK_MAX_PAYLOAD) {
@@ -96,6 +115,42 @@ static void on_cam_tx_from_phone(const uint8_t *cam_uper, int cam_len)
cam_tx_item_t item; cam_tx_item_t item;
item.len = cam_len; item.len = cam_len;
memcpy(item.data, cam_uper, (size_t)cam_len); memcpy(item.data, cam_uper, (size_t)cam_len);
legacy_lpv(&item.lpv);
if (xQueueSend(s_tx_queue, &item, 0) != pdTRUE) {
ESP_LOGW(TAG, "tx queue full, dropping CAM from phone");
}
}
static uint16_t le16(const uint8_t *p)
{
return (uint16_t)(p[0] | (p[1] << 8));
}
static uint32_t le32(const uint8_t *p)
{
return (uint32_t)p[0] | ((uint32_t)p[1] << 8) | ((uint32_t)p[2] << 16) | ((uint32_t)p[3] << 24);
}
// SERIAL_MSG_CAM_TX_PV: the phone's CAM plus the position vector to send it under. The prefix
// layout is documented at SERIAL_MSG_CAM_TX_PV in serial_link.h. Same speed constraint as
// on_cam_tx_from_phone: decode, queue, return.
static void on_cam_tx_pv_from_phone(const uint8_t *prefix, const uint8_t *cam_uper, int cam_len)
{
if (cam_len <= 0 || cam_len > SERIAL_LINK_MAX_PAYLOAD) {
ESP_LOGW(TAG, "on_cam_tx_pv_from_phone: bad length %d", cam_len);
return;
}
cam_tx_item_t item;
item.len = cam_len;
memcpy(item.data, cam_uper, (size_t)cam_len);
memcpy(item.lpv.mac, prefix, sizeof(item.lpv.mac));
item.lpv.station_type = prefix[6];
item.lpv.pai = (prefix[7] & 0x01) != 0;
item.lpv.tst_ms = le32(prefix + 8);
item.lpv.lat_tenmicrodeg = (int32_t)le32(prefix + 12);
item.lpv.lon_tenmicrodeg = (int32_t)le32(prefix + 16);
item.lpv.speed_cms = (int16_t)le16(prefix + 20);
item.lpv.heading_decideg = le16(prefix + 22);
if (xQueueSend(s_tx_queue, &item, 0) != pdTRUE) { if (xQueueSend(s_tx_queue, &item, 0) != pdTRUE) {
ESP_LOGW(TAG, "tx queue full, dropping CAM from phone"); ESP_LOGW(TAG, "tx queue full, dropping CAM from phone");
} }
@@ -116,8 +171,7 @@ static void tx_radio_task(void *arg)
// singleton, created once in app_main. Both wrap functions bounds-check against the size // singleton, created once in app_main. Both wrap functions bounds-check against the size
// passed in and return <= 0 on overflow, so an oversized CAM is rejected, not written past. // passed in and return <= 0 on overflow, so an oversized CAM is rejected, not written past.
static uint8_t gn_payload[SERIAL_LINK_MAX_PAYLOAD + 64]; static uint8_t gn_payload[SERIAL_LINK_MAX_PAYLOAD + 64];
int gn_len = geonet_wrap_shb(item.data, item.len, pseudonym_mac, STATION_TYPE, int gn_len = geonet_wrap_shb(item.data, item.len, &item.lpv,
BENCH_LATITUDE_TENMICRODEG, BENCH_LONGITUDE_TENMICRODEG,
BTP_PORT_CAM, gn_payload, sizeof(gn_payload)); BTP_PORT_CAM, gn_payload, sizeof(gn_payload));
if (gn_len <= 0) { if (gn_len <= 0) {
ESP_LOGW(TAG, "geonet_wrap_shb failed (cam_len=%d)", item.len); ESP_LOGW(TAG, "geonet_wrap_shb failed (cam_len=%d)", item.len);
@@ -125,7 +179,9 @@ static void tx_radio_task(void *arg)
} }
static uint8_t frame[SERIAL_LINK_MAX_PAYLOAD + 192]; static uint8_t frame[SERIAL_LINK_MAX_PAYLOAD + 192];
int frame_len = dot11p_build_frame(gn_payload, gn_len, pseudonym_mac, frame, // Source address from the same lpv the GN header was built from, so the 802.11 and
// GeoNetworking layers always name the same sender, including across a pseudonym change.
int frame_len = dot11p_build_frame(gn_payload, gn_len, item.lpv.mac, frame,
sizeof(frame), false); sizeof(frame), false);
if (frame_len <= 0) { if (frame_len <= 0) {
ESP_LOGW(TAG, "dot11p_build_frame failed (gn_len=%d)", gn_len); ESP_LOGW(TAG, "dot11p_build_frame failed (gn_len=%d)", gn_len);
@@ -224,8 +280,16 @@ static void rx_forward_task(void *arg)
// returning false here is the common case, not an error, so it isn't logged per frame. // returning false here is the common case, not an error, so it isn't logged per frame.
gn_rx_t rx; gn_rx_t rx;
if (gn_unwrap_its(item.data, item.len, &rx)) { if (gn_unwrap_its(item.data, item.len, &rx)) {
if (rx.truncated) {
// Longer than the RX_FRAME_MAX_LEN bytes captured above, so it cannot be forwarded
// whole - and at that size it could not cross the serial link either. Counted as
// an oversize drop, as it was when the cut-off frame still reached
// serial_link_send_v2x_rx() and failed the size check there.
serial_link_note_oversize_drop(rx.btp_dest_port);
continue;
}
serial_link_send_v2x_rx(rx.btp_dest_port, item.rssi, serial_link_send_v2x_rx(rx.btp_dest_port, item.rssi,
rx.has_geo_area, rx.has_geo_area, rx.signed_unverified,
rx.geo_area_lat_tenmicrodeg, rx.geo_area_lat_tenmicrodeg,
rx.geo_area_lon_tenmicrodeg, rx.geo_area_lon_tenmicrodeg,
rx.geo_area_distance_a_m, rx.geo_area_distance_a_m,
@@ -339,7 +403,7 @@ void app_main(void)
xTaskCreate(tx_radio_task, "tx_radio", 4096, NULL, 6, NULL); xTaskCreate(tx_radio_task, "tx_radio", 4096, NULL, 6, NULL);
xTaskCreate(rx_forward_task, "rx_forward", 4096, NULL, 5, NULL); xTaskCreate(rx_forward_task, "rx_forward", 4096, NULL, 5, NULL);
serial_link_init(on_cam_tx_from_phone); serial_link_init(on_cam_tx_from_phone, on_cam_tx_pv_from_phone);
ESP_LOGW(TAG, "OCB @ %d MHz - TX/RX armed, driven by serial_link (no on-chip TX timer)", ESP_LOGW(TAG, "OCB @ %d MHz - TX/RX armed, driven by serial_link (no on-chip TX timer)",
TX_FREQ_MHZ); TX_FREQ_MHZ);
obu-firmware/main/serial_link.c
+32 -9
View File
@@ -13,6 +13,7 @@ static const char *TAG = "serial_link";
#define SYNC1 0x55 #define SYNC1 0x55
static serial_link_cam_tx_cb_t s_on_cam_tx; static serial_link_cam_tx_cb_t s_on_cam_tx;
static serial_link_cam_tx_pv_cb_t s_on_cam_tx_pv;
// ---- Counters reported to the phone in every heartbeat (see SERIAL_MSG_STATUS in the header). // ---- Counters reported to the phone in every heartbeat (see SERIAL_MSG_STATUS in the header).
// Saturating rather than wrapping: "65535 drops" reads as "lots and still going", whereas a wrap // Saturating rather than wrapping: "65535 drops" reads as "lots and still going", whereas a wrap
@@ -37,6 +38,13 @@ void serial_link_note_tx_failure(void)
bump(&s_tx_failures); bump(&s_tx_failures);
} }
void serial_link_note_oversize_drop(uint16_t btp_dest_port)
{
bump(&s_oversize_drops);
ESP_LOGW(TAG, "port %u message larger than the RX capture buffer, total oversize drops %u",
btp_dest_port, s_oversize_drops);
}
// ---- CRC-16/CCITT-FALSE (poly 0x1021, init 0xFFFF, no reflect, no xorout) ---- // ---- CRC-16/CCITT-FALSE (poly 0x1021, init 0xFFFF, no reflect, no xorout) ----
// Bytewise (no table) - frames here are at most SERIAL_LINK_MAX_PAYLOAD + 3 bytes, so table // Bytewise (no table) - frames here are at most SERIAL_LINK_MAX_PAYLOAD + 3 bytes, so table
// lookup isn't worth the flash/RAM tradeoff. MUST match the Kotlin-side implementation exactly // lookup isn't worth the flash/RAM tradeoff. MUST match the Kotlin-side implementation exactly
@@ -113,7 +121,7 @@ static bool send_frame(uint8_t type, const uint8_t *payload, int len)
} }
bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi, bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi,
bool has_geo_area, bool has_geo_area, bool signed_unverified,
int32_t geo_area_lat_tenmicrodeg, int32_t geo_area_lat_tenmicrodeg,
int32_t geo_area_lon_tenmicrodeg, int32_t geo_area_lon_tenmicrodeg,
uint16_t geo_area_distance_a_m, uint16_t geo_area_distance_a_m,
@@ -137,7 +145,7 @@ bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi,
s_v2x_payload[0] = (uint8_t)(btp_dest_port & 0xFF); s_v2x_payload[0] = (uint8_t)(btp_dest_port & 0xFF);
s_v2x_payload[1] = (uint8_t)((btp_dest_port >> 8) & 0xFF); s_v2x_payload[1] = (uint8_t)((btp_dest_port >> 8) & 0xFF);
s_v2x_payload[2] = (uint8_t)rssi; s_v2x_payload[2] = (uint8_t)rssi;
s_v2x_payload[3] = has_geo_area ? 0x01 : 0x00; s_v2x_payload[3] = (uint8_t)((has_geo_area ? 0x01 : 0x00) | (signed_unverified ? 0x02 : 0x00));
uint32_t lat = (uint32_t)geo_area_lat_tenmicrodeg; uint32_t lat = (uint32_t)geo_area_lat_tenmicrodeg;
uint32_t lon = (uint32_t)geo_area_lon_tenmicrodeg; uint32_t lon = (uint32_t)geo_area_lon_tenmicrodeg;
s_v2x_payload[4] = (uint8_t)(lat & 0xFF); s_v2x_payload[4] = (uint8_t)(lat & 0xFF);
@@ -157,9 +165,9 @@ bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi,
bool serial_link_send_status(uint8_t status) bool serial_link_send_status(uint8_t status)
{ {
// [status:1][oversize_drops:2 LE][tx_failures:2 LE][rx_crc_errors:2 LE] - keep in lockstep // [status:1][oversize_drops:2 LE][tx_failures:2 LE][rx_crc_errors:2 LE][capabilities:1] -
// with EspLinkStatus.parse() in the app's SerialFrame.kt. // keep in lockstep with EspLinkStatus.parse() in the app's SerialFrame.kt.
uint8_t payload[7]; uint8_t payload[8];
payload[0] = status; payload[0] = status;
payload[1] = (uint8_t)(s_oversize_drops & 0xFF); payload[1] = (uint8_t)(s_oversize_drops & 0xFF);
payload[2] = (uint8_t)((s_oversize_drops >> 8) & 0xFF); payload[2] = (uint8_t)((s_oversize_drops >> 8) & 0xFF);
@@ -167,6 +175,9 @@ bool serial_link_send_status(uint8_t status)
payload[4] = (uint8_t)((s_tx_failures >> 8) & 0xFF); payload[4] = (uint8_t)((s_tx_failures >> 8) & 0xFF);
payload[5] = (uint8_t)(s_rx_crc_errors & 0xFF); payload[5] = (uint8_t)(s_rx_crc_errors & 0xFF);
payload[6] = (uint8_t)((s_rx_crc_errors >> 8) & 0xFF); payload[6] = (uint8_t)((s_rx_crc_errors >> 8) & 0xFF);
// What this firmware accepts. The app reads it to decide whether it may send CAM_TX_PV, which
// is what lets a new app keep working against firmware that predates that message.
payload[7] = SERIAL_CAP_CAM_TX_PV;
return send_frame(SERIAL_MSG_STATUS, payload, sizeof(payload)); return send_frame(SERIAL_MSG_STATUS, payload, sizeof(payload));
} }
@@ -262,9 +273,19 @@ static void rx_task(void *arg)
uint16_t crc_calc = crc16_ccitt_false(crc_buf, (size_t)(3 + len)); uint16_t crc_calc = crc16_ccitt_false(crc_buf, (size_t)(3 + len));
if (crc_calc == crc_recv) { if (crc_calc == crc_recv) {
if (type == SERIAL_MSG_CAM_TX && s_on_cam_tx) { if (type == SERIAL_MSG_CAM_TX) {
s_on_cam_tx(payload, len); if (s_on_cam_tx) s_on_cam_tx(payload, len);
} else if (type != SERIAL_MSG_CAM_TX) { } else if (type == SERIAL_MSG_CAM_TX_PV) {
// A frame that is all prefix has nothing to transmit.
if (len > SERIAL_CAM_TX_PV_PREFIX_LEN) {
if (s_on_cam_tx_pv) {
s_on_cam_tx_pv(payload, payload + SERIAL_CAM_TX_PV_PREFIX_LEN,
len - SERIAL_CAM_TX_PV_PREFIX_LEN);
}
} else {
ESP_LOGW(TAG, "rx: CAM_TX_PV of %u bytes carries no CAM, ignoring", len);
}
} else {
ESP_LOGW(TAG, "rx: unexpected frame type 0x%02x from phone, ignoring", type); ESP_LOGW(TAG, "rx: unexpected frame type 0x%02x from phone, ignoring", type);
} }
} else { } else {
@@ -279,9 +300,11 @@ static void rx_task(void *arg)
} }
} }
void serial_link_init(serial_link_cam_tx_cb_t on_cam_tx) void serial_link_init(serial_link_cam_tx_cb_t on_cam_tx,
serial_link_cam_tx_pv_cb_t on_cam_tx_pv)
{ {
s_on_cam_tx = on_cam_tx; s_on_cam_tx = on_cam_tx;
s_on_cam_tx_pv = on_cam_tx_pv;
s_tx_mutex = xSemaphoreCreateMutex(); s_tx_mutex = xSemaphoreCreateMutex();
if (!s_tx_mutex) { if (!s_tx_mutex) {
obu-firmware/main/serial_link.h
+64 -14
View File
@@ -37,10 +37,13 @@
// [0..1] btp_dest_port uint16 LE 2001 = CAM, 2002 = DENM (ETSI TS 103 248) // [0..1] btp_dest_port uint16 LE 2001 = CAM, 2002 = DENM (ETSI TS 103 248)
// [2] rssi int8 dBm, from the promiscuous RX metadata // [2] rssi int8 dBm, from the promiscuous RX metadata
// [3] flags uint8 bit0: geo area fields below are valid // [3] flags uint8 bit0: geo area fields below are valid
// bit1: arrived signed (TS 103 097), signature NOT
// verified. An app that tests only bit0 ignores it.
// [4..7] geo_area_lat int32 LE 1/10 microdegree, GeoBroadcast destination area // [4..7] geo_area_lat int32 LE 1/10 microdegree, GeoBroadcast destination area
// [8..11] geo_area_lon int32 LE 1/10 microdegree // [8..11] geo_area_lon int32 LE 1/10 microdegree
// [12..13] geo_area_dist uint16 LE Distance A, metres (relevance radius for a circle) // [12..13] geo_area_dist uint16 LE Distance A, metres (relevance radius for a circle)
// [14..] UPER message bytes // [14..] UPER message bytes - exactly the message. Before 2026-09-11 they were followed by
// the 8 bytes the chip's promiscuous RX appends (gn_unwrap.h, "Payload bounds").
// //
// All prefix fields are LITTLE-endian, matching this framing's own length field - note the // All prefix fields are LITTLE-endian, matching this framing's own length field - note the
// GeoNetworking wire format they came from is big-endian, so gn_unwrap.c converts. // GeoNetworking wire format they came from is big-endian, so gn_unwrap.c converts.
@@ -49,20 +52,52 @@
// message's own ItsPduHeader.stationID is the meaningful identifier. // message's own ItsPduHeader.stationID is the meaningful identifier.
// SERIAL_MSG_STATUS (0x03), ESP32 -> phone: heartbeat + counters, sent at 1 Hz so the phone can // SERIAL_MSG_STATUS (0x03), ESP32 -> phone: heartbeat + counters, sent at 1 Hz so the phone can
// distinguish "link idle" from "link dead" independent of CAM traffic (the app's watchdog in // distinguish "link idle" from "link dead" independent of CAM traffic (the app's watchdog in
// UsbSerialTransport.kt declares the link dead after 3 missed beats). Payload is 7 bytes: // UsbSerialTransport.kt declares the link dead after 3 missed beats). Payload is 8 bytes:
// [status:1][oversize_drops:2 LE][tx_failures:2 LE][rx_crc_errors:2 LE] // [status:1][oversize_drops:2 LE][tx_failures:2 LE][rx_crc_errors:2 LE][capabilities:1]
// status 0 = ok. The counters are free-running totals since boot, saturating at 0xFFFF. // status 0 = ok. The counters are free-running totals since boot, saturating at 0xFFFF.
// capabilities is a bitmask of the SERIAL_CAP_* flags below. It was appended as byte 7 rather
// than inserted, so an app that predates it, and reads only the first 7 bytes, is unaffected.
// They exist because the alternative - ESP_LOGW on the flashing port - is invisible to the // They exist because the alternative - ESP_LOGW on the flashing port - is invisible to the
// phone, which is the only thing watching during a bench session. Mirrored by EspLinkStatus // phone, which is the only thing watching during a bench session. Mirrored by EspLinkStatus
// in the app's SerialFrame.kt. // in the app's SerialFrame.kt.
#define SERIAL_MSG_CAM_TX 0x01 #define SERIAL_MSG_CAM_TX 0x01
#define SERIAL_MSG_CAM_RX 0x02 #define SERIAL_MSG_CAM_RX 0x02
#define SERIAL_MSG_STATUS 0x03 #define SERIAL_MSG_STATUS 0x03
#define SERIAL_MSG_V2X_RX 0x04 #define SERIAL_MSG_V2X_RX 0x04
#define SERIAL_MSG_CAM_TX_PV 0x05
// Size of the V2X_RX prefix documented above. Must match the app's SerialFrame.kt. // Size of the V2X_RX prefix documented above. Must match the app's SerialFrame.kt.
#define SERIAL_V2X_RX_PREFIX_LEN 14 #define SERIAL_V2X_RX_PREFIX_LEN 14
// SERIAL_MSG_CAM_TX_PV (0x05), phone -> ESP32: a CAM together with the GeoNetworking Source
// Position Vector to transmit it under. Payload is a fixed 24-byte prefix, then the CAM UPER:
//
// [0..5] mac 6 bytes pseudonym: the 802.11 source address AND the GN_ADDR MID
// [6] station_type uint8 TS 102 894-2 StationType (2 = cyclist)
// [7] flags uint8 bit0: PAI, position accuracy indicator
// [8..11] tst uint32 LE ms at which lat/lon were acquired, TimestampIts mod 2^32
// [12..15] lat int32 LE 1/10 microdegree
// [16..19] lon int32 LE 1/10 microdegree
// [20..21] speed int16 LE 0.01 m/s
// [22..23] heading uint16 LE 0.1 degree from north, clockwise, 0..3599
// [24..] CAM UPER bytes
//
// Little-endian like the rest of this framing; geonet.c converts to GeoNetworking's big-endian.
// Every prefix field is something the phone already has when it builds the CAM, and none of it
// can be known on this chip, which has no GNSS and no clock source on the OCB channel. Before
// this message existed the GN header carried fixed placeholders instead (see main.c).
//
// A new type rather than a redefined CAM_TX, so app and firmware can be updated independently:
// - old app, new firmware: the app sends CAM_TX, which is handled exactly as before.
// - new app, old firmware: the app sends CAM_TX_PV only once the heartbeat advertises
// SERIAL_CAP_CAM_TX_PV, and an old heartbeat carries no such bit, so it stays on CAM_TX.
// Redefining CAM_TX would instead have double-wrapped every frame in one of those combinations
// and sent one with no GN header in the other, silently, since neither side checks versions.
#define SERIAL_CAM_TX_PV_PREFIX_LEN 24
// Capability bits, carried in byte 7 of the SERIAL_MSG_STATUS payload.
#define SERIAL_CAP_CAM_TX_PV 0x01
// USB Serial/JTAG has no baud rate or GPIO pins to configure - it's a fixed on-chip USB device // USB Serial/JTAG has no baud rate or GPIO pins to configure - it's a fixed on-chip USB device
// controller wired directly to the native USB-C port's D+/D- lines in silicon. RX/TX buffer // controller wired directly to the native USB-C port's D+/D- lines in silicon. RX/TX buffer
// sizes for usb_serial_jtag_driver_install() (see serial_link.c) are sized generously relative // sizes for usb_serial_jtag_driver_install() (see serial_link.c) are sized generously relative
@@ -83,24 +118,34 @@
// Raised from 160 to 512: 160 was reasoned from cam.c's 96-byte encode buffer, which only ever // Raised from 160 to 512: 160 was reasoned from cam.c's 96-byte encode buffer, which only ever
// described OUR OWN minimal CAM. A third-party CAM off the air carrying a path-history or // described OUR OWN minimal CAM. A third-party CAM off the air carrying a path-history or
// special-vehicle container comfortably exceeds it, and those stations would then never reach the // special-vehicle container comfortably exceeds it, and those stations would then never reach the
// phone at all. 512 clears any realistic CAM; the real upstream ceiling on the RX path is // phone at all. 512 clears any realistic CAM. Our own CAM is 43 bytes of UPER.
// rx_item_t.data (400 bytes) in main.c, so nothing larger can get here anyway. //
// This, not the radio side, is the ceiling on the RX path. main.c captures up to RX_FRAME_MAX_LEN
// (800) bytes per frame, sized for the CiT One's 528-byte DENM, so a larger ITS payload
// does arrive here. serial_link_send_v2x_rx() then drops anything above this minus its 14-byte
// prefix and counts it in the heartbeat's oversize-drop counter.
#define SERIAL_LINK_MAX_PAYLOAD 512 #define SERIAL_LINK_MAX_PAYLOAD 512
// Initializes the USB Serial/JTAG driver and its background RX-framing and 1 Hz heartbeat tasks. // Initializes the USB Serial/JTAG driver and its background RX-framing and 1 Hz heartbeat tasks.
// Call once from app_main, after nvs/event loop init. `on_cam_tx` is invoked (from the RX task's // Call once from app_main, after nvs/event loop init. Both callbacks run in the RX task's context,
// context - keep it fast, it blocks the next frame's parsing) whenever a complete, checksummed // so keep them fast: they block the next frame's parsing.
// SERIAL_MSG_CAM_TX frame arrives from the phone. // on_cam_tx a complete, checksummed SERIAL_MSG_CAM_TX frame: bare CAM UPER.
// on_cam_tx_pv a complete, checksummed SERIAL_MSG_CAM_TX_PV frame, already checked to carry at
// least one CAM byte after its prefix: the 24-byte prefix, then the CAM UPER.
typedef void (*serial_link_cam_tx_cb_t)(const uint8_t *cam_uper, int cam_len); typedef void (*serial_link_cam_tx_cb_t)(const uint8_t *cam_uper, int cam_len);
void serial_link_init(serial_link_cam_tx_cb_t on_cam_tx); typedef void (*serial_link_cam_tx_pv_cb_t)(const uint8_t *prefix,
const uint8_t *cam_uper, int cam_len);
void serial_link_init(serial_link_cam_tx_cb_t on_cam_tx,
serial_link_cam_tx_pv_cb_t on_cam_tx_pv);
// Sends a SERIAL_MSG_V2X_RX frame: the metadata prefix plus the UPER bytes gn_unwrap.c extracted // Sends a SERIAL_MSG_V2X_RX frame: the metadata prefix plus the UPER bytes gn_unwrap.c extracted
// from an over-the-air frame. Pass has_geo_area=false and zeroes for the area fields when the // from an over-the-air frame. Pass has_geo_area=false and zeroes for the area fields when the
// source frame carried no destination area (i.e. it was single-hop broadcast, not GeoBroadcast). // source frame carried no destination area (i.e. it was single-hop broadcast, not GeoBroadcast).
// signed_unverified is gn_rx_t's flag of the same name; it sets bit1 of the prefix flags.
// Returns true if the frame was written to the USB endpoint - not an end-to-end ack, the phone // Returns true if the frame was written to the USB endpoint - not an end-to-end ack, the phone
// may still drop it. // may still drop it.
bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi, bool serial_link_send_v2x_rx(uint16_t btp_dest_port, int8_t rssi,
bool has_geo_area, bool has_geo_area, bool signed_unverified,
int32_t geo_area_lat_tenmicrodeg, int32_t geo_area_lat_tenmicrodeg,
int32_t geo_area_lon_tenmicrodeg, int32_t geo_area_lon_tenmicrodeg,
uint16_t geo_area_distance_a_m, uint16_t geo_area_distance_a_m,
@@ -115,4 +160,9 @@ bool serial_link_send_status(uint8_t status);
// otherwise indistinguishable, from the phone's side, from one that transmitted fine. // otherwise indistinguishable, from the phone's side, from one that transmitted fine.
void serial_link_note_tx_failure(void); void serial_link_note_tx_failure(void);
// Counts an ITS message that cannot be forwarded because it is too large, in the same heartbeat
// counter serial_link_send_v2x_rx() uses for its own size check. For main.c's rx_forward_task,
// whose capture buffer is smaller than the largest frames on air.
void serial_link_note_oversize_drop(uint16_t btp_dest_port);
#endif #endif
obu-firmware/test/host/Makefile
+60
View File
@@ -0,0 +1,60 @@
# Host-side tests for obu-firmware. See README.md: needs gcc and make on PATH (MSYS2 UCRT64), and
# asn1tools under `py -3.11` for the replay check.
#
# make build and run everything: chain, replay, fuzz
# make chain | replay | fuzz one of them
# make fuzz FUZZ_ITER=50000000 FUZZ_SEED=7 a longer or different fuzz run
# make clean remove build/
#
# The firmware sources are compiled straight from ../../main, never copied.
CC = gcc
PYTHON = python
PYTHON_ASN1 = py -3.11
FW = ../../main
BUILD = build
EXE = $(if $(filter Windows_NT,$(OS)),.exe,)
# Captures live in capture/recordings/ since 2026-09-14; older ones are still in the
# receiver checkout beside this repo.
RECORDINGS = $(wildcard ../../../capture/recordings/*.pcap ../../../its-g5-receiver-firmware/recordings/*.pcap)
FUZZ_ITER = 2000000
FUZZ_SEED = 1
# -Werror: these sources must stay warning-free on the host compiler too.
# UBSan in trap mode needs no runtime library, so it works on MinGW; a trap shows up as a crash.
CFLAGS = -std=c11 -O2 -g -Wall -Wextra -Wpedantic -Werror -I$(FW) \
-fsanitize=undefined -fsanitize-undefined-trap-on-error
FW_SRCS = $(FW)/geonet.c $(FW)/dot11p.c $(FW)/gn_unwrap.c
DEPS = test_util.c test_util.h $(FW_SRCS) $(wildcard $(FW)/*.h)
.PHONY: all check chain replay fuzz clean
all: check
check: chain replay fuzz
$(BUILD):
mkdir -p $@
$(BUILD)/%$(EXE): %.c $(DEPS) | $(BUILD)
$(CC) $(CFLAGS) -o $@ $< test_util.c $(FW_SRCS)
# The pcap goes through pcap_gn_tally.py as a second, independent parser of the same frames.
chain: $(BUILD)/test_chain$(EXE)
$(BUILD)/test_chain$(EXE) $(BUILD)/test_chain.pcap
$(PYTHON) ../pcap_gn_tally.py $(BUILD)/test_chain.pcap
replay: $(BUILD)/test_replay$(EXE)
ifeq ($(RECORDINGS),)
@echo "replay: no recordings in ../../../its-g5-receiver-firmware/recordings, skipped"
else
$(BUILD)/test_replay$(EXE) $(BUILD)/replay.tsv $(RECORDINGS)
$(PYTHON_ASN1) check_replay.py $(BUILD)/replay.tsv $(RECORDINGS)
endif
fuzz: $(BUILD)/fuzz_gn_unwrap$(EXE)
$(BUILD)/fuzz_gn_unwrap$(EXE) $(FUZZ_ITER) $(FUZZ_SEED) $(RECORDINGS)
clean:
rm -rf $(BUILD)
obu-firmware/test/host/README.md
+151
View File
@@ -0,0 +1,151 @@
# Host-side tests for obu-firmware
**Status (2026-09-11):** the chain test, the capture replay and the fuzzer are written and pass;
results under "Running". Toolchain: MSYS2 UCRT64 gcc, Option B below (chosen and
installed 2026-09-11).
`geonet.c`, `dot11p.c` and `gn_unwrap.c` include nothing but standard C headers, so they compile
unmodified on a PC. That makes three things possible without a board: a TX -> RX round trip
through our own code, replaying real captures through the RX parser, and fuzzing the parser that
reads untrusted radio bytes. ESP-IDF only builds `main/` (and `components/`), so nothing under
`test/` ever affects the firmware image.
## Layout
```
obu-firmware/
├── main/ firmware sources; the tests compile these directly, never copies
└── test/
├── pcap_gn_tally.py GN header fields per station over .pcap captures (Python only)
└── host/
├── README.md this file
├── Makefile `make`: builds ../../main/{geonet,dot11p,gn_unwrap}.c + tests, runs them
├── test_chain.c geonet_wrap_shb -> dot11p_build_frame -> gn_unwrap_its, byte-checked
├── test_util.c/.h shared: guard page, crash report, pcap read/write
├── test_replay.c every recorded frame through gn_unwrap_its, results to a TSV
├── check_replay.py re-derives each result independently, then asn1tools on the messages
├── fuzz_gn_unwrap.c mutation fuzzer; each input ends against a no-access guard page, so
│ an over-read faults (no ASan on MinGW)
└── build/ compiler output; already ignored by the repo's `build/` rule
```
The repo's `vanetza/` folder is a gitignored reading copy only; it is not built. `check_replay.py`
reads the IEEE 1609.2 ASN.1 modules from it (they carry no licence header, so they are not copied
into `asn1/`). Without it, signed frames are still replayed but not checked independently.
## Running
From PowerShell, with MSYS2 on PATH for the session (Option B step 3):
```powershell
$env:PATH = "C:\msys64\ucrt64\bin;C:\msys64\usr\bin;$env:PATH"
cd C:\Users\Ashin\AndroidStudioProjects\MicrOBU\obu-firmware\test\host
make
```
`make` runs three things (`make chain`, `make replay`, `make fuzz` run one). A non-zero exit, or a
`CRASH ... during: <what>` line (from the fuzzer, followed by the input as hex), is a failure.
- **chain** (`test_chain.c`): frames built by the firmware's own TX code, checked byte by byte
against EN 302 636-4-1 and parsed back. Covers the CAM layout (non-QoS and QoS), Source Position
Vector edges, output-buffer bounds, a 512-byte payload through `main.c`'s buffer sizes,
hand-built GeoBroadcast frames in all three shapes, signed frames in all three COER length
forms plus a top-level unsecuredData, one-byte mutations that must be rejected or accepted, the
Common Header's payload length as the message boundary, the 8-byte RX trailer, and every
truncation length of each frame against the guard page. `pcap_gn_tally.py` then reads the
frames back as a second parser; `build/test_chain.pcap` opens in Wireshark too.
2026-09-11: 1731 checks, 0 failed.
- **replay** (`test_replay.c` + `check_replay.py`): every record in
`its-g5-receiver-firmware/recordings/*.pcap` through `gn_unwrap_its`, each cut to `main.c`'s
800-byte capture buffer as on the board. `check_replay.py` re-derives each result on its own
(its own GN/BTP parse; the security envelope decoded by asn1tools from the IEEE 1609.2 modules),
compares record by record, then decodes and re-encodes every distinct message with asn1tools -
a byte-identical re-encode is only possible when the message was cut at exactly the right byte.
Needs `py -3.11` with asn1tools. 2026-09-11: 15 145 records, 15 131 accepted (10 831 CAM,
4 300 DENM; 157 of them signed); C and Python agree on every record; 11 043 of the 11 106
distinct messages re-encode byte-identically. The other 63 fail the same way with the old 8
trailing bytes put back, so the boundary is not the cause: 5 are our own CAMs from before the
2026-08-20 yawRateConfidence fix, 56 come from the CiT One and 1 from another station (see
`TODO.md`), and 1 uses an extension asn1tools cannot re-encode.
- **fuzz** (`fuzz_gn_unwrap.c`): random edits of every recorded frame, each run against the guard
page; an over-read crashes, an accepted payload outside its input fails. Default 2 000 000
iterations (about 2 s); `make fuzz FUZZ_ITER=50000000 FUZZ_SEED=7` for a longer run.
2026-09-11: 50 000 000 iterations, no crash.
Not covered: `main.c` (serial prefix parsing, queues) and `serial_link.c`, which need ESP-IDF;
and the phone's encoder, whose bytes are opaque here (asn1tools and the app's golden test cover
it).
## Option A (not used): WSL2 + Ubuntu 24.04
Kept as the fallback if AddressSanitizer or libFuzzer are ever needed; Option B has neither.
1. In **PowerShell as Administrator**:
```powershell
wsl --install -d Ubuntu-24.04
```
Reboot if it asks. Ubuntu then opens and asks for a Linux username and password (separate from
the Windows account). Checked 2026-09-11: Hyper-V is already running on this PC, so no BIOS
change should be needed. If the install says virtualization is disabled, enable Intel VT-x /
AMD SVM in the BIOS.
2. Confirm it is WSL **2**: `wsl -l -v` should list `Ubuntu-24.04` with VERSION `2`.
3. Inside Ubuntu, the compilers:
```bash
sudo apt update
sudo apt install -y build-essential clang cmake ninja-build git pkg-config python3
```
4. Smoke test: the firmware sources compile on the host (expect no output):
```bash
cd /mnt/c/Users/Ashin/AndroidStudioProjects/MicrOBU/obu-firmware/test/host
cc -std=c11 -Wall -Wextra -fsyntax-only ../../main/geonet.c ../../main/dot11p.c ../../main/gn_unwrap.c
```
## Option B (chosen): native Windows gcc via MSYS2
Enough for the round-trip test, the capture replay and the guard-page fuzzer. No libFuzzer and no
AddressSanitizer with MinGW gcc, which is why the fuzzer uses a guard page instead.
1. In PowerShell: `winget install -e --id MSYS2.MSYS2` (installs to `C:\msys64`).
2. Open **MSYS2 UCRT64** from the Start menu and run `pacman -Syu`. If the window closes, reopen
it and run `pacman -Syu` again. Then:
```bash
pacman -S --needed mingw-w64-ucrt-x86_64-gcc make
```
3. **`C:\msys64\ucrt64\bin` must be on PATH.** Calling `C:\msys64\ucrt64\bin\gcc.exe` by its full
path alone exits 1 with no message, because gcc's compiler stages load their DLLs from that
folder. `make` lives on the MSYS side, in `C:\msys64\usr\bin`. Either work inside the
**MSYS2 UCRT64** shell, which has both, or put them on PATH for the current session:
```powershell
$env:PATH = "C:\msys64\ucrt64\bin;C:\msys64\usr\bin;$env:PATH" # PowerShell
```
```bash
export PATH=/c/msys64/ucrt64/bin:/c/msys64/usr/bin:$PATH # Git Bash
```
Adding them to the user PATH permanently also works; it was deliberately not done by setup.
4. Smoke test (expect no output):
```powershell
cd C:\Users\Ashin\AndroidStudioProjects\MicrOBU\obu-firmware\test\host
gcc -std=c11 -Wall -Wextra -fsyntax-only ../../main/geonet.c ../../main/dot11p.c ../../main/gn_unwrap.c
```
Installed on this PC 2026-09-11: MSYS2 20260611, gcc 16.2.0 (UCRT64), GNU Make 4.4.1. All three
firmware sources compile with `-std=c11 -O2 -Wall -Wextra -Wpedantic` and no warnings.
## Line endings
The repo runs with `core.autocrlf=true`, so Windows checkouts have CRLF line endings. C compilers
don't care; shell scripts run from WSL do (`bash: $'\r': command not found`). When the first `.sh`
file lands here, add `*.sh text eol=lf` to a root `.gitattributes` (none exists yet).
obu-firmware/test/host/check_replay.py
+253
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@@ -0,0 +1,253 @@
#!/usr/bin/env python3
"""Independent check of test_replay's output. See README.md.
For every recorded frame this works out on its own what gn_unwrap_its should have produced -
GeoNetworking and BTP parsed here from EN 302 636-4-1, the TS 103 097 security envelope decoded by
asn1tools from the IEEE 1609.2 ASN.1 modules rather than by hand - and compares that with what the
C code did, record by record. Then it decodes every distinct extracted message with asn1tools and
re-encodes it. Only a message cut at exactly the right byte re-encodes to the same bytes, so this
is what proves that no trailer or signature bytes came along with it.
py -3.11 check_replay.py replay.tsv capture.pcap [capture.pcap ...]
Needs asn1tools (installed for Python 3.11 on this PC). Message modules come from the repo's
asn1/; the IEEE 1609.2 ones from asn1/ or, failing that, the gitignored vanetza/ checkout.
Exit status 1 if the C code and this disagree about any record.
"""
import collections
import pathlib
import struct
import sys
import asn1tools
ROOT = pathlib.Path(__file__).resolve().parents[3]
PORT_NAMES = {2001: "CAM", 2002: "DENM", 2004: "SPATEM"}
# main.c's RX_FRAME_MAX_LEN: the most of any frame the board hands to gn_unwrap_its. test_replay
# cuts frames to it, so this does too.
RX_FRAME_MAX_LEN = 800
def compile_specs():
a = ROOT / "asn1"
uper = {
2001: asn1tools.compile_files([str(a / "cam_1_4_1.asn"), str(a / "cdd_1_3_1_1.asn")], "uper"),
2002: asn1tools.compile_files([str(a / "denm_1_3_1.asn"), str(a / "cdd_1_3_1_1.asn")], "uper"),
2004: asn1tools.compile_files(
[str(a / n) for n in ("spatem_2_2_1.asn", "mapem_2_2_1.asn", "dsrc_2_2_1.asn", "cdd_2_2_1.asn")],
"uper"),
}
names = ("IEEE1609dot2BaseTypes.asn", "IEEE1609dot2.asn")
for d in (a, ROOT / "vanetza" / "asn1"):
if all((d / n).exists() for n in names):
return uper, asn1tools.compile_files([str(d / n) for n in names], "oer"), d
return uper, None, None
def frames(path):
"""(record index, 802.11 frame) for every record, numbered the way test_util.c numbers them."""
d = pathlib.Path(path).read_bytes()
if len(d) < 24:
return
magic = struct.unpack("<I", d[:4])[0]
e = "<" if magic in (0xA1B2C3D4, 0xA1B23C4D) else ">"
link = struct.unpack(e + "I", d[20:24])[0]
if link not in (105, 127):
return
off, index = 24, 0
while off + 16 <= len(d):
incl = struct.unpack(e + "I", d[off + 8:off + 12])[0]
if incl > len(d) - off - 16:
break
pkt = d[off + 16:off + 16 + incl]
off += 16 + incl
if link == 127:
rl = pkt[2] | pkt[3] << 8 if len(pkt) >= 4 else len(pkt) + 1
if rl > len(pkt):
index += 1
continue
pkt = pkt[rl:]
yield index, pkt
index += 1
def open_envelope(sec, env):
"""(inner GeoNetworking packet, signed) of a TS 103 097 envelope per asn1tools, or None."""
try:
m = sec.decode("Ieee1609Dot2Data", env)
except Exception:
return None
if m["protocolVersion"] != 3:
return None
kind, content = m["content"]
if kind == "unsecuredData":
return content, False
if kind == "signedData":
data = content["tbsData"]["payload"].get("data")
if data and data["protocolVersion"] == 3 and data["content"][0] == "unsecuredData":
return data["content"][1], True
return None
def u16(b):
return int.from_bytes(b, "big")
def s32(b):
return int.from_bytes(b, "big", signed=True)
def expect(f, sec):
"""What gn_unwrap_its should report for frame f: None, or a dict matching test_replay's row.
Second value: how many bytes after the message the pre-2026-09-11 code would have forwarded."""
if len(f) < 24 or (f[0] >> 2) & 3 != 2 or f[1] & 3 == 3:
return None, None
o = 24 + (2 if f[0] & 0x80 else 0)
if f[o:o + 8] != b"\xaa\xaa\x03\x00\x00\x00\x89\x47" or len(f) < o + 12:
return None, None
nh = f[o + 8] & 0x0F
o += 12
if nh == 2:
if sec is None:
return "unchecked", None
opened = open_envelope(sec, f[o:])
if opened is None:
return None, None
region, signed = opened
elif nh == 1:
region, signed = f[o:], False
else:
return None, None
if len(region) < 8 or region[0] >> 4 != 2:
return None, None
ht, hst, pl = region[1] >> 4, region[1] & 0x0F, u16(region[4:6])
if ht == 5 and hst == 0:
ext, area = 28, None
elif ht == 4:
ext = 44
else:
return None, None
if len(region) < 8 + ext + 4:
return None, None
if ht == 4:
a = 8 + 28
area = (s32(region[a:a + 4]), s32(region[a + 4:a + 8]), u16(region[a + 8:a + 10]))
port = u16(region[8 + ext:8 + ext + 2])
if port not in PORT_NAMES or pl <= 4:
return None, None
start, end = 8 + ext + 4, 8 + ext + pl
if signed is not None and nh == 2 and end > len(region):
return None, None # the inner packet claims more than its envelope holds
payload = region[start:min(end, len(region))]
if not payload:
return None, None
old_extra = len(region) - end if nh == 1 else None
return dict(port=port, signed=signed, truncated=end > len(region), area=area, payload=payload), old_extra
def read_tsv(path):
rows = {}
with open(path, encoding="ascii") as fh:
next(fh)
for line in fh:
c = line.rstrip("\n").split("\t")
key = (c[0], int(c[1]))
if c[2] == "0":
rows[key] = None
else:
rows[key] = dict(port=int(c[3]), signed=c[4] == "1", truncated=c[5] == "1",
area=(int(c[7]), int(c[8]), int(c[9])) if c[6] == "1" else None,
payload=bytes.fromhex(c[10]))
return rows
def describe(r):
if r is None:
return "rejected"
return "port %d signed %s truncated %s area %s %d bytes" % (
r["port"], r["signed"], r["truncated"], r["area"], len(r["payload"]))
def main(argv):
if len(argv) < 2:
sys.exit(__doc__)
got = read_tsv(argv[0])
uper, sec, sec_dir = compile_specs()
if sec is None:
print("WARNING: IEEE 1609.2 modules not found; secured frames are not checked independently")
stats, extra, disagreements, messages = collections.Counter(), collections.Counter(), [], {}
for path in argv[1:]:
for index, f in frames(path):
key = (path, index)
stats["records"] += 1
stats["capped"] += len(f) > RX_FRAME_MAX_LEN
want, old_extra = expect(f[:RX_FRAME_MAX_LEN], sec)
if key not in got:
disagreements.append((key, "no row from test_replay"))
continue
have = got.pop(key)
if want == "unchecked":
stats["secured, unchecked"] += 1
continue
if want != have:
disagreements.append((key, "C: %s | independent: %s" % (describe(have), describe(want))))
continue
if want:
stats["accepted"] += 1
stats[PORT_NAMES[want["port"]]] += 1
stats["signed"] += want["signed"]
stats["truncated"] += want["truncated"]
if old_extra is not None:
extra[old_extra] += 1
messages.setdefault((want["port"], want["payload"]), key)
for key in got:
disagreements.append((key, "row from test_replay for a record this did not see"))
print("check_replay: %d records (%d cut to %d bytes), %d accepted (CAM %d, DENM %d, SPATEM %d; "
"%d signed, %d truncated)"
% (stats["records"], stats["capped"], RX_FRAME_MAX_LEN, stats["accepted"], stats["CAM"],
stats["DENM"], stats["SPATEM"], stats["signed"], stats["truncated"]))
if sec_dir:
print(" envelopes decoded with asn1tools using %s" % sec_dir.relative_to(ROOT))
print(" C vs independent parse: %s" % ("agree on every record" if not disagreements
else "%d DISAGREEMENTS" % len(disagreements)))
for key, why in disagreements[:15]:
print(" %s record %d: %s" % (pathlib.Path(key[0]).name, key[1], why))
outcome, failures = collections.Counter(), []
for (port, payload), key in messages.items():
name, spec = PORT_NAMES[port], uper[port]
try:
decoded = spec.decode(name, payload)
except Exception as e:
outcome[(name, "does not decode")] += 1
failures.append((key, name, len(payload), str(e)[:110]))
continue
try:
encoded = spec.encode(name, decoded)
except Exception as e:
# asn1tools decodes an alternative from a later module version (a CHOICE extension)
# as (None, None) and then cannot encode it back. Says nothing about where the message
# was cut, so it is reported apart from real mismatches.
outcome[(name, "decodes; uses a newer extension")] += 1
failures.append((key, name, len(payload), "cannot re-encode: " + str(e)[:90]))
continue
if encoded == payload:
outcome[(name, "re-encodes byte-identically")] += 1
else:
outcome[(name, "re-encodes differently")] += 1
failures.append((key, name, len(payload), "re-encoded to different bytes"))
print(" asn1tools on the %d distinct extracted messages:" % len(messages))
for (name, what), n in sorted(outcome.items()):
print(" %-6s %-28s %d" % (name, what, n))
for key, name, n, why in failures[:15]:
print(" %s record %d, %s %d bytes: %s" % (pathlib.Path(key[0]).name, key[1], name, n, why))
print(" bytes the pre-2026-09-11 code forwarded after each unsecured message: %s"
% dict(sorted(extra.items())))
return 1 if disagreements else 0
if __name__ == "__main__":
sys.exit(main(sys.argv[1:]))
obu-firmware/test/host/fuzz_gn_unwrap.c
+218
View File
@@ -0,0 +1,218 @@
// Mutation fuzzer for gn_unwrap_its, the one function in this firmware that parses bytes from the
// air. See README.md.
//
// Seeds are every recorded frame in the pcaps given, plus frames built by the firmware's own TX
// code. Each iteration takes a seed, applies 1-4 random edits - bit flips, random bytes, boundary
// bytes such as COER length markers, 16-bit length fields, truncation, insertion, deletion,
// appended bytes - mostly within the first 128 bytes where the headers are, and runs gn_unwrap_its
// on the result placed against the guard page. A read past the end crashes and prints the input;
// an accepted frame whose payload is not inside the input is reported the same way. MinGW has
// neither libFuzzer nor AddressSanitizer, hence this rather than coverage guidance. The same seed
// gives the same run.
//
// Usage: fuzz_gn_unwrap iterations seed [capture.pcap ...]
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "dot11p.h"
#include "geonet.h"
#include "gn_unwrap.h"
#include "test_util.h"
#define MAX_FRAME 2048 // within the guard page's one page, and above any 802.11 frame
static uint8_t **s_seeds;
static int *s_seed_len;
static int s_nseeds;
static int s_seed_cap;
static void add_seed(const uint8_t *f, int len)
{
if (len <= 0 || len > MAX_FRAME) {
return;
}
if (s_nseeds == s_seed_cap) {
s_seed_cap = s_seed_cap ? 2 * s_seed_cap : 1024;
s_seeds = realloc(s_seeds, (size_t)s_seed_cap * sizeof *s_seeds);
s_seed_len = realloc(s_seed_len, (size_t)s_seed_cap * sizeof *s_seed_len);
if (!s_seeds || !s_seed_len) {
fprintf(stderr, "out of memory\n");
exit(2);
}
}
s_seeds[s_nseeds] = malloc((size_t)len);
if (!s_seeds[s_nseeds]) {
fprintf(stderr, "out of memory\n");
exit(2);
}
memcpy(s_seeds[s_nseeds], f, (size_t)len);
s_seed_len[s_nseeds++] = len;
}
static void on_frame(const uint8_t *f, int len, int index, void *ctx)
{
(void)index;
(void)ctx;
add_seed(f, len);
}
static void add_own_seeds(void)
{
static const uint8_t cam[] = {0x02, 0x02, 0x00, 0x0f, 0x42, 0x3f, 0x37, 0x00, 0x40, 0x2a, 0xb2};
gn_lpv_t lpv;
memset(&lpv, 0, sizeof lpv);
lpv.mac[0] = 0x02;
lpv.station_type = 2;
uint8_t gn[256];
uint8_t f[512];
const int gn_len = geonet_wrap_shb(cam, (int)sizeof cam, &lpv, 2001, gn, sizeof gn);
for (int qos = 0; qos <= 1; qos++) {
add_seed(f, dot11p_build_frame(gn, gn_len, lpv.mac, f, sizeof f, qos));
}
}
static uint64_t s_rng;
static uint64_t rnd(void)
{
s_rng ^= s_rng << 13;
s_rng ^= s_rng >> 7;
s_rng ^= s_rng << 17;
return s_rng;
}
static int below(int n)
{
return n <= 0 ? 0 : (int)(rnd() % (uint64_t)n);
}
// Three times in four inside the headers, otherwise anywhere.
static int pick_pos(int len)
{
return below(4) ? below(len < 128 ? len : 128) : below(len);
}
static const uint8_t k_bytes[] = {0x00, 0x01, 0x02, 0x03, 0x05, 0x10, 0x12, 0x20,
0x40, 0x50, 0x7F, 0x80, 0x81, 0x82, 0x83, 0xFF};
static const uint16_t k_words[] = {0x0000, 0x0001, 0x0003, 0x0004, 0x0005, 0x007F,
0x0080, 0x00FF, 0x0100, 0x7FFF, 0x8000, 0xFFFF};
static void mutate(uint8_t *b, int *len)
{
const int edits = 1 + below(4);
for (int e = 0; e < edits; e++) {
const int n = *len;
switch (below(8)) {
case 0: // flip a bit
if (n) {
b[pick_pos(n)] ^= (uint8_t)(1u << below(8));
}
break;
case 1: // random byte
if (n) {
b[pick_pos(n)] = (uint8_t)rnd();
}
break;
case 2: // boundary byte
if (n) {
b[pick_pos(n)] = k_bytes[below((int)sizeof k_bytes)];
}
break;
case 3: // truncate
*len = below(n + 1);
break;
case 4: { // append
const int add = 1 + below(16);
if (n + add <= MAX_FRAME) {
for (int i = 0; i < add; i++) {
b[n + i] = (uint8_t)rnd();
}
*len = n + add;
}
break;
}
case 5: // insert a byte
if (n < MAX_FRAME) {
const int p = below(n + 1);
memmove(b + p + 1, b + p, (size_t)(n - p));
b[p] = (uint8_t)rnd();
*len = n + 1;
}
break;
case 6: // delete a byte
if (n) {
const int p = below(n);
memmove(b + p, b + p + 1, (size_t)(n - p - 1));
*len = n - 1;
}
break;
default: // boundary 16-bit big-endian value, e.g. a length field
if (n >= 2) {
const int p = pick_pos(n - 1);
const uint16_t v = k_words[below((int)(sizeof k_words / sizeof k_words[0]))];
b[p] = (uint8_t)(v >> 8);
b[p + 1] = (uint8_t)v;
}
break;
}
}
}
int main(int argc, char **argv)
{
if (argc < 3) {
fprintf(stderr, "usage: fuzz_gn_unwrap iterations seed [capture.pcap ...]\n");
return 2;
}
const unsigned long long iterations = strtoull(argv[1], NULL, 10);
s_rng = (strtoull(argv[2], NULL, 10) * 0x9E3779B97F4A7C15ull) | 1;
tu_install_crash_handler();
tu_guard_init();
for (int i = 3; i < argc; i++) {
if (tu_pcap_foreach(argv[i], on_frame, NULL) < 0) {
fprintf(stderr, "cannot read %s as a pcap\n", argv[i]);
return 2;
}
}
add_own_seeds();
static uint8_t buf[MAX_FRAME];
int len = 0;
tu_set_crash_input(buf, &len);
unsigned long long accepted = 0, signed_frames = 0, truncated = 0;
for (unsigned long long it = 0; it < iterations; it++) {
const int s = below(s_nseeds);
len = s_seed_len[s];
memcpy(buf, s_seeds[s], (size_t)len);
mutate(buf, &len);
tu_set_context("fuzz iteration %llu (seed %s), mutated from seed frame %d", it, argv[2], s);
const uint8_t *g = tu_guarded(buf, len);
gn_rx_t rx;
if (gn_unwrap_its(g, len, &rx)) {
accepted++;
signed_frames += rx.signed_unverified;
truncated += rx.truncated;
const uintptr_t lo = (uintptr_t)g;
const uintptr_t p = (uintptr_t)rx.payload;
if (p < lo || rx.payload_len <= 0 || p + (uintptr_t)rx.payload_len > lo + (uintptr_t)len) {
fprintf(stderr, "FAIL during %s: accepted payload lies outside the input\ninput (%d bytes): ",
tu_context(), len);
for (int i = 0; i < len; i++) {
fprintf(stderr, "%02x", buf[i]);
}
fputc('\n', stderr);
return 1;
}
}
}
printf("fuzz_gn_unwrap: %llu iterations from %d seed frames, %llu accepted (%llu signed, "
"%llu truncated), no crash\n",
iterations, s_nseeds, accepted, signed_frames, truncated);
return 0;
}
obu-firmware/test/host/test_chain.c
+730
View File
@@ -0,0 +1,730 @@
// Host-side chain test for obu-firmware. See README.md in this folder.
//
// Builds frames with the firmware's own TX code (geonet_wrap_shb -> dot11p_build_frame) and parses
// them back with its own RX code (gn_unwrap_its), all compiled from ../../main unmodified.
//
// Two kinds of check, on purpose. The round trip proves TX and RX agree with each other. The byte
// checks at fixed offsets prove they agree with EN 302 636-4-1, and only those catch a mistake made
// the same way on both sides: the missing 4-byte SHB field (fixed 2026-08-13) round-tripped fine
// between two ESP32s and was wrong against every other station. So expected values here come from
// the standard, vanetza's serializers and real captures - never from reading geonet.c.
//
// Every frame handed to gn_unwrap_its is first copied so that its last byte sits right before a
// no-access page (test_util.c): reading even one byte past a frame crashes the test instead of
// passing quietly. MinGW has no AddressSanitizer; this covers what matters for a radio parser.
//
// Usage: test_chain [out.pcap]
// With a path, also writes every test frame to a pcap (linktype 105, bare 802.11) so a second,
// independent parser can read them: ../pcap_gn_tally.py, or Wireshark. The GeoBroadcast and
// signed frames carry stub payloads/signatures; their headers are real.
#include <stdarg.h>
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "dot11p.h"
#include "geonet.h"
#include "gn_unwrap.h"
#include "serial_link.h" // SERIAL_LINK_MAX_PAYLOAD only; serial_link.c itself needs ESP-IDF
#include "test_util.h"
// Same buffer sizes as tx_radio_task in main.c. Keep them in step with it.
#define GN_BUF_LEN (SERIAL_LINK_MAX_PAYLOAD + 64)
#define FRAME_BUF_LEN (SERIAL_LINK_MAX_PAYLOAD + 192)
// ---- Checks ---------------------------------------------------------------------------------
static int s_checks;
static int s_failures;
static void check(bool ok, int line, const char *fmt, ...)
{
s_checks++;
if (ok) {
return;
}
s_failures++;
va_list ap;
va_start(ap, fmt);
fprintf(stderr, "FAIL line %d [%s]: ", line, tu_context());
vfprintf(stderr, fmt, ap);
fputc('\n', stderr);
va_end(ap);
}
#define CHECK(cond, ...) check((cond), __LINE__, __VA_ARGS__)
// ---- Test data ------------------------------------------------------------------------------
static uint16_t rd16(const uint8_t *p)
{
return (uint16_t)((p[0] << 8) | p[1]);
}
static uint32_t rd32(const uint8_t *p)
{
return ((uint32_t)p[0] << 24) | ((uint32_t)p[1] << 16) | ((uint32_t)p[2] << 8) | p[3];
}
// The app's reference CAM: the expected bytes of CamEncodeGoldenTest.kt (stationID 999999), which
// asn1tools decodes and re-encodes byte-identically. The chain treats it as opaque bytes. Not taken
// from the old captures on purpose: our own CAMs there predate the 2026-08-20 yawRateConfidence fix
// and do not decode.
static const uint8_t k_cam[] = {
0x02, 0x02, 0x00, 0x0f, 0x42, 0x3f, 0x37, 0x00, 0x40, 0x2a, 0xb2, 0x15, 0xaf, 0x6e, 0x28, 0x64,
0x77, 0xdf, 0xff, 0xff, 0xfc, 0x23, 0xb7, 0x74, 0x3e, 0x00, 0x27, 0xff, 0xc0, 0xd0, 0xfe, 0x01,
0x18, 0x32, 0x93, 0x37, 0xfe, 0xeb, 0xff, 0xf6, 0x00, 0x00, 0x00,
};
#define CAM_LEN ((int)sizeof k_cam)
static const uint8_t k_mac[6] = {0x02, 0x11, 0x22, 0x33, 0x44, 0x55};
static const uint8_t k_bcast[6] = {0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
static const uint8_t k_llc_snap_gn[8] = {0xAA, 0xAA, 0x03, 0x00, 0x00, 0x00, 0x89, 0x47};
// The 8 bytes that follow the 802.11 frame in every frame recorded through the ESP32-C5's
// promiscuous RX (these from capture_20260817_171055.pcap). See gn_unwrap.h, "Payload bounds".
static const uint8_t k_rx_trailer[8] = {0xc8, 0x01, 0x00, 0x00, 0x88, 0x00, 0x00, 0x00};
// Header lengths from EN 302 636-4-1 / IEEE 802.11, used to compute every offset below.
enum {
MAC_HDR = 24, QOS_CTRL = 2, LLC_SNAP = 8, GN_BASIC = 4, GN_COMMON = 8,
SHB_EXT = 28, // Source Position Vector (24) + DCC-MCO / reserved (4)
GBC_EXT = 44, // SN (2) + reserved (2) + SO PV (24) + area (12) + reserved (4)
BTP_B = 4,
GN_COMMON_PAYLOAD_LEN_FIELD = 4, // offset of the payload-length field in the Common Header
};
// Where the ITS payload starts in a non-QoS SHB frame.
#define SHB_PAYLOAD_OFFSET (MAC_HDR + LLC_SNAP + GN_BASIC + GN_COMMON + SHB_EXT + BTP_B)
static gn_lpv_t test_lpv(void)
{
gn_lpv_t lpv;
memset(&lpv, 0, sizeof lpv);
memcpy(lpv.mac, k_mac, sizeof lpv.mac);
lpv.station_type = 2; // cyclist
lpv.pai = true;
lpv.tst_ms = 0x89ABCDEFu;
lpv.lat_tenmicrodeg = 535546667; // the bench, 53.5546667 N
lpv.lon_tenmicrodeg = -10022389; // negative on purpose: the sign has to survive
lpv.speed_cms = 1234;
lpv.heading_decideg = 2700;
return lpv;
}
// The TX path exactly as tx_radio_task runs it. Returns the frame length, or <= 0 on failure.
static int build(const uint8_t *payload, int len, const gn_lpv_t *lpv, uint16_t port, bool qos,
uint8_t *frame, size_t frame_size)
{
static uint8_t gn[GN_BUF_LEN];
int gn_len = geonet_wrap_shb(payload, len, lpv, port, gn, sizeof gn);
if (gn_len <= 0) {
return gn_len;
}
return dot11p_build_frame(gn, gn_len, lpv->mac, frame, frame_size, qos);
}
// Every prefix of a frame, each ending against the guard page. Up to the end of the BTP-B header
// nothing may be accepted; a frame cut inside the payload is accepted as truncated with what
// arrived; from `payload_end` on, the payload is exactly the declared one whatever follows it.
static void sweep(const char *name, const uint8_t *f, int len, int payload_start, int payload_end)
{
for (int n = 0; n <= len; n++) {
tu_set_context("truncation sweep, %s, %d of %d bytes", name, n, len);
const uint8_t *g = tu_guarded(f, n);
gn_rx_t rx;
const bool ok = gn_unwrap_its(g, n, &rx);
if (n <= payload_start) {
CHECK(!ok, "%s cut to %d bytes was accepted", name, n);
} else if (n < payload_end) {
CHECK(ok && rx.truncated && rx.payload == g + payload_start &&
rx.payload_len == n - payload_start,
"%s cut to %d bytes: ok=%d truncated=%d payload_len=%d", name, n, ok,
ok && rx.truncated, ok ? rx.payload_len : -1);
} else {
CHECK(ok && !rx.truncated && rx.payload == g + payload_start &&
rx.payload_len == payload_end - payload_start,
"%s at %d bytes: ok=%d truncated=%d payload_len=%d", name, n, ok,
ok && rx.truncated, ok ? rx.payload_len : -1);
}
}
}
// ---- SHB: layout, position vector, bounds ---------------------------------------------------
// Every byte of a CAM frame against the standard, then back through the RX path.
static void test_shb_layout(bool qos)
{
tu_set_context("SHB layout, qos=%d", qos);
const gn_lpv_t lpv = test_lpv();
uint8_t f[FRAME_BUF_LEN];
const int len = build(k_cam, CAM_LEN, &lpv, 2001, qos, f, sizeof f);
const int llc = MAC_HDR + (qos ? QOS_CTRL : 0);
const int basic = llc + LLC_SNAP;
const int common = basic + GN_BASIC;
const int shb = common + GN_COMMON;
const int btp = shb + SHB_EXT;
const int pay = btp + BTP_B;
CHECK(len == pay + CAM_LEN, "frame length %d, expected %d", len, pay + CAM_LEN);
if (len != pay + CAM_LEN) {
return;
}
// 802.11 MAC header
CHECK(f[0] == (qos ? 0x88 : 0x08) && f[1] == 0x00, "frame control %02x %02x", f[0], f[1]);
CHECK(memcmp(f + 4, k_bcast, 6) == 0, "addr1 must be broadcast");
CHECK(memcmp(f + 10, k_mac, 6) == 0, "addr2 must be the pseudonym");
CHECK(memcmp(f + 16, k_bcast, 6) == 0, "addr3 (BSSID) must be the OCB wildcard");
if (qos) {
CHECK(f[24] == 0 && f[25] == 0, "QoS control %02x %02x", f[24], f[25]);
}
CHECK(memcmp(f + llc, k_llc_snap_gn, 8) == 0, "LLC/SNAP with EtherType 0x8947");
// GN Basic Header
CHECK(f[basic + 0] == 0x11, "basic: version 1 + NextHeader 1 (Common, unsecured), got %02x",
f[basic + 0]);
CHECK(f[basic + 1] == 0x00, "basic: reserved, got %02x", f[basic + 1]);
// Multiplier 1 in the upper 6 bits, base 1 (= 1 s) in the lower 2: 1 s, what every real station
// in the recordings sends its CAMs with. Was 0x83 = 3200 s until 2026-09-11.
CHECK(f[basic + 2] == 0x05, "basic: lifetime 0x05 (1 s), got 0x%02x", f[basic + 2]);
CHECK(f[basic + 3] == 1, "basic: remaining hop limit 1, got %d", f[basic + 3]);
// GN Common Header
CHECK(f[common + 0] == 0x20, "common: NextHeader 2 (BTP-B), got %02x", f[common + 0]);
CHECK(f[common + 1] == 0x50, "common: HeaderType 5 (TSB) / subtype 0 (single hop), got %02x",
f[common + 1]);
CHECK(f[common + 2] == 0x02, "common: traffic class TC-ID 2 (DP2, CAM), got %02x", f[common + 2]);
CHECK(f[common + 3] == 0x80, "common: flags = mobile, got %02x", f[common + 3]);
CHECK(rd16(f + common + 4) == BTP_B + CAM_LEN,
"common: payload length must count BTP-B + payload only, got %d", rd16(f + common + 4));
CHECK(f[common + 6] == 1, "common: maximum hop limit 1, got %d", f[common + 6]);
CHECK(f[common + 7] == 0, "common: reserved, got %02x", f[common + 7]);
// SHB extended header: Source Position Vector, then 4 bytes DCC-MCO / reserved
// GN_ADDR: M flag bit 15, station type bits 14..10 (vanetza geonet/address.cpp), MID.
CHECK(rd16(f + shb) == (2u << 10), "GN_ADDR: M=0, station type 2, got %04x", rd16(f + shb));
CHECK(memcmp(f + shb + 2, k_mac, 6) == 0, "GN_ADDR MID must equal the 802.11 source address");
CHECK(rd32(f + shb + 8) == 0x89ABCDEFu, "TST, got %08lx", (unsigned long)rd32(f + shb + 8));
CHECK((int32_t)rd32(f + shb + 12) == 535546667, "latitude, got %ld",
(long)(int32_t)rd32(f + shb + 12));
CHECK((int32_t)rd32(f + shb + 16) == -10022389, "longitude, got %ld",
(long)(int32_t)rd32(f + shb + 16));
CHECK(rd16(f + shb + 20) == (0x8000 | 1234), "PAI bit 15 + speed 1234, got %04x",
rd16(f + shb + 20));
CHECK(rd16(f + shb + 22) == 2700, "heading, got %d", rd16(f + shb + 22));
CHECK(rd32(f + shb + 24) == 0, "DCC-MCO / reserved: present and zero, got %08lx",
(unsigned long)rd32(f + shb + 24));
// BTP-B, payload
CHECK(rd16(f + btp) == 2001, "BTP-B destination port, got %d", rd16(f + btp));
CHECK(rd16(f + btp + 2) == 0, "BTP-B destination port info, got %d", rd16(f + btp + 2));
CHECK(memcmp(f + pay, k_cam, (size_t)CAM_LEN) == 0, "payload bytes");
// ...and back through the RX path
const uint8_t *g = tu_guarded(f, len);
gn_rx_t rx;
const bool ok = gn_unwrap_its(g, len, &rx);
CHECK(ok, "gn_unwrap_its rejected our own frame");
if (ok) {
CHECK(rx.btp_dest_port == 2001, "RX port %d", rx.btp_dest_port);
CHECK(!rx.has_geo_area, "RX reports a geo area for an SHB frame");
CHECK(!rx.signed_unverified, "RX reports an unsecured frame as signed");
CHECK(!rx.truncated, "RX reports a whole frame as truncated");
CHECK(rx.payload == g + pay, "RX payload offset %d, expected %d", (int)(rx.payload - g), pay);
CHECK(rx.payload_len == CAM_LEN, "RX payload length %d, expected %d", rx.payload_len, CAM_LEN);
CHECK(rx.payload_len == CAM_LEN && memcmp(rx.payload, k_cam, (size_t)CAM_LEN) == 0,
"RX payload bytes differ from what was sent");
}
tu_pcap_add(f, len);
}
// The Source Position Vector's packed fields at their edges.
static void test_pv_encoding(void)
{
// Offsets inside the GeoNetworking packet (no 802.11 header): SO PV starts after Basic + Common.
const int pv = GN_BASIC + GN_COMMON;
uint8_t gn[GN_BUF_LEN];
// Speed is 15-bit signed (geonet.h), clamped rather than wrapped; PAI is bit 15.
static const struct { int16_t speed; bool pai; uint16_t expect; } speeds[] = {
{0, false, 0x0000}, {1234, true, 0x84D2}, {16383, false, 0x3FFF},
{16384, false, 0x3FFF}, {32767, false, 0x3FFF}, {-100, false, 0x7F9C},
{-16384, false, 0x4000}, {-32768, true, 0xC000},
};
for (size_t i = 0; i < sizeof speeds / sizeof speeds[0]; i++) {
tu_set_context("PV speed %d pai %d", speeds[i].speed, speeds[i].pai);
gn_lpv_t lpv = test_lpv();
lpv.speed_cms = speeds[i].speed;
lpv.pai = speeds[i].pai;
const int n = geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, gn, sizeof gn);
CHECK(n > 0 && rd16(gn + pv + 20) == speeds[i].expect, "speed %d pai %d: got %04x, expected %04x",
speeds[i].speed, speeds[i].pai, rd16(gn + pv + 20), speeds[i].expect);
}
// Heading is 0..3599 tenths of a degree, wrapped.
static const struct { uint16_t in, expect; } headings[] = {
{0, 0}, {2700, 2700}, {3599, 3599}, {3600, 0}, {3601, 1}, {65535, 735},
};
for (size_t i = 0; i < sizeof headings / sizeof headings[0]; i++) {
tu_set_context("PV heading %d", headings[i].in);
gn_lpv_t lpv = test_lpv();
lpv.heading_decideg = headings[i].in;
const int n = geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, gn, sizeof gn);
CHECK(n > 0 && rd16(gn + pv + 22) == headings[i].expect, "heading %d: got %d, expected %d",
headings[i].in, rd16(gn + pv + 22), headings[i].expect);
}
// Station type has 5 bits; anything larger must not spill into the M flag.
static const struct { uint8_t in; uint16_t expect; } types[] = {
{2, 0x0800}, {15, 0x3C00}, {0xFF, 0x7C00},
};
for (size_t i = 0; i < sizeof types / sizeof types[0]; i++) {
tu_set_context("PV station type %d", types[i].in);
gn_lpv_t lpv = test_lpv();
lpv.station_type = types[i].in;
const int n = geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, gn, sizeof gn);
CHECK(n > 0 && rd16(gn + pv) == types[i].expect, "station type %d: GN_ADDR %04x, expected %04x",
types[i].in, rd16(gn + pv), types[i].expect);
}
}
// Output buffers: an exact fit works and writes nothing past its end; one byte less is refused.
static void test_bounds(void)
{
const gn_lpv_t lpv = test_lpv();
const int gn_len = GN_BASIC + GN_COMMON + SHB_EXT + BTP_B + CAM_LEN;
tu_set_context("geonet_wrap_shb bounds");
CHECK(geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, tu_guard_buf(gn_len), (size_t)gn_len) == gn_len,
"geonet_wrap_shb: exact-size buffer must fit");
CHECK(geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, tu_guard_buf(gn_len - 1), (size_t)gn_len - 1) == -1,
"geonet_wrap_shb: one byte short must be refused");
uint8_t gn[GN_BUF_LEN];
geonet_wrap_shb(k_cam, CAM_LEN, &lpv, 2001, gn, sizeof gn);
for (int qos = 0; qos <= 1; qos++) {
tu_set_context("dot11p_build_frame bounds, qos=%d", qos);
const int frame_len = MAC_HDR + (qos ? QOS_CTRL : 0) + LLC_SNAP + gn_len;
CHECK(dot11p_build_frame(gn, gn_len, k_mac, tu_guard_buf(frame_len), (size_t)frame_len, qos) ==
frame_len,
"dot11p_build_frame qos=%d: exact-size buffer must fit", qos);
CHECK(dot11p_build_frame(gn, gn_len, k_mac, tu_guard_buf(frame_len - 1), (size_t)frame_len - 1,
qos) == -1,
"dot11p_build_frame qos=%d: one byte short must be refused", qos);
}
}
// The largest CAM the serial link can carry must survive the whole chain in main.c's buffers.
static void test_max_payload(void)
{
static uint8_t big[SERIAL_LINK_MAX_PAYLOAD];
for (int i = 0; i < SERIAL_LINK_MAX_PAYLOAD; i++) {
big[i] = (uint8_t)(i * 7 + 3);
}
for (int qos = 0; qos <= 1; qos++) {
tu_set_context("max payload %d, qos=%d", SERIAL_LINK_MAX_PAYLOAD, qos);
const gn_lpv_t lpv = test_lpv();
uint8_t f[FRAME_BUF_LEN];
const int hdr = MAC_HDR + (qos ? QOS_CTRL : 0) + LLC_SNAP + GN_BASIC + GN_COMMON + SHB_EXT + BTP_B;
const int len = build(big, SERIAL_LINK_MAX_PAYLOAD, &lpv, 2001, qos, f, sizeof f);
CHECK(len == hdr + SERIAL_LINK_MAX_PAYLOAD, "qos=%d: frame length %d, expected %d", qos, len,
hdr + SERIAL_LINK_MAX_PAYLOAD);
if (len <= 0) {
continue;
}
gn_rx_t rx;
const uint8_t *g = tu_guarded(f, len);
const bool ok = gn_unwrap_its(g, len, &rx);
CHECK(ok && !rx.truncated && rx.payload_len == SERIAL_LINK_MAX_PAYLOAD &&
memcmp(rx.payload, big, SERIAL_LINK_MAX_PAYLOAD) == 0,
"qos=%d: max-size payload did not round-trip", qos);
tu_pcap_add(f, len);
}
}
// ---- GeoBroadcast ---------------------------------------------------------------------------
// A GeoBroadcast DENM frame laid out by hand from EN 302 636-4-1 clause 9.8.5, since the firmware
// has no GBC builder and real RSUs send DENM this way. QoS Data, lifetime 0x79 (30 s) and the
// 44-byte extended header all as seen from the CiT One in the recordings.
static const uint8_t k_rsu_mac[6] = {0x02, 0xAA, 0xBB, 0xCC, 0xDD, 0xEE};
static const uint8_t k_denm_stub[] = {0x02, 0x01, 0x00, 0x00, 0x30, 0x39, 0xDE, 0xAD, 0xBE,
0xEF, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
#define DENM_STUB_LEN ((int)sizeof k_denm_stub)
#define GBC_PAYLOAD_OFFSET (MAC_HDR + QOS_CTRL + LLC_SNAP + GN_BASIC + GN_COMMON + GBC_EXT + BTP_B)
static uint8_t *put(uint8_t *p, const void *src, int n)
{
memcpy(p, src, (size_t)n);
return p + n;
}
static uint8_t *put16(uint8_t *p, uint16_t v)
{
*p++ = (uint8_t)(v >> 8);
*p++ = (uint8_t)v;
return p;
}
static uint8_t *put32(uint8_t *p, uint32_t v)
{
p = put16(p, (uint16_t)(v >> 16));
return put16(p, (uint16_t)v);
}
static int build_gbc(uint8_t subtype, int32_t area_lat, int32_t area_lon, uint16_t dist_a, uint8_t *f)
{
uint8_t *p = f;
// 802.11 QoS Data: FC, duration, addr1..3, sequence control, QoS control
p = put16(p, 0x8800);
p = put16(p, 0);
p = put(p, k_bcast, 6);
p = put(p, k_rsu_mac, 6);
p = put(p, k_bcast, 6);
p = put16(p, 0x1000);
p = put16(p, 0);
p = put(p, k_llc_snap_gn, 8);
// Basic: version 1 / NH common, reserved, lifetime 30 s, RHL 10
const uint8_t basic[4] = {0x11, 0x00, 0x79, 10};
p = put(p, basic, 4);
// Common: NH BTP-B, HT 4 (GBC) / subtype = area shape, TC 1, flags 0 (stationary), PL, MHL, reserved
const uint8_t common[4] = {0x20, (uint8_t)(0x40 | subtype), 0x01, 0x00};
p = put(p, common, 4);
p = put16(p, (uint16_t)(BTP_B + DENM_STUB_LEN));
*p++ = 10;
*p++ = 0;
// GBC extended header: SN, reserved, SO PV (GN_ADDR with station type 15 = RSU, MID, TST, lat,
// lon, PAI/speed, heading), area centre lat/lon, DistanceA, DistanceB, angle, reserved
p = put16(p, 0x1234);
p = put16(p, 0);
p = put16(p, 15u << 10);
p = put(p, k_rsu_mac, 6);
p = put32(p, 1000);
p = put32(p, 535540100);
p = put32(p, 100220100);
p = put16(p, 0);
p = put16(p, 0);
p = put32(p, (uint32_t)area_lat);
p = put32(p, (uint32_t)area_lon);
p = put16(p, dist_a);
p = put16(p, subtype ? 40 : 0);
p = put16(p, subtype ? 900 : 0);
p = put16(p, 0);
// BTP-B: DENM
p = put16(p, 2002);
p = put16(p, 0);
p = put(p, k_denm_stub, DENM_STUB_LEN);
return (int)(p - f);
}
static void test_gbc_rx(void)
{
static const struct { uint8_t subtype; int32_t lat, lon; uint16_t dist_a; } areas[] = {
{0, 535540000, 100220000, 250}, // circle around the bench
{1, -338600000, 1512100000, 1000}, // rectangle; southern and far-eastern: signs and range
{2, 535540000, -100220000, 65535}, // ellipse; western, largest DistanceA
};
for (size_t i = 0; i < sizeof areas / sizeof areas[0]; i++) {
tu_set_context("GBC subtype %d", areas[i].subtype);
uint8_t f[256];
const int len = build_gbc(areas[i].subtype, areas[i].lat, areas[i].lon, areas[i].dist_a, f);
CHECK(len == GBC_PAYLOAD_OFFSET + DENM_STUB_LEN, "GBC frame length %d", len);
gn_rx_t rx;
const uint8_t *g = tu_guarded(f, len);
const bool ok = gn_unwrap_its(g, len, &rx);
CHECK(ok, "GBC subtype %d rejected", areas[i].subtype);
if (ok) {
CHECK(rx.btp_dest_port == 2002, "GBC port %d", rx.btp_dest_port);
CHECK(rx.has_geo_area, "GBC area missing");
CHECK(!rx.signed_unverified && !rx.truncated, "GBC flags signed=%d truncated=%d",
rx.signed_unverified, rx.truncated);
CHECK(rx.geo_area_lat_tenmicrodeg == areas[i].lat, "area lat %ld, expected %ld",
(long)rx.geo_area_lat_tenmicrodeg, (long)areas[i].lat);
CHECK(rx.geo_area_lon_tenmicrodeg == areas[i].lon, "area lon %ld, expected %ld",
(long)rx.geo_area_lon_tenmicrodeg, (long)areas[i].lon);
CHECK(rx.geo_area_distance_a_m == areas[i].dist_a, "DistanceA %d, expected %d",
rx.geo_area_distance_a_m, areas[i].dist_a);
CHECK(rx.payload == g + GBC_PAYLOAD_OFFSET && rx.payload_len == DENM_STUB_LEN &&
memcmp(rx.payload, k_denm_stub, (size_t)DENM_STUB_LEN) == 0,
"GBC payload offset %d length %d", (int)(rx.payload - g), rx.payload_len);
}
tu_pcap_add(f, len);
}
}
// ---- What gets rejected, and where the payload ends -----------------------------------------
// One-byte changes to a good CAM frame: what must be dropped, and what must still pass.
static void test_rejections(void)
{
const gn_lpv_t lpv = test_lpv();
uint8_t good[FRAME_BUF_LEN];
const int len = build(k_cam, CAM_LEN, &lpv, 2001, false, good, sizeof good);
// Offsets into that non-QoS frame: 802.11 0, LLC/SNAP 24, Basic 32, Common 36, SHB 44, BTP-B 72.
static const struct {
const char *what;
int offset;
uint8_t value;
bool accept;
uint16_t port;
} cases[] = {
{"management frame (beacon)", 0, 0x80, false, 0},
{"WDS (ToDS and FromDS)", 1, 0x03, false, 0},
{"LLC DSAP not 0xAA", 24, 0xAB, false, 0},
{"EtherType not 0x8947", 30, 0x08, false, 0},
{"Basic NextHeader 2 with no security envelope", 32, 0x12, false, 0},
{"Basic NextHeader 0 (any)", 32, 0x10, false, 0},
{"Common NextHeader 1 (BTP-A)", 36, 0x10, false, 0},
{"Beacon (HeaderType 1)", 37, 0x10, false, 0},
{"GeoUnicast (HeaderType 2)", 37, 0x20, false, 0},
{"multi-hop TSB (HeaderType 5, subtype 1)", 37, 0x51, false, 0},
{"BTP port 2003 (MAPEM, not accepted yet)", 73, 0xD3, false, 0},
{"BTP port 2018 (VAM, not accepted yet)", 73, 0xE2, false, 0},
{"BTP port 2002 (DENM)", 73, 0xD2, true, 2002},
{"BTP port 2004 (SPATEM)", 73, 0xD4, true, 2004},
};
for (size_t i = 0; i < sizeof cases / sizeof cases[0]; i++) {
tu_set_context("mutation: %s", cases[i].what);
uint8_t f[FRAME_BUF_LEN];
memcpy(f, good, (size_t)len);
f[cases[i].offset] = cases[i].value;
gn_rx_t rx;
const bool ok = gn_unwrap_its(tu_guarded(f, len), len, &rx);
CHECK(ok == cases[i].accept, "%s: %s", cases[i].what, ok ? "accepted" : "rejected");
if (ok && cases[i].accept) {
CHECK(rx.btp_dest_port == cases[i].port, "%s: port %d", cases[i].what, rx.btp_dest_port);
}
}
}
// The Common Header's payload length, not the end of the frame, decides where the message stops.
static void test_payload_length(void)
{
const gn_lpv_t lpv = test_lpv();
uint8_t good[FRAME_BUF_LEN];
const int len = build(k_cam, CAM_LEN, &lpv, 2001, false, good, sizeof good);
const int pl = MAC_HDR + LLC_SNAP + GN_BASIC + GN_COMMON_PAYLOAD_LEN_FIELD;
static const struct { const char *what; uint16_t value; bool accept; bool truncated; int payload_len; }
cases[] = {
{"one byte less than sent", BTP_B + CAM_LEN - 1, true, false, CAM_LEN - 1},
{"BTP-B header only, no payload", BTP_B, false, false, 0},
{"shorter than the BTP-B header", BTP_B - 1, false, false, 0},
{"zero", 0, false, false, 0},
{"far more than arrived", 0xFFFF, true, true, CAM_LEN},
};
for (size_t i = 0; i < sizeof cases / sizeof cases[0]; i++) {
tu_set_context("Common payload length: %s", cases[i].what);
uint8_t f[FRAME_BUF_LEN];
memcpy(f, good, (size_t)len);
f[pl] = (uint8_t)(cases[i].value >> 8);
f[pl + 1] = (uint8_t)cases[i].value;
gn_rx_t rx;
const uint8_t *g = tu_guarded(f, len);
const bool ok = gn_unwrap_its(g, len, &rx);
CHECK(ok == cases[i].accept, "%s: %s", cases[i].what, ok ? "accepted" : "rejected");
if (ok && cases[i].accept) {
CHECK(rx.truncated == cases[i].truncated && rx.payload == g + SHB_PAYLOAD_OFFSET &&
rx.payload_len == cases[i].payload_len,
"%s: truncated=%d payload_len=%d", cases[i].what, rx.truncated, rx.payload_len);
}
}
}
// The 8 bytes the chip's promiscuous RX appends to every frame must not reach the phone.
static void test_trailer(void)
{
uint8_t f[FRAME_BUF_LEN];
for (int qos = 0; qos <= 1; qos++) {
tu_set_context("RX trailer after an SHB frame, qos=%d", qos);
const gn_lpv_t lpv = test_lpv();
const int len = build(k_cam, CAM_LEN, &lpv, 2001, qos, f, sizeof f);
memcpy(f + len, k_rx_trailer, sizeof k_rx_trailer);
gn_rx_t rx;
const bool ok = gn_unwrap_its(tu_guarded(f, len + 8), len + 8, &rx);
CHECK(ok && !rx.truncated && rx.payload_len == CAM_LEN &&
memcmp(rx.payload, k_cam, (size_t)CAM_LEN) == 0,
"qos=%d: payload_len %d with the trailer, expected %d", qos, ok ? rx.payload_len : -1,
CAM_LEN);
}
tu_set_context("RX trailer after a GBC frame");
const int len = build_gbc(0, 535540000, 100220000, 250, f);
memcpy(f + len, k_rx_trailer, sizeof k_rx_trailer);
gn_rx_t rx;
const bool ok = gn_unwrap_its(tu_guarded(f, len + 8), len + 8, &rx);
CHECK(ok && !rx.truncated && rx.payload_len == DENM_STUB_LEN,
"GBC: payload_len %d with the trailer, expected %d", ok ? rx.payload_len : -1, DENM_STUB_LEN);
}
// ---- Secured (TS 103 097) -------------------------------------------------------------------
// Stand-in for what follows the inner packet in a real signed frame: headerInfo, signer and
// signature, 94 bytes with a digest signer. Its content is never read.
#define SIG_STUB_LEN 94
static int put_coer_length(int len, uint8_t *out)
{
if (len < 0x80) {
out[0] = (uint8_t)len;
return 1;
}
if (len <= 0xFF) {
out[0] = 0x81;
out[1] = (uint8_t)len;
return 2;
}
out[0] = 0x82;
out[1] = (uint8_t)(len >> 8);
out[2] = (uint8_t)len;
return 3;
}
// A secured CAM frame shaped like the recorded ones: our own SHB packet with the Basic Header's
// NextHeader set to 2 and everything after the Basic Header wrapped as `prefix` + COER length +
// inner packet, then the signature stand-in. Sets where the ITS payload starts and ends.
static int build_secured(const uint8_t *prefix, int prefix_len, const uint8_t *payload,
int payload_len, uint8_t *f, int *payload_start, int *payload_end)
{
const gn_lpv_t lpv = test_lpv();
uint8_t plain[FRAME_BUF_LEN];
const int plain_len = build(payload, payload_len, &lpv, 2001, false, plain, sizeof plain);
const int basic = MAC_HDR + LLC_SNAP;
const int inner = basic + GN_BASIC; // the Common Header onward
const int inner_len = plain_len - inner;
int n = inner;
memcpy(f, plain, (size_t)inner);
f[basic] = (uint8_t)((f[basic] & 0xF0) | 2); // Basic Header NextHeader: secured
memcpy(f + n, prefix, (size_t)prefix_len);
n += prefix_len;
n += put_coer_length(inner_len, f + n);
memcpy(f + n, plain + inner, (size_t)inner_len);
*payload_start = n + GN_COMMON + SHB_EXT + BTP_B;
n += inner_len;
*payload_end = n;
for (int i = 0; i < SIG_STUB_LEN; i++) {
f[n++] = (uint8_t)(0xA5 ^ i);
}
return n;
}
static const uint8_t k_signed_prefix[] = {0x03, 0x81, 0x00, 0x40, 0x03, 0x80};
static const uint8_t k_unsecured_prefix[] = {0x03, 0x80};
static void test_secured(void)
{
static uint8_t big[300];
for (int i = 0; i < (int)sizeof big; i++) {
big[i] = (uint8_t)(i * 13 + 1);
}
static const struct { const char *what; bool is_signed; int payload_len; } cases[] = {
{"signed, short length form", true, CAM_LEN}, // inner packet 83 bytes
{"signed, 1-byte long length form", true, 100}, // 140
{"signed, 2-byte long length form", true, 300}, // 340
{"top-level unsecuredData", false, CAM_LEN},
};
for (size_t c = 0; c < sizeof cases / sizeof cases[0]; c++) {
tu_set_context("secured: %s", cases[c].what);
const uint8_t *payload = cases[c].payload_len == CAM_LEN ? k_cam : big;
uint8_t f[FRAME_BUF_LEN];
int start, end;
const int len = cases[c].is_signed
? build_secured(k_signed_prefix, (int)sizeof k_signed_prefix, payload,
cases[c].payload_len, f, &start, &end)
: build_secured(k_unsecured_prefix, (int)sizeof k_unsecured_prefix, payload,
cases[c].payload_len, f, &start, &end);
gn_rx_t rx;
const uint8_t *g = tu_guarded(f, len);
const bool ok = gn_unwrap_its(g, len, &rx);
CHECK(ok, "%s: rejected", cases[c].what);
if (ok) {
CHECK(rx.signed_unverified == cases[c].is_signed, "%s: signed_unverified %d",
cases[c].what, rx.signed_unverified);
CHECK(!rx.truncated && rx.btp_dest_port == 2001, "%s: truncated %d port %d",
cases[c].what, rx.truncated, rx.btp_dest_port);
CHECK(rx.payload == g + start && rx.payload_len == cases[c].payload_len &&
memcmp(rx.payload, payload, (size_t)cases[c].payload_len) == 0,
"%s: payload offset %d length %d, expected %d / %d", cases[c].what,
(int)(rx.payload - g), rx.payload_len, start, cases[c].payload_len);
}
tu_pcap_add(f, len);
sweep(cases[c].what, f, len, start, end);
}
// One-byte changes to the signed, short-form frame. `env` is where the envelope starts.
uint8_t good[FRAME_BUF_LEN];
int start, end;
const int len = build_secured(k_signed_prefix, (int)sizeof k_signed_prefix, k_cam, CAM_LEN,
good, &start, &end);
const int env = MAC_HDR + LLC_SNAP + GN_BASIC;
const int inner = env + (int)sizeof k_signed_prefix + 1; // + one length byte
static const struct { const char *what; int offset; uint8_t value; } bad[] = {
{"legacy envelope, protocolVersion 2", 0, 0x02},
{"encryptedData", 1, 0x82},
{"hashId not a one-byte value", 2, 0x80},
{"no data, only extDataHash (preamble 0x20)", 3, 0x20},
{"inner protocolVersion 2", 4, 0x02},
{"nested signedData", 5, 0x81},
{"length form with no length bytes (0x80)", 6, 0x80},
{"length form with 3 length bytes (0x83)", 6, 0x83},
{"envelope too short for the Common Header", 6, 0x05},
};
for (size_t i = 0; i < sizeof bad / sizeof bad[0]; i++) {
tu_set_context("secured mutation: %s", bad[i].what);
uint8_t f[FRAME_BUF_LEN];
memcpy(f, good, (size_t)len);
f[env + bad[i].offset] = bad[i].value;
gn_rx_t rx;
CHECK(!gn_unwrap_its(tu_guarded(f, len), len, &rx), "%s: accepted", bad[i].what);
}
tu_set_context("secured mutation: inner packet claims more than its envelope holds");
uint8_t f[FRAME_BUF_LEN];
memcpy(f, good, (size_t)len);
f[inner + GN_COMMON_PAYLOAD_LEN_FIELD + 1]++; // Common Header payload length, low byte
gn_rx_t rx;
CHECK(!gn_unwrap_its(tu_guarded(f, len), len, &rx), "payload overrunning its envelope: accepted");
}
static void test_truncation(void)
{
const gn_lpv_t lpv = test_lpv();
uint8_t f[FRAME_BUF_LEN];
for (int qos = 0; qos <= 1; qos++) {
const int len = build(k_cam, CAM_LEN, &lpv, 2001, qos, f, sizeof f);
const int start = MAC_HDR + (qos ? QOS_CTRL : 0) + LLC_SNAP + GN_BASIC + GN_COMMON + SHB_EXT + BTP_B;
sweep(qos ? "SHB QoS" : "SHB", f, len, start, len);
}
const int len = build_gbc(0, 535540000, 100220000, 250, f);
sweep("GBC", f, len, GBC_PAYLOAD_OFFSET, len);
}
int main(int argc, char **argv)
{
tu_install_crash_handler();
tu_guard_init();
if (argc > 1 && !tu_pcap_open(argv[1])) {
fprintf(stderr, "cannot write %s\n", argv[1]);
return 2;
}
test_shb_layout(false);
test_shb_layout(true);
test_pv_encoding();
test_bounds();
test_max_payload();
test_gbc_rx();
test_rejections();
test_payload_length();
test_trailer();
test_secured();
test_truncation();
tu_pcap_close();
printf("test_chain: %d checks, %d failed\n", s_checks, s_failures);
return s_failures ? 1 : 0;
}
obu-firmware/test/host/test_replay.c
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// Replays recorded air traffic through gn_unwrap_its, one pcap record at a time and exactly as the
// promiscuous RX callback hands each frame over (the recordings come through the same API), and
// writes what came out to a TSV that check_replay.py verifies independently. See README.md.
//
// Usage: test_replay out.tsv capture.pcap [capture.pcap ...]
//
// One row per pcap record:
// file, record, accepted, port, signed, truncated, area, area_lat, area_lon, area_dist, payload
// with everything after `accepted` empty for rejected frames and the payload in hex. Each frame
// is placed against the guard page, and an accepted payload that is not inside its frame is a
// failure here already.
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include "gn_unwrap.h"
#include "test_util.h"
// main.c's RX_FRAME_MAX_LEN: the promiscuous callback copies at most this many bytes of a frame,
// so it is the most gn_unwrap_its ever sees on the board. Keep in step with main.c.
#define RX_FRAME_MAX_LEN 800
typedef struct {
FILE *out;
const char *path;
long records, capped, accepted, cam, denm, spatem, signed_frames, truncated, bad;
} replay_t;
static void on_frame(const uint8_t *frame, int len, int index, void *ctx)
{
replay_t *r = ctx;
r->records++;
if (len > RX_FRAME_MAX_LEN) {
len = RX_FRAME_MAX_LEN;
r->capped++;
}
tu_set_context("replay %s record %d (%d bytes)", r->path, index, len);
const uint8_t *g = tu_guarded(frame, len);
gn_rx_t rx;
const bool ok = gn_unwrap_its(g, len, &rx);
fprintf(r->out, "%s\t%d\t%d", r->path, index, ok);
if (ok) {
const uintptr_t lo = (uintptr_t)g;
const uintptr_t p = (uintptr_t)rx.payload;
if (p < lo || rx.payload_len <= 0 || p + (uintptr_t)rx.payload_len > lo + (uintptr_t)len) {
fprintf(stderr, "FAIL %s: payload outside the frame\n", tu_context());
r->bad++;
} else {
fprintf(r->out, "\t%u\t%d\t%d\t%d\t%ld\t%ld\t%u\t", rx.btp_dest_port, rx.signed_unverified,
rx.truncated, rx.has_geo_area, (long)rx.geo_area_lat_tenmicrodeg,
(long)rx.geo_area_lon_tenmicrodeg, rx.geo_area_distance_a_m);
for (int i = 0; i < rx.payload_len; i++) {
fprintf(r->out, "%02x", rx.payload[i]);
}
}
r->accepted++;
r->cam += rx.btp_dest_port == 2001;
r->denm += rx.btp_dest_port == 2002;
r->spatem += rx.btp_dest_port == 2004;
r->signed_frames += rx.signed_unverified;
r->truncated += rx.truncated;
}
fputc('\n', r->out);
}
int main(int argc, char **argv)
{
if (argc < 3) {
fprintf(stderr, "usage: test_replay out.tsv capture.pcap [capture.pcap ...]\n");
return 2;
}
tu_install_crash_handler();
tu_guard_init();
replay_t r = {0};
r.out = fopen(argv[1], "w");
if (!r.out) {
fprintf(stderr, "cannot write %s\n", argv[1]);
return 2;
}
fprintf(r.out, "file\trecord\taccepted\tport\tsigned\ttruncated\tarea\tarea_lat\tarea_lon\tarea_dist\tpayload\n");
int unreadable = 0;
for (int i = 2; i < argc; i++) {
r.path = argv[i];
if (tu_pcap_foreach(argv[i], on_frame, &r) < 0) {
fprintf(stderr, "cannot read %s as a pcap\n", argv[i]);
unreadable++;
}
}
fclose(r.out);
printf("test_replay: %ld records (%ld cut to %d bytes as main.c does), %ld accepted (CAM %ld, "
"DENM %ld, SPATEM %ld; %ld signed, %ld truncated), %ld bad\n",
r.records, r.capped, RX_FRAME_MAX_LEN, r.accepted, r.cam, r.denm, r.spatem,
r.signed_frames, r.truncated, r.bad);
return (r.bad || unreadable) ? 1 : 0;
}
obu-firmware/test/host/test_util.c
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#ifndef _WIN32
#define _DEFAULT_SOURCE // MAP_ANONYMOUS under -std=c11
#endif
#include "test_util.h"
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#ifdef _WIN32
#include <windows.h>
#else
#include <signal.h>
#include <sys/mman.h>
#include <unistd.h>
#endif
// ---- Crash reporting ------------------------------------------------------------------------
static char s_context[200] = "startup";
static const uint8_t *s_crash_bytes;
static const int *s_crash_len;
void tu_set_context(const char *fmt, ...)
{
va_list ap;
va_start(ap, fmt);
vsnprintf(s_context, sizeof s_context, fmt, ap);
va_end(ap);
}
const char *tu_context(void)
{
return s_context;
}
void tu_set_crash_input(const uint8_t *bytes, const int *len)
{
s_crash_bytes = bytes;
s_crash_len = len;
}
static void report_crash(const char *what)
{
fprintf(stderr, "CRASH (%s) during: %s\n", what, s_context);
if (s_crash_bytes && s_crash_len) {
fprintf(stderr, "input (%d bytes): ", *s_crash_len);
for (int i = 0; i < *s_crash_len; i++) {
fprintf(stderr, "%02x", s_crash_bytes[i]);
}
fputc('\n', stderr);
}
fflush(stderr);
}
#ifdef _WIN32
static LONG WINAPI on_crash(EXCEPTION_POINTERS *info)
{
char what[40];
snprintf(what, sizeof what, "exception 0x%08lx",
(unsigned long)info->ExceptionRecord->ExceptionCode);
report_crash(what);
return EXCEPTION_EXECUTE_HANDLER; // terminate, with the exception code as the exit status
}
void tu_install_crash_handler(void)
{
SetUnhandledExceptionFilter(on_crash);
}
#else
static void on_crash(int sig)
{
char what[40];
snprintf(what, sizeof what, "signal %d", sig);
report_crash(what); // not async-signal-safe, but the process is ending anyway
_exit(2);
}
void tu_install_crash_handler(void)
{
signal(SIGSEGV, on_crash);
signal(SIGBUS, on_crash);
signal(SIGILL, on_crash); // -fsanitize-undefined-trap-on-error traps with an illegal instruction
}
#endif
// ---- Guard page -----------------------------------------------------------------------------
static uint8_t *s_guard_end; // first byte of the no-access page
static size_t s_page_size;
void tu_guard_init(void)
{
#ifdef _WIN32
SYSTEM_INFO si;
GetSystemInfo(&si);
s_page_size = si.dwPageSize;
uint8_t *base = VirtualAlloc(NULL, 2 * s_page_size, MEM_RESERVE | MEM_COMMIT, PAGE_READWRITE);
DWORD old;
if (!base || !VirtualProtect(base + s_page_size, s_page_size, PAGE_NOACCESS, &old)) {
fprintf(stderr, "guard page setup failed\n");
exit(2);
}
#else
s_page_size = (size_t)sysconf(_SC_PAGESIZE);
uint8_t *base = mmap(NULL, 2 * s_page_size, PROT_READ | PROT_WRITE,
MAP_PRIVATE | MAP_ANONYMOUS, -1, 0);
if (base == MAP_FAILED || mprotect(base + s_page_size, s_page_size, PROT_NONE) != 0) {
fprintf(stderr, "guard page setup failed\n");
exit(2);
}
#endif
s_guard_end = base + s_page_size;
}
uint8_t *tu_guard_buf(int len)
{
if (len < 0 || (size_t)len > s_page_size) {
fprintf(stderr, "tu_guard_buf(%d) exceeds one page\n", len);
exit(2);
}
return s_guard_end - len;
}
const uint8_t *tu_guarded(const uint8_t *frame, int len)
{
uint8_t *dst = tu_guard_buf(len);
if (len > 0) {
memcpy(dst, frame, (size_t)len);
}
return dst;
}
// ---- pcap -----------------------------------------------------------------------------------
static uint32_t rd_le32(const uint8_t *p)
{
return (uint32_t)p[0] | ((uint32_t)p[1] << 8) | ((uint32_t)p[2] << 16) | ((uint32_t)p[3] << 24);
}
static uint32_t rd_be32(const uint8_t *p)
{
return ((uint32_t)p[0] << 24) | ((uint32_t)p[1] << 16) | ((uint32_t)p[2] << 8) | (uint32_t)p[3];
}
int tu_pcap_foreach(const char *path, tu_frame_fn fn, void *ctx)
{
FILE *f = fopen(path, "rb");
if (!f) {
return -1;
}
fseek(f, 0, SEEK_END);
const long size = ftell(f);
fseek(f, 0, SEEK_SET);
if (size < 24) {
fclose(f);
return size == 0 ? 0 : -1; // the recordings include empty files
}
uint8_t *d = malloc((size_t)size);
if (!d || fread(d, 1, (size_t)size, f) != (size_t)size) {
fclose(f);
free(d);
return -1;
}
fclose(f);
const uint32_t magic = rd_le32(d);
const bool swapped = magic == 0xD4C3B2A1u || magic == 0x4D3CB2A1u;
if (!swapped && magic != 0xA1B2C3D4u && magic != 0xA1B23C4Du) {
free(d);
return -1;
}
uint32_t (*u32)(const uint8_t *) = swapped ? rd_be32 : rd_le32;
const uint32_t linktype = u32(d + 20);
if (linktype != 127 && linktype != 105) {
free(d);
return -1;
}
long off = 24;
int index = 0;
while (off + 16 <= size) {
const uint32_t incl = u32(d + off + 8);
if (incl > (uint32_t)(size - off - 16)) {
break; // last record cut off
}
const uint8_t *pkt = d + off + 16;
int len = (int)incl;
off += 16 + (long)incl;
if (linktype == 127) {
const int rt_len = len >= 4 ? (pkt[2] | (pkt[3] << 8)) : len + 1; // always little-endian
if (rt_len > len) {
index++;
continue;
}
pkt += rt_len;
len -= rt_len;
}
fn(pkt, len, index++, ctx);
}
free(d);
return index;
}
static FILE *s_pcap_out;
static void put_le32(uint8_t *p, uint32_t v)
{
p[0] = (uint8_t)v;
p[1] = (uint8_t)(v >> 8);
p[2] = (uint8_t)(v >> 16);
p[3] = (uint8_t)(v >> 24);
}
bool tu_pcap_open(const char *path)
{
// Global header: magic, version 2.4, zone 0, sigfigs 0, snaplen 65535, linktype 105.
static const uint8_t hdr[24] = {
0xD4, 0xC3, 0xB2, 0xA1, 0x02, 0x00, 0x04, 0x00, 0, 0, 0, 0, 0, 0, 0, 0,
0xFF, 0xFF, 0x00, 0x00, 105, 0, 0, 0,
};
s_pcap_out = fopen(path, "wb");
return s_pcap_out && fwrite(hdr, 1, sizeof hdr, s_pcap_out) == sizeof hdr;
}
void tu_pcap_add(const uint8_t *frame, int len)
{
static uint32_t seq;
if (!s_pcap_out || len <= 0) {
return;
}
uint8_t rec[16];
put_le32(rec + 0, seq++); // timestamp seconds: just the frame's sequence number
put_le32(rec + 4, 0);
put_le32(rec + 8, (uint32_t)len);
put_le32(rec + 12, (uint32_t)len);
fwrite(rec, 1, sizeof rec, s_pcap_out);
fwrite(frame, 1, (size_t)len, s_pcap_out);
}
void tu_pcap_close(void)
{
if (s_pcap_out) {
fclose(s_pcap_out);
s_pcap_out = NULL;
}
}
obu-firmware/test/host/test_util.h
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#ifndef TEST_UTIL_H
#define TEST_UTIL_H
// Shared by the host tests: crash reporting, the guard page, and pcap reading and writing.
#include <stdbool.h>
#include <stdint.h>
// What the test is doing right now, printed if it crashes. printf-style.
void tu_set_context(const char *fmt, ...);
const char *tu_context(void);
// Also print these bytes as hex if it crashes (the fuzzer's current input). NULL to clear.
void tu_set_crash_input(const uint8_t *bytes, const int *len);
void tu_install_crash_handler(void);
// One read-write page followed by one no-access page.
void tu_guard_init(void);
// A buffer of exactly `len` bytes (at most one page) whose end touches the no-access page.
uint8_t *tu_guard_buf(int len);
// Copy of `frame` whose last byte is the last readable one: reading past it crashes.
const uint8_t *tu_guarded(const uint8_t *frame, int len);
// Calls `fn` for every record of a pcap file, with its 802.11 frame. Linktype 127 (radiotap,
// what its-g5-receiver-firmware records) has the radiotap header removed; linktype 105 is passed
// as is. The frame is otherwise exactly as captured, including the 8 bytes the ESP32-C5's
// promiscuous RX appends - which is what obu-firmware's callback receives through the same API.
// `index` counts every record, including ones skipped for a malformed radiotap header. Returns
// the number of records (0 for an empty file), or -1 if the file can't be read or isn't a pcap
// of those linktypes.
typedef void (*tu_frame_fn)(const uint8_t *frame, int len, int index, void *ctx);
int tu_pcap_foreach(const char *path, tu_frame_fn fn, void *ctx);
// Writes frames to a pcap, linktype 105 (bare 802.11).
bool tu_pcap_open(const char *path);
void tu_pcap_add(const uint8_t *frame, int len);
void tu_pcap_close(void);
#endif
obu-firmware/test/pcap_gn_tally.py
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#!/usr/bin/env python3
"""Tally GeoNetworking header fields per sending station across .pcap captures.
Written to check the GN lifetime byte on air (see TODO.md), and it answers the general question
"what do real stations put in this header" too: one row per source MAC, packet type, BTP port and
lifetime byte, with a frame count.
python obu-firmware/test/pcap_gn_tally.py its-g5-receiver-firmware/recordings/*.pcap
Handles linktype 127 (radiotap, what its-g5-receiver-firmware records) and 105 (bare 802.11).
Standard library only. Pseudonym MACs rotate, so one vehicle can appear as several rows. The
pcap-over-serial dump path corrupts roughly 0.3% of frames, so a stray odd row is tooling noise.
"""
import collections
import glob
import struct
import sys
LLC_SNAP_GN = b"\xaa\xaa\x03\x00\x00\x00\x89\x47"
# (HeaderType, HeaderSubtype) from the GN Common Header -> name, EN 302 636-4-1 table 9.
HEADER_TYPES = {
(1, 0): "beacon",
(4, 0): "GBC-circle",
(4, 1): "GBC-rect",
(4, 2): "GBC-ellipse",
(5, 0): "SHB",
}
# Extended header length, i.e. the distance from the end of the Common Header to BTP-B.
EXT_LEN = {"SHB": 28, "GBC-circle": 44, "GBC-rect": 44, "GBC-ellipse": 44}
def lifetime_seconds(raw):
# Multiplier in the upper 6 bits, base in the lower 2: 50 ms, 1 s, 10 s, 100 s.
return (raw >> 2) * (0.05, 1, 10, 100)[raw & 3]
def frames(path):
with open(path, "rb") as f:
data = f.read()
if len(data) < 24:
return
magic = struct.unpack("<I", data[:4])[0]
endian = "<" if magic in (0xA1B2C3D4, 0xA1B23C4D) else ">"
linktype = struct.unpack(endian + "I", data[20:24])[0]
off = 24
while off + 16 <= len(data):
incl = struct.unpack(endian + "I", data[off + 8:off + 12])[0]
pkt = data[off + 16:off + 16 + incl]
off += 16 + incl
if linktype == 127:
if len(pkt) < 4:
continue
pkt = pkt[struct.unpack("<H", pkt[2:4])[0]:]
elif linktype != 105:
continue
yield pkt
def gn_fields(f):
if len(f) < 24 or (f[0] >> 2) & 3 != 2:
return None # Data frames only
o = 24 + (2 if f[0] & 0x80 else 0) # QoS Data carries a 2-byte QoS Control field
if f[o:o + 8] != LLC_SNAP_GN or len(f) < o + 12:
return None
o += 8
src = f[10:16].hex(":")
version, next_header, lifetime = f[o] >> 4, f[o] & 0x0F, f[o + 2]
port = "-"
if next_header == 2:
kind = "secured" # Common Header is inside the security envelope
elif next_header == 1 and len(f) >= o + 12:
c = o + 4
ht = (f[c + 1] >> 4, f[c + 1] & 0x0F)
kind = HEADER_TYPES.get(ht, "type %d/%d" % ht)
ext = EXT_LEN.get(kind)
btp = c + 8 + (ext or 0)
if ext and len(f) >= btp + 2:
port = str(struct.unpack(">H", f[btp:btp + 2])[0])
else:
kind = "nh=%d" % next_header
return src, version, kind, port, lifetime
def main(argv):
# PowerShell does not expand wildcards itself, so do it here.
paths = [p for arg in argv for p in (glob.glob(arg) or [arg])]
if not paths:
sys.exit(__doc__)
tally = collections.Counter()
for path in paths:
for frame in frames(path):
fields = gn_fields(frame)
if fields:
tally[fields] += 1
print("%-17s %3s %-11s %5s %8s %8s %7s"
% ("source", "ver", "packet", "port", "lifetime", "seconds", "frames"))
for (src, ver, kind, port, lt), n in sorted(tally.items()):
print("%-17s %3d %-11s %5s %8s %8g %7d"
% (src, ver, kind, port, "0x%02x" % lt, lifetime_seconds(lt), n))
if __name__ == "__main__":
main(sys.argv[1:])