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.
373 lines
14 KiB
Plaintext
373 lines
14 KiB
Plaintext
CPM-PDU-Descriptions {
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itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) tr (103562) cpm (1) version (1)
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}
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DEFINITIONS AUTOMATIC TAGS ::=
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BEGIN
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IMPORTS ItsPduHeader, Heading, ReferencePosition, Speed, DriveDirection, LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration, StationType, VehicleLength, VehicleWidth, YawRate, SpeedConfidence
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FROM ITS-Container { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }
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IntersectionReferenceID, LaneID, NodeOffsetPointXY, Offset-B10, Offset-B11, Offset-B12, Offset-B13, Offset-B14, Offset-B16, RoadSegmentReferenceID, VehicleHeight
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FROM DSRC { iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2) }
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GenerationDeltaTime FROM CAM-PDU-Descriptions { itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) en(302637) cam(2) version(2)} ;
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-- The root data frame for collective perception message
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CPM ::= SEQUENCE {
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header ItsPduHeader,
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cpm CollectivePerceptionMessage
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}
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CollectivePerceptionMessage ::= SEQUENCE {
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generationDeltaTime GenerationDeltaTime,
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cpmParameters CpmParameters
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}
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CpmParameters ::= SEQUENCE {
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managementContainer CpmManagementContainer,
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stationDataContainer StationDataContainer OPTIONAL,
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sensorInformationContainer SensorInformationContainer OPTIONAL,
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perceivedObjectContainer PerceivedObjectContainer OPTIONAL,
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freeSpaceAddendumContainer FreeSpaceAddendumContainer OPTIONAL,
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numberOfPerceivedObjects NumberOfPerceivedObjects,
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...
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}
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CpmManagementContainer ::= SEQUENCE {
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stationType StationType,
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perceivedObjectContainerSegmentInfo PerceivedObjectContainerSegmentInfo OPTIONAL,
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referencePosition ReferencePosition,
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...
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}
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StationDataContainer ::= CHOICE {
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originatingVehicleContainer OriginatingVehicleContainer,
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originatingRSUContainer OriginatingRSUContainer,
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...
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}
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OriginatingVehicleContainer ::= SEQUENCE {
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heading Heading,
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speed Speed,
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vehicleOrientationAngle WGS84Angle OPTIONAL,
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driveDirection DriveDirection DEFAULT forward,
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longitudinalAcceleration LongitudinalAcceleration OPTIONAL,
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lateralAcceleration LateralAcceleration OPTIONAL,
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verticalAcceleration VerticalAcceleration OPTIONAL,
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yawRate YawRate OPTIONAL,
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pitchAngle CartesianAngle OPTIONAL,
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rollAngle CartesianAngle OPTIONAL,
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vehicleLength VehicleLength OPTIONAL,
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vehicleWidth VehicleWidth OPTIONAL,
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vehicleHeight VehicleHeight OPTIONAL,
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trailerDataContainer TrailerDataContainer OPTIONAL,
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...
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}
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OriginatingRSUContainer ::= CHOICE {
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intersectionReferenceId IntersectionReferenceID,
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roadSegmentReferenceId RoadSegmentReferenceID,
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...
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}
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SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation
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SensorInformation ::= SEQUENCE {
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sensorID Identifier,
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type SensorType,
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detectionArea DetectionArea,
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freeSpaceConfidence FreeSpaceConfidence OPTIONAL,
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...
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}
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PerceivedObjectContainer ::= SEQUENCE SIZE(1..128, ...) OF PerceivedObject
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PerceivedObject ::= SEQUENCE {
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objectID Identifier,
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sensorIDList SensorIdList OPTIONAL,
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timeOfMeasurement TimeOfMeasurement,
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objectAge ObjectAge OPTIONAL,
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objectConfidence ObjectConfidence DEFAULT 0,
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xDistance ObjectDistanceWithConfidence,
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yDistance ObjectDistanceWithConfidence,
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zDistance ObjectDistanceWithConfidence OPTIONAL,
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xSpeed SpeedExtended,
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ySpeed SpeedExtended,
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zSpeed SpeedExtended OPTIONAL,
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xAcceleration LongitudinalAcceleration OPTIONAL,
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yAcceleration LateralAcceleration OPTIONAL,
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zAcceleration VerticalAcceleration OPTIONAL,
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yawAngle CartesianAngle OPTIONAL,
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planarObjectDimension1 ObjectDimension OPTIONAL,
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planarObjectDimension2 ObjectDimension OPTIONAL,
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verticalObjectDimension ObjectDimension OPTIONAL,
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objectRefPoint ObjectRefPoint DEFAULT 0,
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dynamicStatus DynamicStatus OPTIONAL,
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classification ObjectClassDescription OPTIONAL,
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matchedPosition MatchedPosition OPTIONAL,
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...
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}
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DetectionArea ::= CHOICE {
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vehicleSensor VehicleSensor,
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stationarySensorRadial AreaRadial,
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stationarySensorPolygon AreaPolygon,
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stationarySensorCircular AreaCircular,
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stationarySensorEllipse AreaEllipse,
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stationarySensorRectangle AreaRectangle,
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...
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}
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VehicleSensor ::= SEQUENCE {
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refPointId RefPointId DEFAULT 0,
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xSensorOffset XSensorOffset,
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ySensorOffset YSensorOffset,
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zSensorOffset ZSensorOffset OPTIONAL,
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vehicleSensorPropertyList VehicleSensorPropertyList,
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...
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}
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VehicleSensorPropertyList ::= SEQUENCE SIZE(1..10) OF VehicleSensorProperties
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VehicleSensorProperties ::= SEQUENCE {
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range Range,
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horizontalOpeningAngleStart CartesianAngleValue,
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horizontalOpeningAngleEnd CartesianAngleValue,
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verticalOpeningAngleStart CartesianAngleValue OPTIONAL,
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verticalOpeningAngleEnd CartesianAngleValue OPTIONAL,
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...
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}
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AreaCircular ::= SEQUENCE {
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nodeCenterPoint OffsetPoint OPTIONAL,
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radius Radius
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}
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AreaEllipse ::= SEQUENCE {
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nodeCenterPoint OffsetPoint OPTIONAL,
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semiMinorRangeLength SemiRangeLength,
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semiMajorRangeLength SemiRangeLength,
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semiMajorRangeOrientation WGS84AngleValue,
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semiHeight SemiRangeLength OPTIONAL
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}
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AreaRectangle ::= SEQUENCE {
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nodeCenterPoint OffsetPoint OPTIONAL,
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semiMajorRangeLength SemiRangeLength,
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semiMinorRangeLength SemiRangeLength,
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semiMajorRangeOrientation WGS84AngleValue,
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semiHeight SemiRangeLength OPTIONAL
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}
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AreaPolygon ::= SEQUENCE {
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polyPointList PolyPointList
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}
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PolyPointList ::= SEQUENCE (SIZE(3..16, ...)) OF OffsetPoint
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AreaRadial ::= SEQUENCE {
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range Range,
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stationaryHorizontalOpeningAngleStart WGS84AngleValue,
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stationaryHorizontalOpeningAngleEnd WGS84AngleValue,
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verticalOpeningAngleStart CartesianAngleValue OPTIONAL,
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verticalOpeningAngleEnd CartesianAngleValue OPTIONAL,
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sensorPositionOffset OffsetPoint OPTIONAL,
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sensorHeight SensorHeight OPTIONAL,
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...
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}
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FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum
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FreeSpaceAddendum ::= SEQUENCE {
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freeSpaceConfidence FreeSpaceConfidence,
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freeSpaceArea FreeSpaceArea,
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sensorIDList SensorIdList OPTIONAL,
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shadowingApplies ShadowingApplies DEFAULT TRUE,
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...
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}
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FreeSpaceArea ::= CHOICE {
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freeSpacePolygon AreaPolygon,
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freeSpaceCircular AreaCircular,
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freeSpaceEllipse AreaEllipse,
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freeSpaceRectangle AreaRectangle,
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...
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}
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ObjectDistanceWithConfidence ::= SEQUENCE {
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value DistanceValue,
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confidence DistanceConfidence
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}
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ObjectDimension ::= SEQUENCE {
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value ObjectDimensionValue,
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confidence ObjectDimensionConfidence
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}
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CartesianAngle ::= SEQUENCE {
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value CartesianAngleValue,
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confidence AngleConfidence
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}
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WGS84Angle ::= SEQUENCE {
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value WGS84AngleValue,
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confidence AngleConfidence
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}
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SpeedExtended ::= SEQUENCE {
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value SpeedValueExtended,
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confidence SpeedConfidence
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}
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SensorIdList ::= SEQUENCE SIZE(1..128, ...) OF Identifier
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TrailerDataContainer ::= SEQUENCE SIZE(1..2) OF TrailerData
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TrailerData ::= SEQUENCE {
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refPointId RefPointId,
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hitchPointOffset HitchPointOffset,
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frontOverhang FrontOverhang,
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rearOverhang RearOverhang,
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trailerWidth VehicleWidth OPTIONAL,
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hitchAngle CartesianAngle OPTIONAL,
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...
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}
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LongitudinalLanePosition ::= SEQUENCE {
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longitudinalLanePositionValue LongitudinalLanePositionValue,
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longitudinalLanePositionConfidence LongitudinalLanePositionConfidence
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}
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MatchedPosition ::= SEQUENCE {
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laneID LaneID OPTIONAL,
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longitudinalLanePosition LongitudinalLanePosition OPTIONAL,
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...
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}
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PerceivedObjectContainerSegmentInfo ::= SEQUENCE {
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totalMsgSegments SegmentCount,
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thisSegmentNum SegmentCount
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}
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ObjectClassDescription ::= SEQUENCE (SIZE(1..8)) OF ObjectClass
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ObjectClass ::= SEQUENCE {
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confidence ClassConfidence,
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class CHOICE {
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vehicle VehicleSubclass,
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person PersonSubclass,
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animal AnimalSubclass,
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other OtherSubclass
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}
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}
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VehicleSubclass ::= SEQUENCE {
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type VehicleSubclassType DEFAULT 0,
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confidence ClassConfidence DEFAULT 0
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}
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PersonSubclass ::= SEQUENCE {
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type PersonSubclassType DEFAULT 0,
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confidence ClassConfidence DEFAULT 0
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}
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AnimalSubclass ::= SEQUENCE {
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type AnimalSubclassType DEFAULT 0,
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confidence ClassConfidence DEFAULT 0
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}
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OtherSubclass ::= SEQUENCE {
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type OtherSublassType DEFAULT 0,
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confidence ClassConfidence DEFAULT 0
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}
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OffsetPoint ::= SEQUENCE {
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nodeOffsetPointxy NodeOffsetPointXY (WITH COMPONENTS {..., node-LatLon ABSENT, regional ABSENT}),
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nodeOffsetPointZ NodeOffsetPointZ OPTIONAL
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}
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NodeOffsetPointZ ::= CHOICE {
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node-Z1 Offset-B10, -- node is within 5.11m of last node
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node-Z2 Offset-B11, -- node is within 10.23m of last node
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node-Z3 Offset-B12, -- node is within 20.47m of last node
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node-Z4 Offset-B13, -- node is within 40.96m of last node
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node-Z5 Offset-B14, -- node is within 81.91m of last node
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node-Z6 Offset-B16 -- node is within 327.67m of last node
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}
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AnimalSubclassType ::= INTEGER {unknown(0)} (0..255)
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ClassConfidence ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
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WGS84AngleValue ::= INTEGER {wgs84North(0), wgs84East(900), wgs84South(1800), wgs84West(2700), unavailable(3601)} (0..3601)
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CartesianAngleValue ::= INTEGER {zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)
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AngleConfidence ::= INTEGER {zeroPointOneDegree (1), oneDegree (10), outOfRange(126), unavailable(127)} (1..127)
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SemiRangeLength ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)
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DistanceValue ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-132768..132767)
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DistanceConfidence ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
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DynamicStatus ::= INTEGER {dynamic(0), hasBeenDynamic(1), static(2)} (0..2)
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HitchPointOffset ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..100)
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FrontOverhang ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..50)
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FreeSpaceConfidence ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
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LongitudinalLanePositionValue ::= INTEGER {zeroPointOneMeter(1)} (0..32767)
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LongitudinalLanePositionConfidence ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
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ObjectAge ::= INTEGER {oneMiliSec(1)} (0..1500)
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ObjectConfidence ::= INTEGER {unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
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ObjectDimensionValue ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..1023)
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ObjectDimensionConfidence ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
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ObjectRefPoint ::= INTEGER {mid(0), bottomLeft(1), midLeft(2), topLeft(3), bottomMid(4), topMid(5), bottomRight(6), midRight(7), topRight(8)} (0..8)
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OtherSublassType ::= INTEGER {unknown(0), roadSideUnit(1)} (0..255)
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PersonSubclassType ::= INTEGER {unknown(0), pedestrian(1), personInWheelchair(2), cyclist(3), personWithStroller(4), personOnSkates(5), personGroup(6)} (0..255)
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Radius ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)
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Range ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..10000)
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RearOverhang ::= INTEGER {zeroPointOneMeter(1), oneMeter(10)} (0..150)
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RefPointId ::= INTEGER (0..255)
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SensorHeight ::= INTEGER {zeroPointZeroOneMeter(1)} (-5000..5000)
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ShadowingApplies ::= BOOLEAN
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Identifier ::= INTEGER (0..255)
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NumberOfPerceivedObjects ::= INTEGER (0..255)
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SensorType ::= INTEGER {undefined(0), radar(1), lidar(2), monovideo(3), stereovision(4), nightvision(5), ultrasonic(6), pmd(7), fusion(8), inductionloop(9), sphericalCamera(10), itssaggregation(11)} (0..15)
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SegmentCount ::= INTEGER(1..127)
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SpeedValueExtended ::= INTEGER {standstill(0), oneCentimeterPerSec(1),unavailable(16383)} (-16383..16383)
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TimeOfMeasurement ::= INTEGER {oneMilliSecond(1)} (-1500..1500)
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VehicleSubclassType ::= INTEGER {unknown(0), moped(1), motorcycle(2), passengerCar(3), bus(4), lightTruck(5), heavyTruck(6), trailer(7), specialVehicles(8), tram(9), emergencyVehicle(10), agricultural(11)} (0..255)
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XSensorOffset ::= INTEGER {negativeZeroPointZeroOneMeter(-1), negativeOneMeter(-100)} (-5000..0)
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YSensorOffset ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (-1000..1000)
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ZSensorOffset ::= INTEGER {zeroPointZeroOneMeter(1), oneMeter(100)} (0..1000)
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END
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