Ashin Walpola
0e9525162d
obu-firmware builds against vanetza-idf from microbu-esp32c5/external, but that tree was gitignored, so a clone of this repository could not build the firmware it ships. It is now committed here as ordinary files in its own folder, microbu-esp32c5/: the colleague's commit cf4b99f plus the V2X2MAP bridge's signature verification (--trust) used on the bench. Nothing is fetched from or pushed to the colleague's repository; this repository and its remotes carry everything. The folder's own .gitignore keeps build output, downloaded components and private key material out, as it did there; the committed file set is identical to that repository's tracked files. The ESP32-C5 is still flashed from obu-firmware/, which only takes vanetza-idf from microbu-esp32c5/, so the two stay separate folders. FLASHING.md says how to take a newer version of the colleague's tree (copy it over the folder, rebuild, test, commit).
172 lines
5.9 KiB
Plaintext
172 lines
5.9 KiB
Plaintext
CPM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) major-version-1 (1) minor-version-1(1)}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS
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ItsPduHeader, MessageRateHz, MessageSegmentationInfo, OrdinalNumber1B, ReferencePosition, StationType, TimestampIts
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FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-4 (4) minor-version-3 (3)}
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WITH SUCCESSORS
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OriginatingRsuContainer, OriginatingVehicleContainer
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FROM CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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SensorInformationContainer
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FROM CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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PerceptionRegionContainer
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FROM CPM-PerceptionRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceptionRegionContainer (5) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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PerceivedObjectContainer
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FROM CPM-PerceivedObjectContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
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WITH SUCCESSORS
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;
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/**
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* This DF represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit.
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*
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* It shall include the following components:
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*
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* @field header: the common message header for the facilities layer message.
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*
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* @field payload: the payload of the message.
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*
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*/
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CollectivePerceptionMessage ::= SEQUENCE {
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header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
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payload CpmPayload
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}
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/**
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* This DF represents the payload of the CPM.
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*
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* It shall include the following components:
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*
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* @field managementContainer: the management container.
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*
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* @field cpmContainers: the list of CPM containers, including its container type identifier and including either one or none of originatingVehicleContainer and/or originatingRsuContainer.
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*
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*/
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CpmPayload ::= SEQUENCE {
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managementContainer ManagementContainer,
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cpmContainers ConstraintWrappedCpmContainers,
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...
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}
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/**
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* This DF represents the management container of the CPM.
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* The management container provides basic information about the originating ITS-S, which are not specific to a specific type of station.
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*
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* It shall include the following components:
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*
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* @field referenceTime: the reference time for all time related information in the CPM.
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*
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* @field messageRateRange: the planned or expected range of the CPM generation rate.
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*
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* @field segmentationInfo: information regarding the message segmentation on facility layer.
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*
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* @field referencePosition: the reference position for all position related information in the CPM.
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*
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*/
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ManagementContainer ::= SEQUENCE {
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referenceTime TimestampIts,
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referencePosition ReferencePosition,
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segmentationInfo MessageSegmentationInfo OPTIONAL,
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messageRateRange MessageRateRange 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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CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
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&id CpmContainerId 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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*/
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CpmContainerId ::= INTEGER (1..16)
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/**
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* These value assignements represent specific values of the container type identifier.
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*/
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originatingVehicleContainer CpmContainerId ::= 1
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originatingRsuContainer CpmContainerId ::= 2
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sensorInformationContainer CpmContainerId ::= 3
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perceptionRegionContainer CpmContainerId ::= 4
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perceivedObjectContainer CpmContainerId ::= 5
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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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CpmContainers CPM-CONTAINER-ID-AND-TYPE ::= {
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{OriginatingVehicleContainer IDENTIFIED BY originatingVehicleContainer} |
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{OriginatingRsuContainer IDENTIFIED BY originatingRsuContainer} |
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{SensorInformationContainer IDENTIFIED BY sensorInformationContainer} |
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{PerceptionRegionContainer IDENTIFIED BY perceptionRegionContainer} |
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{PerceivedObjectContainer IDENTIFIED BY perceivedObjectContainer},
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...
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}
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/**
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* This DF represents a CPM container preceded by its type identifier and a lenght 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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WrappedCpmContainer ::= SEQUENCE {
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containerId CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
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containerData CPM-CONTAINER-ID-AND-TYPE.&Type( {CpmContainers}{@containerId} )
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}
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/**
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* This DF represents a list of CPM containers, each with their type identifier.
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*/
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WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer
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/**
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* This DF represents a list of CPM containers, each with their type identifier with an additional constraint.
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*/
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ConstraintWrappedCpmContainers ::= WrappedCpmContainers
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((WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 1)})) |
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(WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 2)})))
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/**
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* This DF represents the planned or expected range of the message generation rate.
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*
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* It shall include the following components:
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*
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* @field messageRateMin: the minimum planned or expected message rate.
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*
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* @field messageRateMax: the maximum planned or expected message rate.
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*
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*/
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MessageRateRange::= SEQUENCE{
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messageRateMin MessageRateHz,
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messageRateMax MessageRateHz
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}
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END
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