Ashin Walpola
b2b57fa39e
asn1/ Three tests assert exact bytes - CamEncodeGoldenTest, DenmAirReceiveTest and SpatemUperCodecTest - and their expected values came from asn1tools compiled against ETSI modules that existed only as an untracked working copy on one machine. A golden-byte fixture nobody else can regenerate is a fixture nobody can safely touch, so the modules are now in the repo. Only the seven .asn files those tests need are copied, 576 KB of a 4.2 MB checkout; the upstream Rust parser is not used by this project at all. Verified sufficient in isolation: copied into an empty directory, all three specs compile and reproduce the committed golden CAM bytes byte-identically. Source is consider it GmbH's C-ITS-Parser (github.com/consider-it/C-ITS-Parser) at f457426, MIT licensed - LICENSE is retained alongside as that requires. The schemas themselves are ETSI's standard definitions; upstream's contribution is assembling them into a compilable set. asn1/README.md records the provenance, which module pairs with which message, and the rule that matters: never regenerate a golden fixture from this project's own encoder, because sharing a mistake between encoder and decoder is exactly the failure these files exist to catch. Doc references in the codecs and tests now point at asn1/ instead of the untracked checkout, and C-ITS-Parser/ is gitignored so the working copy beside the project is never picked up. Untracked local state - .idea/deploymentTargetSelector.xml rewrites itself on every deploy, so it has been showing as modified in essentially every commit. Along with deviceManager.xml, appInsightsSettings.xml and studiobot.xml it is per-machine state, not project configuration. - obu-firmware/sdkconfig.old is ESP-IDF build output - it is the previous sdkconfig, rewritten on every build. sdkconfig.defaults remains tracked, since that is the configuration actually chosen. All five stay on disk; only the tracking is removed. Also ignores .claude/settings.local.json, which is per-machine, while leaving the skills beside it committable as project knowledge.
133 lines
3.9 KiB
Plaintext
133 lines
3.9 KiB
Plaintext
CAM-PDU-Descriptions {
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itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (302637) cam (2) version (2)
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}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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ItsPduHeader, CauseCode, ReferencePosition, AccelerationControl, Curvature, CurvatureCalculationMode, Heading, LanePosition, EmergencyPriority, EmbarkationStatus, Speed, DriveDirection, LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration, StationType, ExteriorLights, DangerousGoodsBasic, SpecialTransportType, LightBarSirenInUse, VehicleRole, VehicleLength, VehicleWidth, PathHistory, RoadworksSubCauseCode, ClosedLanes, TrafficRule, SpeedLimit, SteeringWheelAngle, PerformanceClass, YawRate, ProtectedCommunicationZone, PtActivation, Latitude, Longitude, ProtectedCommunicationZonesRSU, CenDsrcTollingZone FROM ITS-Container {
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itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)
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};
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-- The root data frame for cooperative awareness messages
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CAM ::= SEQUENCE {
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header ItsPduHeader,
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cam CoopAwareness
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}
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CoopAwareness ::= SEQUENCE {
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generationDeltaTime GenerationDeltaTime,
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camParameters CamParameters
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}
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CamParameters ::= SEQUENCE {
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basicContainer BasicContainer,
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highFrequencyContainer HighFrequencyContainer,
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lowFrequencyContainer LowFrequencyContainer OPTIONAL,
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specialVehicleContainer SpecialVehicleContainer OPTIONAL,
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...
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}
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HighFrequencyContainer ::= CHOICE {
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basicVehicleContainerHighFrequency BasicVehicleContainerHighFrequency,
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rsuContainerHighFrequency RSUContainerHighFrequency,
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...
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}
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LowFrequencyContainer ::= CHOICE {
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basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency,
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...
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}
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SpecialVehicleContainer ::= CHOICE {
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publicTransportContainer PublicTransportContainer,
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specialTransportContainer SpecialTransportContainer,
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dangerousGoodsContainer DangerousGoodsContainer,
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roadWorksContainerBasic RoadWorksContainerBasic,
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rescueContainer RescueContainer,
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emergencyContainer EmergencyContainer,
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safetyCarContainer SafetyCarContainer,
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...
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}
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BasicContainer ::= SEQUENCE {
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stationType StationType,
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referencePosition ReferencePosition,
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...
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}
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BasicVehicleContainerHighFrequency ::= SEQUENCE {
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heading Heading,
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speed Speed,
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driveDirection DriveDirection,
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vehicleLength VehicleLength,
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vehicleWidth VehicleWidth,
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longitudinalAcceleration LongitudinalAcceleration,
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curvature Curvature,
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curvatureCalculationMode CurvatureCalculationMode,
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yawRate YawRate,
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accelerationControl AccelerationControl OPTIONAL,
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lanePosition LanePosition OPTIONAL,
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steeringWheelAngle SteeringWheelAngle OPTIONAL,
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lateralAcceleration LateralAcceleration OPTIONAL,
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verticalAcceleration VerticalAcceleration OPTIONAL,
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performanceClass PerformanceClass OPTIONAL,
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cenDsrcTollingZone CenDsrcTollingZone OPTIONAL
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}
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BasicVehicleContainerLowFrequency ::= SEQUENCE {
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vehicleRole VehicleRole,
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exteriorLights ExteriorLights,
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pathHistory PathHistory
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}
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PublicTransportContainer ::= SEQUENCE {
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embarkationStatus EmbarkationStatus,
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ptActivation PtActivation OPTIONAL
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}
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SpecialTransportContainer ::= SEQUENCE {
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specialTransportType SpecialTransportType,
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lightBarSirenInUse LightBarSirenInUse
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}
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DangerousGoodsContainer ::= SEQUENCE {
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dangerousGoodsBasic DangerousGoodsBasic
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}
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RoadWorksContainerBasic ::= SEQUENCE {
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roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,
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lightBarSirenInUse LightBarSirenInUse,
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closedLanes ClosedLanes OPTIONAL
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}
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RescueContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse
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}
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EmergencyContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse,
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incidentIndication CauseCode OPTIONAL,
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emergencyPriority EmergencyPriority OPTIONAL
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}
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SafetyCarContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse,
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incidentIndication CauseCode OPTIONAL,
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trafficRule TrafficRule OPTIONAL,
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speedLimit SpeedLimit OPTIONAL
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}
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RSUContainerHighFrequency ::= SEQUENCE {
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protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,
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...
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}
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GenerationDeltaTime ::= INTEGER { oneMilliSec(1) } (0..65535)
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END
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