Ashin Walpola
d107534eb2
obu-firmware builds against the vanetza-idf C-ITS library, which until now came from the colleague's microbu-esp32c5 tree beside the repository and was not tracked here, so a clone of this repository could not build the firmware it ships. The library alone is now part of obu-firmware, as obu-firmware/external/vanetza-idf: their external/vanetza-idf at commit cf4b99f, unchanged (9775 files; see its PROVENANCE.md). CMake takes it from there by default; -DVANETZA_IDF_DIR still points the build elsewhere. The rest of the colleague's tree (their own VAM firmware, PKI tooling, station-link Python tools, the V2X2MAP bridge) stays out of this repository and gitignored; nothing is pushed to their repository. NOTES.md, docs/06, TODO.md and the pcap verifier's usage line point at the new location.
543 lines
22 KiB
Plaintext
543 lines
22 KiB
Plaintext
--! @options: no-fields-header
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CAM-PDU-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) camPduRelease2 (103900)
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major-version-2 (2) minor-version-3 (3)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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ItsPduHeader, CauseCodeV2, ReferencePosition, AccelerationControl, Curvature, CurvatureCalculationMode, Heading, LanePosition,
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EmergencyPriority, EmbarkationStatus, Speed, DriveDirection, AccelerationComponent, StationType, ExteriorLights, DangerousGoodsBasic,
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SpecialTransportType, LightBarSirenInUse, VehicleRole, VehicleLength, VehicleWidth, Path, RoadworksSubCauseCode, ClosedLanes,
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TrafficRule, SpeedLimit, SteeringWheelAngle, PerformanceClass, YawRate, PtActivation, ProtectedCommunicationZonesRSU,
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CenDsrcTollingZone, GenerationDeltaTime, BasicContainer, BrakeControl, VehicleHeight2, WiperStatus, GeneralizedLanePositions,
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PathPredictedList, CartesianAngle, Wgs84Angle, StabilityChangeIndication, VruSubProfileBicyclist, VruMovementControl,
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BasicLaneConfiguration, PolygonalLine, MetaInformation, ConfidenceLevels, VehicleMovementControl
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2)
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major-version-4 (4) minor-version-3 (3)} WITH SUCCESSORS
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;
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-- The root data frame for cooperative awareness messages
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/**
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* This type represents the CAM PDU.
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*
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* It shall include the following componenets:
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*
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* @field header: the header of the CAM PDU.
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*
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* @field cam: the payload of the CAM PDU.
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*/
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CAM ::= SEQUENCE {
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header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cam)}),
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cam CamPayload
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}
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/**
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* This type represents the CAM payload.
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*
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* It shall include the following components:
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*
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* @field generationDeltaTime: Time corresponding to the time of the reference position in the CAM, considered as time of the CAM generation.
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*
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* @field camParameters: The sequence of CAM mandatory and optional container.
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*
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*/
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CamPayload ::= SEQUENCE {
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generationDeltaTime GenerationDeltaTime,
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camParameters CamParameters
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}
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/**
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* @field basicContainer: the mandatory basic container of the CAM.
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*
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* @field highFrequencyContainer: the mandatory container represents the high frequency of the CAM.
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*
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* @field lowFrequencyContainer: the optional conatainer represents the low frequency of the CAM.
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*
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* @field specialVehicleContainer: The special container of the CAM shall be present as defined in clause 6.1.2.
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* The content of the container shall be set according to the value of the vehicleRole component as specified in Table 5.
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*
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* @field extensionContainers: the list of CAM extension containers, including its container type identifier and the container itself.
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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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extensionContainers WrappedExtensionContainers OPTIONAL
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}
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/**
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* This type represents the high frequency container.
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*
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* It shall include the following components:
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*
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* @field basicVehicleContainerHighFrequency: The mandatory high frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S.
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*
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* @field rsuContainerHighFrequency: The mandatory high frequency container of CAM when the type of the originating ITS-S is RSU ITS-S.
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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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/**
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* This type represents the low frequency container.
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*
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* It shall include the following components:
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*
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* The low frequency container of the CAM when the originating ITS-S is of the type vehicle ITS-S. It shall be present as defined in clause 6.1.2.
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*/
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LowFrequencyContainer ::= CHOICE {
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basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency (WITH COMPONENTS {..., pathHistory (SIZE (0..23))}),
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...
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}
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/**
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* This type represent the Special Vehicle Container.
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*
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* It shall include the following components:
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*
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* @field publicTransportContainer: If the vehicleRole component is set to publicTransport(1) this container shall be present.
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*
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* @field specialTransportContainer: If the vehicleRole component is set to specialTransport(2) this container shall be present.
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*
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* @field dangerousGoodsContainer: If the vehicleRole component is set to dangerousGoods(3) this container shall be present.
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*
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* @field roadWorksContainerBasic: If the vehicleRole component is set to roadWork(4) this container shall be present.
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*
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* @field rescueContainer: If the vehicleRole component is set to rescue(5) this container shall be present.
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*
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* @field emergencyContainer: If the vehicleRole component is set to emergency(6) this container shall be present.
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*
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* @field safetyCarContainer: If the vehicleRole component is set to safetyCar(7) this container shall be present.
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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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/**
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* This type contains detaild information of the Basic Vehicle Container High Frequency.
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*
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* It shall include the following components:
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*
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* @field heading: It represent the heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to the true north.
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* The heading accuracy provided in the heading Confidence value shall provide the accuracy of the measured vehicle heading with a confidence level
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* of 95 %. Otherwise, the value of the headingConfidence shall be set to unavailable.
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*
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* @field speed: It represent driving speed and speed accuracy of the originating ITS-S. The speed accuracy provided in the speedConfidence shall
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* provide the accuracy of the speed value with a confidence level of 95 %. Otherwise, the speedConfidence shall be set to unavailable.
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*
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* @field driveDirection: This component represent the vehicle drive direction (forward or backward) of the originating ITS-S.
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*
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* @field vehicleLength: This component represent the vehicle length value and vehicle length confidence indication of the vehicle ITS-S that
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* originate the CAM.
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*
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* @field vehicleWidth: This component represents the Vehicle Width of the vehicle ITS-S that originates the CAM excluding side mirrors and possible
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* similar extensions.
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*
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* @field longitudinalAcceleration: It represent the vehicle Longitudinal Acceleration of the originating ITS-S in the centre of the mass of the
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* empty vehicle. It shall include the measured vehicle longitudinal acceleration and its accuracy value with the confidence level of 95 %.
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* Otherwise, the longitudinalAccelerationConfidence shall be set to unavailable.
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*
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* @field curvature: this component reppresent the actual trajectory of the vehicle.
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*
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* @field curvatureCalculationMode: It indicates whether vehicle yaw-rate is used in the calculation of the curvature of the vehicle ITS-S that
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* originates the CAM.
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*
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* @field yawRate: It denotes the vehicle rotation around the centre of mass of the empty vehicle. The leading sign denotes the direction of
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* rotation. The value is negative if the motion is clockwise when viewing from the top.
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* yawRateConfidence denotes the accuracy for the 95 % confidence level for the measured yawRateValue. Otherwise, the value of yawRateConfidence
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* shall be set to unavailable.
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*
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* @field accelerationControl: an optional component which represents the current status of the vehcile mechnanisms controlling the longitudinal movement of the vehcile ITS-S
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* (e.g. brake pedal, gas pedal, etc. engaged) that originate the CAM.
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*
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* @field lanePosition: an optional component which represents the lanePosition of the referencePosition of a vehicle. This component shall be present if the data is
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* available at the originating ITS-S.
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*
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* @field steeringWheelAngle: an optional component which indicates the steering wheel angle and accuracy as measured at the vehicle ITS-S that originates the CAM.
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*
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* @field lateralAcceleration: an optional component which represents the vehicle lateral acceleration of the originating ITS-S in the centre of the mass of the empty vehicle.
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* It shall include the measured vehicle lateral acceleration and its accuracy value with the confidence level of 95%.
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*
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* @field verticalAcceleration: an optional component which indicates the originating ITS-S in the centre of the mass of the empty vehicle.
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*
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* @field performanceClass: an optional component characterizes the maximum age of the CAM data elements with regard to the generation delta time.
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*
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* @field cenDsrcTollingZone: an optional component which represents the information about the position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency band.
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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 AccelerationComponent,
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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 AccelerationComponent OPTIONAL,
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verticalAcceleration AccelerationComponent OPTIONAL,
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performanceClass PerformanceClass OPTIONAL,
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cenDsrcTollingZone CenDsrcTollingZone OPTIONAL
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}
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/**
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* This type contains detaild information of the Basic Vehicle Container Low Frequency.
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*
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* It shall include the following components:
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*
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* @field vehicleRole: represent the role of the vehicle ITS-S that originates the CAM. Only values 0 to 7 shall be used.
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*
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* @field exteriorLights: represent the status of the most important exterior lights switches of the vehicle ITS-S that originates the CAM.
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*
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* @field pathHistory: which represents the vehicle's recent movement over some past time and/or distance. It consists of a list of path points,
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* each represented as DF PathPoint. The list of path points may consist of up to 23 elements.
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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 Path
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}
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/**
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* This type contains detaild information of the Public Transport Container.
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*
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* It shall include the following components:
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*
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* @field embarkationStatus: It indicates whether the passenger embarkation is currently ongoing.
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*
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* @field ptActivation: an optional component used for controlling traffic lights, barriers, bollards, etc.
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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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/**
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* This type contains detaild information of the Special Transport Container.
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*
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* It shall include the following components:
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*
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* @field specialTransportType: which indicates whether the originating ITS-S is mounted on a special transport vehicle with heavy or oversized load
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* or both. It shall be present if the data is available in originating ITS-S.
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*
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* @field lightBarSirenInUse: indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
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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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/**
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* This type contains detaild information of the Dangerous Goods Container.
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*
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* It shall include the following components:
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*
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* @field dangerousGoodsBasic: identifies the type of the dangerous goods transported by the vehicle that originates the CAM. It shall be present if
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* the data is available in the originating ITS S.
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*/
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DangerousGoodsContainer ::= SEQUENCE {
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dangerousGoodsBasic DangerousGoodsBasic
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}
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/**
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* This type contains detaild information of the Road Works Container Basic.
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*
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* It shall include the following components:
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*
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* @field roadworksSubCauseCode: The optional component, in case the originating ITS-S is mounted to a vehicle ITS-S participating to roadwork. It
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* provides information on the type of roadwork that it is currently undertaking. This component shall be present if the data is available in
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* originating ITS S.
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*
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* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
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*
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* @field closedLanes: an optional component which provides information about the opening/closure status of the lanes ahead. Lanes are counted from
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* the inside boarder of the road. If a lane is closed to traffic, the corresponding bit shall be set to 1.
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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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/**
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* This type contains detaild information of the Rescue Container.
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*
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* It shall include the following components:
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*
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* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
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*/
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RescueContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse
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}
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/**
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* This type contains detaild information of the Emergency Container.
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*
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* It shall include the following components:
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*
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* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
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*
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* @field incidentIndication: the optional incident related to the roadworks to provide additional information of the roadworks zone.
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*
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* @field emergencyPriority: the optional component represent right of way indicator of the vehicle ITS-S that originates the CAM PDU.
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*/
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EmergencyContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse,
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incidentIndication CauseCodeV2 OPTIONAL,
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emergencyPriority EmergencyPriority OPTIONAL
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}
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/**
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* This type contains detaild information of the Safety Car Container.
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*
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* It shall include the following components:
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*
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* @field lightBarSirenInUse: it indicates whether light-bar or a siren is in use by the vehicle originating the CAM.
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*
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* @field incidentIndication: the optional incident related to the roadworks to provide additional information of the roadworks zone.
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*
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* @field trafficRule: an optional rule indicates whether vehicles are allowed to overtake a safety car that is originating this CAM.
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*
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* @field speedLimit: an optional speed indicates whether a speed limit is applied to vehicles following the safety car.
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*/
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SafetyCarContainer ::= SEQUENCE {
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lightBarSirenInUse LightBarSirenInUse,
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incidentIndication CauseCodeV2 OPTIONAL,
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trafficRule TrafficRule OPTIONAL,
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speedLimit SpeedLimit OPTIONAL
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}
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/**
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* This type contains detaild information of the RSU Container High Frequency.
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*
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* It shall include the following components:
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*
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* @field protectedCommunicationZonesRSU: an optional Information about position of a CEN DSRC Tolling Station operating in the 5,8 GHz frequency
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* band. If this information is provided by RSUs a receiving vehicle ITS-S is prepared to adopt mitigation techniques when being in the vicinity of
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* CEN DSRC tolling stations.
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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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/**
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* This information object class is an abstract template to instantiate containers.
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*
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* It shall include the following components:
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*
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* @field &id: the identifier of the container type.
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*
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* @field &Type: the container content.
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*
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*/
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EXTENSION-CONTAINER-ID-AND-TYPE ::= CLASS {
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&id ExtensionContainerId UNIQUE,
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&Type
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} WITH SYNTAX {&Type IDENTIFIED BY &id}
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/**
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* This DE represents the identifier of the container type.
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*/
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ExtensionContainerId ::= INTEGER (1..16,...)
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/**
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* These value assignments represent specific values of the container type identifier.
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*/
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twoWheelerContainer ExtensionContainerId ::= 1
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eHorizonLocationSharingContainer ExtensionContainerId ::= 2
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veryLowFrequencyContainer ExtensionContainerId ::= 3
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pathPredictionContainer ExtensionContainerId ::= 4
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generalizedLanePositionsContainer ExtensionContainerId ::= 5
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vehicleMovementControlContainer ExtensionContainerId ::= 6
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/**
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* This information object set represents the association between the container type and the container content.
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*/
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ExtensionContainers EXTENSION-CONTAINER-ID-AND-TYPE ::= {
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{TwoWheelerContainer IDENTIFIED BY twoWheelerContainer} |
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{EHorizonLocationSharingContainer IDENTIFIED BY eHorizonLocationSharingContainer} |
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{VeryLowFrequencyContainer IDENTIFIED BY veryLowFrequencyContainer} |
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{PathPredictionContainer IDENTIFIED BY pathPredictionContainer} |
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{GeneralizedLanePositionsContainer IDENTIFIED BY generalizedLanePositionsContainer} |
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{VehicleMovementControlContainer IDENTIFIED BY vehicleMovementControlContainer},
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...
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}
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/**
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* This DF represents a CAM container preceded by its type identifier and a length indicator.
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*
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* It shall include the following components:
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*
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* @field containerId: the identifier of the container type.
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*
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* @field containerData: the container content consistent with the container type.
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*
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*/
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WrappedExtensionContainer ::= SEQUENCE {
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containerId EXTENSION-CONTAINER-ID-AND-TYPE.&id( {ExtensionContainers} ),
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containerData EXTENSION-CONTAINER-ID-AND-TYPE.&Type( {ExtensionContainers}{@containerId} )
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}
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/**
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* This DF represents a list of CAM containers, each with their type identifier.
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*/
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WrappedExtensionContainers ::= SEQUENCE SIZE(1..8,...) OF WrappedExtensionContainer
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/**
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* This type contains detailed information about two wheelers. It is meant to use for StationType
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* cyclist, moped and motorcycle.
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*
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* It shall include the following components:
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*
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* @field typeSpecificInformation: this data field contains type specific information about two wheelers.
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*
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* @field rollAngle: this data field describes the roll angle of the two wheeler.
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*
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* @field orientation: this data field describes the orientation of the two wheeler.
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*
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* @field stabilityChangeIndication: this data field describes if the two wheeler is about to lose control.
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*
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*/
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TwoWheelerContainer ::= SEQUENCE {
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typeSpecificInformation TwoWheelerTypeSpecificInformation OPTIONAL,
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rollAngle CartesianAngle OPTIONAL,
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orientation Wgs84Angle OPTIONAL,
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stabilityChangeIndication StabilityChangeIndication OPTIONAL,
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...
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}
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/**
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* This type contains type specific information about a two wheeler.
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*
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* It includes one of the following components:
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*
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* @field cyclist: it contains cyclist-specific information.
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*
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*/
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TwoWheelerTypeSpecificInformation ::= CHOICE {
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cyclist CyclistTypeSpecificInformation,
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...
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}
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/**
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* This type contains type-specific information about cyclists.
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*
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* It shall include the following components:
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*
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* @field vruSubProfileBicyclist: it indicates the detailed type of the cyclist.
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*
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* @field vruMovementControl: it includes information about the movement control of the bicycle.
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*
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*/
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CyclistTypeSpecificInformation ::= SEQUENCE {
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vruSubProfileBicyclist VruSubProfileBicyclist (unavailable | bicyclist | e-scooter | pedelec | speed-pedelec | roadbike | childrensbike) OPTIONAL,
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vruMovementControl VruMovementControl OPTIONAL,
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...
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}
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/**
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* This type contains contextual, map-based location information.
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* eHorizon is defined as a tool to convey the part of the road network and its characteristics derived from map data located in front of and behind the vehicle along the road.
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*
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* It shall include the following components:
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*
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* @field segmentAhead: the road segment that the vehicle is predicted to reach, starting from the reference position.
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* At least one node must be filled in so that the current map position can be calculated on the receiver side.
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*
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* @field nodeProbabilities: confidence values for each node in segmentAhead, indicating how confident we are that the ITS station will reach that point.
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*
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* @field segmentBehind: the road segment that the vehicle has passed, based on the collected data, starting from the reference position.
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* At least one node must be filled in so that the current map position can be calculated on the receiver side.
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*
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* @field laneLevelDetails: provides information about the configuration of the road at the position indicated by the component referencePosition of the Basic Container and for a given reference direction.
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*
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* @field segmentSource: it represents the origin of the map-specific data.
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*
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*/
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EHorizonLocationSharingContainer ::= SEQUENCE {
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segmentAhead PolygonalLine,
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nodeProbabilities ConfidenceLevels OPTIONAL,
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segmentBehind PolygonalLine,
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laneLevelDetails BasicLaneConfiguration OPTIONAL,
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segmentSource MetaInformation (WITH COMPONENTS {..., confidenceValue ABSENT}) OPTIONAL,
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...
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}
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/**
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* This type represents the very low frequency container.
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*
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* It shall include the following components:
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*
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* @field vehicleHeight: this component represents the height of the vehicle that originates the CAM.
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*
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* @field wiperStatus: this component represents the status of the wipers of the vehicle that originates the CAM, at the time indicated by generationDeltaTime.
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*
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* @field brakeControl: this component represents the status of the brake control system of the vehicle that originates the CAM,
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* at the time indicated by generationDeltaTime and during the period 10 seconds before that time.
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*/
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VeryLowFrequencyContainer ::= SEQUENCE {
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vehicleHeight VehicleHeight2 OPTIONAL,
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wiperStatus WiperStatus OPTIONAL,
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brakeControl BrakeControl OPTIONAL,
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...
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}
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/**
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* This type represents the path prediction container.
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*
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* Contains information about the possible future paths of ITS station.
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*/
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PathPredictionContainer ::= SEQUENCE {
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pathPredictedList PathPredictedList,
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...
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}
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/**
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* This type represents the generalized lane positions container.
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*
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* Contains detailed information about the transversal position of the ITS station with respect to the road and potentially about the lane type.
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*/
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GeneralizedLanePositionsContainer ::= SEQUENCE {
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generalizedLanePositions GeneralizedLanePositions,
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...
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}
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/**
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* This type represents the vehicle movement control container.
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*
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* Contains information about the current vehicle movement control status
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* of ITS station.
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* This contains:
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* - brake and acceleration pedal position status information
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* - mechanism for lateral, longitudinal movements dimensions
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* of the vehicle
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*/
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VehicleMovementControlContainer ::= SEQUENCE {
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vehicleMovementControl VehicleMovementControl,
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...
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}
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END
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