Files
MicrOBU/app/src/test/java/com/hawhamburg/micr0bu/DenmParserMqttTest.kt
T
Ashin Walpola a5ad3dcc5d SPATEM receive, RSU CAM decode, and two ASN.1 encoding fixes
SPATEM over the air
- gn_unwrap.c accepts BTP-B port 2004 alongside 2001/2002. The serial protocol
  already carries the port in its V2X_RX prefix, so nothing else changed there.
  Note the crossover that makes this easy to get wrong: SPATEM is port 2004 but
  messageID 4, while MAPEM is port 2003 and messageID 5.
- SpatemUperCodec decodes SPAT down to per-signal-group phase and timing. The
  bit layout was validated by replaying 79,042 real SPATEMs - the whole
  2026-03-18 drive across 7+ RSUs plus the bench trigger - against asn1tools
  using the ETSI modules. All 79,042 matched on every field, none hit an
  unsupported branch. Two traps are pinned by tests: TimeChangeDetails is the
  one SEQUENCE here that is NOT extensible (5 optional bits, no extension bit),
  and maneuverAssistList cannot be skipped when present - it is variable-length,
  so it has to be walked to find where the next movement starts.
- The V2X list shows one row per intersection with each signal group coloured by
  phase and a countdown where the RSU supplies timing. TimeMark wraps hourly, so
  the countdown corrects for it; without that it reads hugely negative once an
  hour, precisely when someone is watching it.
- Entries expire after 15 s, much shorter than DENM's window: a traffic light
  that stopped updating is not "still green".

  Size caveat, deliberately deferred: SERIAL_LINK_MAX_PAYLOAD is still 512, so a
  SPATEM over ~498 bytes is counted as an oversize drop. The bench RSU sends 58
  bytes and is unaffected, but real road RSUs measured 555 median / 1243 max, so
  roughly 70% would not arrive. Raising the cap also requires enlarging
  RX_FRAME_MAX_LEN and moving rx_item_t off the WiFi driver's callback stack,
  where it would otherwise overflow.

RSU CAM decode
- HighFrequencyContainer is a CHOICE, and a roadside unit picks
  rsuContainerHighFrequency, which carries no kinematics at all. The decoder
  bailed on that branch, so every RSU CAM was dropped - including the bench RSU,
  which sends CAM and SPATEM from the same station id. It now decodes for
  position and stationType.
- RSU CAMs are kept out of UseCaseDetectionEngine. They arrive as a permanently
  stationary station at a fixed point, which is exactly the shape the
  stopped-vehicle and intersection-movement use cases match, and would raise a
  standing false alert for as long as the RSU was in range.

CAM transmit: yawRateConfidence
- YawRateConfidence has nine enumerands (0..8), so UPER needs 4 bits and
  "unavailable" is 8. The encoder wrote 3 bits with value 7 - one bit short and
  the wrong symbol - shifting every field after yawRate for any standards-strict
  receiver. The decoder read 3 bits too, so phone and ESP32 agreed with each
  other and with nothing else.
- This is the third instance of that exact failure mode in this project, after
  CurvatureCalculationMode and the GeoNetworking reserved bytes. A round-trip
  test through our own decoder structurally cannot catch it, so CamEncodeGolden
  Test asserts the bytes asn1tools produces instead: it decoded this encoder's
  output and re-encoded it byte-identically. Confirmed on air afterwards - 26 of
  our own CAMs captured back off the OBU's receiver, all 26 accepted, where the
  same decoder rejected them before.

DENM
- Hazards now expire 60 s after their last repetition. This needs a clock, not
  just a filter: both source flows only emit when a DENM arrives, so a sender
  that drives away or loses power would never trigger a recompute and its hazard
  would stay on screen indefinitely.
- The MQTT path was dropping every DENM for two independent reasons, both found
  by checking the payload against CI-CiT-MQTT_API_Documentation-v6 listing 2.6
  rather than guessing: the station id key is originatingStationId, and
  eventPosition IS a GeoJSON Point rather than an object containing one. Also
  parses termination (presence is the signal), sequenceNumber, stationType and
  the RFC3339 detectionTime. Note roadSideUnit is 15, not 12 - the enumeration
  has a gap after tram(11).

V2X screen
- The decoded CAM/DENM list now renders on the CiT One path too; it was gated to
  the ESP32-C5 path and CiT One fell through to the raw MQTT topic list. Those
  topics move to their own tab, hidden on the ESP32-C5 path where there is no
  broker.

Testing
- Adds org.json as a test-only dependency: the android.jar stub throws
  "not mocked" on every JSONObject call, which made the MQTT payload parsers
  untestable off-device.
- 23 V2X tests pass. EventDetectorTest's 4 failures are pre-existing and
  untouched by this change.
2026-08-20 15:47:14 +02:00

120 lines
4.8 KiB
Kotlin

package com.hawhamburg.micr0bu
import com.hawhamburg.micr0bu.domain.denm.DenmParser
import org.junit.Assert.assertEquals
import org.junit.Assert.assertFalse
import org.junit.Assert.assertNotNull
import org.junit.Assert.assertNull
import org.junit.Assert.assertTrue
import org.junit.Test
/**
* Tests [DenmParser] against the CiT One Use Case API's documented DENM schema.
*
* The payload below is the worked example from `CI-CiT-MQTT_API_Documentation-v6-20250221.pdf`,
* listing 2.6 (section 2.2.4, "Processed DENM"), reproduced field-for-field. That document is the
* contract for this topic, so it is the right thing to pin against - the previous parser was
* written before the schema was checked and silently dropped every real DENM for two independent
* reasons: the station id is `originatingStationId` (not `stationId`), and `eventPosition` is
* itself a GeoJSON Point rather than an object containing one.
*/
class DenmParserMqttTest {
/** Listing 2.6 from the API documentation, with the doc's inline comments removed. */
private val documentedDenm = """
{
"type": "v2x-denm",
"originatingStationId": 1345267,
"sequenceNumber": 1,
"detectionTime": "2021-05-11T12:01:02+00:00",
"referenceTime": "2021-05-11T12:01:02+00:00",
"eventPosition": { "type": "Point", "coordinates": [9.9800230, 53.5560783, 15] },
"relevanceTrafficDirection": "upstreamTraffic",
"stationType": "roadSideUnit",
"causeCode": "trafficCondition",
"subCauseCode": 0
}
""".trimIndent()
@Test
fun `parses the documented DENM payload`() {
val denm = DenmParser.parse(documentedDenm, timestamp = 1_787_000_000_000L)
assertNotNull("the API's own documented payload must parse", denm)
denm!!
assertEquals(1_345_267L, denm.stationId)
assertEquals(1, denm.sequenceNumber)
// GeoJSON is [longitude, latitude, altitude] - getting this order wrong puts a Hamburg
// hazard in Somalia, and both values are plausible-looking numbers either way.
assertEquals(53.5560783, denm.latitude, 1e-7)
assertEquals(9.9800230, denm.longitude, 1e-7)
assertEquals(1, denm.causeCode) // trafficCondition
assertEquals(0, denm.subCauseCode)
assertEquals(15, denm.stationType) // roadSideUnit is 15, not 12 - the enum has a gap
assertFalse(denm.isTermination)
// 2021-05-11T12:01:02Z
assertEquals(1_620_734_462_000L, denm.detectionTimeMs)
}
@Test
fun `termination is signalled by the key being present`() {
val terminated = documentedDenm.replace(
"\"sequenceNumber\": 1,",
"\"sequenceNumber\": 1,\n \"termination\": true,",
)
val denm = DenmParser.parse(terminated)
assertNotNull(denm)
assertTrue(denm!!.isTermination)
}
@Test
fun `a termination shares the dedup key of the event it ends`() {
val active = DenmParser.parse(documentedDenm)!!
val terminated = DenmParser.parse(
documentedDenm.replace(
"\"sequenceNumber\": 1,",
"\"sequenceNumber\": 1,\n \"termination\": true,",
)
)!!
// Without this, a cancelled hazard would be filtered out while the active pin it was
// meant to cancel stayed on the map forever.
assertEquals(active.dedupKey, terminated.dedupKey)
}
@Test
fun `cause code names follow the ETSI spelling the API uses`() {
// ETSI's CauseCodeType really does spell it with three n's, and the API follows.
val aqua = documentedDenm.replace("\"trafficCondition\"", "\"aquaplannning\"")
assertEquals(7, DenmParser.parse(aqua)!!.causeCode)
val stationary = documentedDenm.replace("\"trafficCondition\"", "\"stationaryVehicle\"")
assertEquals(94, DenmParser.parse(stationary)!!.causeCode)
}
@Test
fun `a payload with no usable position is rejected rather than placed at null island`() {
val noPosition = documentedDenm.replace(
"\"eventPosition\": { \"type\": \"Point\", \"coordinates\": [9.9800230, 53.5560783, 15] },",
"",
)
assertNull(DenmParser.parse(noPosition))
}
@Test
fun `integer causeCode and stationId spellings still parse`() {
// The air path and any future firmware-side JSON produce integers; those must keep working.
val numeric = """
{"stationId": 42, "causeCode": 94, "subCauseCode": 1,
"eventPosition": {"type": "Point", "coordinates": [10.0, 53.5]}}
""".trimIndent()
val denm = DenmParser.parse(numeric)
assertNotNull(denm)
assertEquals(42L, denm!!.stationId)
assertEquals(94, denm.causeCode)
assertEquals(1, denm.subCauseCode)
}
}