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.
376 lines
20 KiB
C++
376 lines
20 KiB
C++
#include <vanetza/asn1/its/CAM.h>
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#include <vanetza/asn1/its/r2/CAM.h>
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#include <vanetza/facilities/detail/macros.ipp>
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#include <iostream>
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ASSERT_EQUAL_TYPE(AltitudeConfidence_t);
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ASSERT_EQUAL_ENUM(AltitudeConfidence_alt_000_01);
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ASSERT_EQUAL_ENUM(AltitudeConfidence_alt_200_00);
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ASSERT_EQUAL_ENUM(AltitudeConfidence_outOfRange);
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ASSERT_EQUAL_ENUM(AltitudeConfidence_unavailable);
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ASSERT_EQUAL_TYPE(AltitudeValue_t);
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ASSERT_EQUAL_ENUM(AltitudeValue_unavailable);
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ASSERT_EQUAL_TYPE(DeltaAltitude_t);
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ASSERT_EQUAL_ENUM(DeltaAltitude_unavailable);
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ASSERT_EQUAL_TYPE(DeltaLatitude_t);
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ASSERT_EQUAL_ENUM(DeltaLatitude_unavailable);
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ASSERT_EQUAL_TYPE(DeltaLongitude_t);
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ASSERT_EQUAL_ENUM(DeltaLongitude_unavailable);
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ASSERT_EQUAL_TYPE(Latitude_t);
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ASSERT_EQUAL_ENUM(Latitude_unavailable);
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ASSERT_EQUAL_TYPE(Longitude_t);
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ASSERT_EQUAL_ENUM(Longitude_unavailable);
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ASSERT_EQUAL_TYPE(PathDeltaTime_t);
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namespace vanetza
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{
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namespace facilities
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{
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bool check_service_specific_permissions(const ASN1_PREFIXED(CamParameters_t)& params, security::CamPermissions ssp)
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{
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using security::CamPermission;
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using security::CamPermissions;
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CamPermissions required_permissions;
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if (params.highFrequencyContainer.present == ASN1_PREFIXED(HighFrequencyContainer_PR_rsuContainerHighFrequency)) {
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const ASN1_PREFIXED(RSUContainerHighFrequency_t)& rsu = params.highFrequencyContainer.choice.rsuContainerHighFrequency;
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if (rsu.protectedCommunicationZonesRSU) {
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required_permissions.add(CamPermission::CEN_DSRC_Tolling_Zone);
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}
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}
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if (const ASN1_PREFIXED(SpecialVehicleContainer_t)* special = params.specialVehicleContainer) {
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const ASN1_PREFIXED(EmergencyContainer_t)* emergency = nullptr;
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const ASN1_PREFIXED(SafetyCarContainer_t)* safety = nullptr;
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const ASN1_PREFIXED(RoadWorksContainerBasic_t)* roadworks = nullptr;
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switch (special->present) {
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_publicTransportContainer):
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required_permissions.add(CamPermission::Public_Transport);
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_specialTransportContainer):
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required_permissions.add(CamPermission::Special_Transport);
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_dangerousGoodsContainer):
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required_permissions.add(CamPermission::Dangerous_Goods);
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_roadWorksContainerBasic):
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required_permissions.add(CamPermission::Roadwork);
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roadworks = &special->choice.roadWorksContainerBasic;
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_rescueContainer):
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required_permissions.add(CamPermission::Rescue);
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_emergencyContainer):
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required_permissions.add(CamPermission::Emergency);
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emergency = &special->choice.emergencyContainer;
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break;
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case ASN1_PREFIXED(SpecialVehicleContainer_PR_safetyCarContainer):
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required_permissions.add(CamPermission::Safety_Car);
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safety = &special->choice.safetyCarContainer;
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break;
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default:
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break;
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}
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if (emergency && emergency->emergencyPriority && emergency->emergencyPriority->size == 1) {
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// testing bit strings from asn1c is such a mess...
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assert(emergency->emergencyPriority->buf);
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uint8_t bits = *emergency->emergencyPriority->buf;
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if (bits & (1 << (7 - ASN1_PREFIXED(EmergencyPriority_requestForRightOfWay)))) {
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required_permissions.add(CamPermission::Request_For_Right_Of_Way);
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}
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if (bits & (1 << (7 - ASN1_PREFIXED(EmergencyPriority_requestForFreeCrossingAtATrafficLight)))) {
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required_permissions.add(CamPermission::Request_For_Free_Crossing_At_Traffic_Light);
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}
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}
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if (roadworks && roadworks->closedLanes) {
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required_permissions.add(CamPermission::Closed_Lanes);
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}
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if (safety && safety->trafficRule) {
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switch (*safety->trafficRule) {
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case ASN1_PREFIXED(TrafficRule_noPassing):
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required_permissions.add(CamPermission::No_Passing);
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break;
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case ASN1_PREFIXED(TrafficRule_noPassingForTrucks):
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required_permissions.add(CamPermission::No_Passing_For_Trucks);
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break;
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default:
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break;
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}
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}
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if (safety && safety->speedLimit) {
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required_permissions.add(CamPermission::Speed_Limit);
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}
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}
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return ssp.has(required_permissions);
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}
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void print_indented(std::ostream& os, const ASN1_PREFIXED(CAM_t)* message, const std::string& indent, unsigned level)
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{
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auto prefix = [&](const char* field) -> std::ostream& {
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for (unsigned i = 0; i < level; ++i) {
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os << indent;
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}
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os << field << ": ";
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return os;
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};
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const ASN1_PREFIXED(ItsPduHeader_t)& header = message->header;
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prefix("ITS PDU Header") << "\n";
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++level;
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prefix("Protocol Version") << header.protocolVersion << "\n";
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#if ITS_RELEASE == 1
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prefix("Message ID") << header.messageID << "\n";
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prefix("Station ID") << header.stationID << "\n";
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#else
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prefix("Message ID") << header.messageId << "\n";
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prefix("Station ID") << header.stationId << "\n";
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#endif
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--level;
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#if ITS_RELEASE == 1
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const ASN1_PREFIXED(CoopAwareness_t)& cam = message->cam;
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#else
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const ASN1_PREFIXED(CamPayload_t)& cam = message->cam;
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#endif
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prefix("CoopAwareness") << "\n";
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++level;
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prefix("Generation Delta Time") << cam.generationDeltaTime << "\n";
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prefix("Basic Container") << "\n";
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++level;
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const ASN1_PREFIXED(BasicContainer_t)& basic = cam.camParameters.basicContainer;
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prefix("Station Type") << basic.stationType << "\n";
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prefix("Reference Position") << "\n";
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++level;
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prefix("Longitude") << basic.referencePosition.longitude << "\n";
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prefix("Latitude") << basic.referencePosition.latitude << "\n";
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#if ITS_RELEASE == 1
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prefix("Semi Major Orientation") << basic.referencePosition.positionConfidenceEllipse.semiMajorOrientation << "\n";
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prefix("Semi Major Confidence") << basic.referencePosition.positionConfidenceEllipse.semiMajorConfidence << "\n";
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prefix("Semi Minor Confidence") << basic.referencePosition.positionConfidenceEllipse.semiMinorConfidence << "\n";
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#else
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prefix("Semi Major Axis Orientation") << basic.referencePosition.positionConfidenceEllipse.semiMajorAxisOrientation << "\n";
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prefix("Semi Major Axis Length") << basic.referencePosition.positionConfidenceEllipse.semiMajorAxisLength << "\n";
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prefix("Semi Minor Axis Length") << basic.referencePosition.positionConfidenceEllipse.semiMinorAxisLength << "\n";
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#endif
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prefix("Altitude [Confidence]") << basic.referencePosition.altitude.altitudeValue
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<< " [" << basic.referencePosition.altitude.altitudeConfidence << "]\n";
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--level;
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--level;
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if (cam.camParameters.highFrequencyContainer.present == ASN1_PREFIXED(HighFrequencyContainer_PR_basicVehicleContainerHighFrequency)) {
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prefix("High Frequency Container [Basic Vehicle]") << "\n";
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++level;
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const ASN1_PREFIXED(BasicVehicleContainerHighFrequency)& bvc =
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cam.camParameters.highFrequencyContainer.choice.basicVehicleContainerHighFrequency;
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prefix("Heading [Confidence]") << bvc.heading.headingValue
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<< " [" << bvc.heading.headingConfidence << "]\n";
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prefix("Speed [Confidence]") << bvc.speed.speedValue
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<< " [" << bvc.speed.speedConfidence << "]\n";
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prefix("Drive Direction") << bvc.driveDirection << "\n";
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#if ITS_RELEASE == 1
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prefix("Longitudinal Acceleration [Confidence]") << bvc.longitudinalAcceleration.longitudinalAccelerationValue
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<< " [" << bvc.longitudinalAcceleration.longitudinalAccelerationConfidence << "]\n";
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#else
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prefix("Longitudinal Acceleration [Confidence]") << bvc.longitudinalAcceleration.value
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<< " [" << bvc.longitudinalAcceleration.confidence << "]\n";
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#endif
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prefix("Vehicle Length [Confidence Indication]") << bvc.vehicleLength.vehicleLengthValue
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<< " [" << bvc.vehicleLength.vehicleLengthConfidenceIndication << "]\n";
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prefix("Vehicle Width") << bvc.vehicleWidth << "\n";
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prefix("Curvature [Confidence]") << bvc.curvature.curvatureValue
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<< " [" << bvc.curvature.curvatureConfidence << "]\n";
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prefix("Curvature Calculation Mode") << bvc.curvatureCalculationMode << "\n";
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prefix("Yaw Rate [Confidence]") << bvc.yawRate.yawRateValue
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<< " [" << bvc.yawRate.yawRateConfidence << "]\n";
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--level;
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} else if (cam.camParameters.highFrequencyContainer.present == ASN1_PREFIXED(HighFrequencyContainer_PR_rsuContainerHighFrequency)) {
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prefix("High Frequency Container [RSU]") << "\n";
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const ASN1_PREFIXED(RSUContainerHighFrequency_t)& rsu = cam.camParameters.highFrequencyContainer.choice.rsuContainerHighFrequency;
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if (nullptr != rsu.protectedCommunicationZonesRSU && nullptr != rsu.protectedCommunicationZonesRSU->list.array) {
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++level;
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int size = rsu.protectedCommunicationZonesRSU->list.count;
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for (int i = 0; i < size; i++)
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{
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prefix("Protected Zone") << "\n";
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++level;
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prefix("Type") << rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneType << "\n";
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if (rsu.protectedCommunicationZonesRSU->list.array[i]->expiryTime
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&& nullptr != rsu.protectedCommunicationZonesRSU->list.array[i]->expiryTime->buf
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&& rsu.protectedCommunicationZonesRSU->list.array[i]->expiryTime->size > 0)
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prefix("Expiry Time") << (unsigned) rsu.protectedCommunicationZonesRSU->list.array[i]->expiryTime->buf[0] << "\n";
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prefix("Latitude") << rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneLatitude << "\n";
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prefix("Longitude") << rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneLongitude << "\n";
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if (nullptr != rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneRadius)
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prefix("Radius") << *(rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneRadius) << "\n";
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if (nullptr != rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneRadius)
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#if ITS_RELEASE == 1
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prefix("ID") << *(rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneID) << "\n";
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#else
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prefix("ID") << *(rsu.protectedCommunicationZonesRSU->list.array[i]->protectedZoneId) << "\n";
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#endif
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--level;
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}
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--level;
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}
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} else {
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prefix("High Frequency Container") << "empty\n";
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}
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if (nullptr != cam.camParameters.lowFrequencyContainer) {
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if (cam.camParameters.lowFrequencyContainer->present == ASN1_PREFIXED(LowFrequencyContainer_PR_basicVehicleContainerLowFrequency)) {
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prefix("Low Frequency Container") << "\n";
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const ASN1_PREFIXED(BasicVehicleContainerLowFrequency_t)& lfc =
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cam.camParameters.lowFrequencyContainer->choice.basicVehicleContainerLowFrequency;
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++level;
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prefix("Vehicle Role") << (lfc.vehicleRole) << "\n";
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if (nullptr != lfc.exteriorLights.buf && lfc.exteriorLights.size > 0)
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prefix("Exterior Lights") << unsigned(*(lfc.exteriorLights.buf)) << "\n";
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if (nullptr != lfc.pathHistory.list.array) {
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int size = lfc.pathHistory.list.count;
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for (int i = 0; i < size; i++)
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{
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prefix("Path history point") << "\n";
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++level;
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prefix("Latitude") << (lfc.pathHistory.list.array[i]->pathPosition.deltaLatitude) << "\n";
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prefix("Longitude") << (lfc.pathHistory.list.array[i]->pathPosition.deltaLongitude) << "\n";
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prefix("Altitude") << (lfc.pathHistory.list.array[i]->pathPosition.deltaAltitude) << "\n";
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if (lfc.pathHistory.list.array[i]->pathDeltaTime)
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prefix("Delta time") << *(lfc.pathHistory.list.array[i]->pathDeltaTime) << "\n";
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--level;
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}
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}
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--level;
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}
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else // LowFrequencyContainer_PR_NOTHING
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prefix("Low Frequency Container") << "present but empty" << "\n";
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}
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else
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prefix("Low Frequency Container") << "not present" << "\n";
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if (nullptr != cam.camParameters.specialVehicleContainer) {
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if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_publicTransportContainer)) {
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prefix("Special Vehicle Container [Public Transport]") << "\n";
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ASN1_PREFIXED(PublicTransportContainer_t)& ptc = cam.camParameters.specialVehicleContainer->choice.publicTransportContainer;
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++level;
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prefix("Embarkation Status") << ptc.embarkationStatus << "\n";
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if (ptc.ptActivation) {
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prefix("PT Activation Type") << ptc.ptActivation->ptActivationType << "\n";
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if (0 != ptc.ptActivation->ptActivationData.size) {
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for (size_t i = 0; i < ptc.ptActivation->ptActivationData.size; i++)
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prefix("PT Activation Data") << (unsigned) ptc.ptActivation->ptActivationData.buf[i] << "\n";
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}
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}
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_specialTransportContainer)) {
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prefix("Special Vehicle Container [Special Transport]") << "\n";
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ASN1_PREFIXED(SpecialTransportContainer_t)& stc = cam.camParameters.specialVehicleContainer->choice.specialTransportContainer;
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++level;
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if (nullptr != stc.specialTransportType.buf && stc.specialTransportType.size > 0)
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prefix("Type") << (unsigned) stc.specialTransportType.buf[0] << "\n";
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if (nullptr != stc.lightBarSirenInUse.buf && stc.lightBarSirenInUse.size > 0)
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prefix("Light Bar Siren in Use") << (unsigned) stc.lightBarSirenInUse.buf[0] << "\n";
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_dangerousGoodsContainer)) {
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prefix("Special Vehicle Container [Dangerous Goods]") << "\n";
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ASN1_PREFIXED(DangerousGoodsContainer_t)& dgc = cam.camParameters.specialVehicleContainer->choice.dangerousGoodsContainer;
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++level;
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prefix("Dangerous Goods Basic Type") << (unsigned)dgc.dangerousGoodsBasic << "\n";
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_roadWorksContainerBasic)) {
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prefix("Special Vehicle Container [Road Works]") << "\n";
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ASN1_PREFIXED(RoadWorksContainerBasic_t)& rwc = cam.camParameters.specialVehicleContainer->choice.roadWorksContainerBasic;
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++level;
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if (nullptr != rwc.roadworksSubCauseCode)
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prefix("Sub Cause Code") << *(rwc.roadworksSubCauseCode) << "\n";
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if (nullptr != rwc.lightBarSirenInUse.buf && rwc.lightBarSirenInUse.size > 0)
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prefix("Light Bar Siren in Use") << (unsigned) rwc.lightBarSirenInUse.buf[0] << "\n";
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if (nullptr != rwc.closedLanes) {
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if (rwc.closedLanes->innerhardShoulderStatus)
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prefix("Inner Hard Shoulder Status") << *(rwc.closedLanes->innerhardShoulderStatus) << "\n";
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if (rwc.closedLanes->outerhardShoulderStatus)
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prefix("Outer Hard Shoulder Status") << *(rwc.closedLanes->outerhardShoulderStatus) << "\n";
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if (rwc.closedLanes->drivingLaneStatus && nullptr != rwc.closedLanes->drivingLaneStatus->buf
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&& rwc.closedLanes->drivingLaneStatus->size > 0)
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prefix("Driving Lane Status") << (unsigned) rwc.closedLanes->drivingLaneStatus->buf[0] << "\n";
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}
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_rescueContainer)) {
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prefix("Special Vehicle Container [Rescue]") << "\n";
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ASN1_PREFIXED(RescueContainer_t)& rc = cam.camParameters.specialVehicleContainer->choice.rescueContainer;
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++level;
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if (nullptr != rc.lightBarSirenInUse.buf && rc.lightBarSirenInUse.size > 0)
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prefix("Light Bar Siren in Use") << (unsigned) rc.lightBarSirenInUse.buf[0] << "\n";
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_emergencyContainer)) {
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prefix("Special Vehicle Container [Emergency]") << "\n";
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ASN1_PREFIXED(EmergencyContainer_t)& ec = cam.camParameters.specialVehicleContainer->choice.emergencyContainer;
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++level;
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if (nullptr != ec.lightBarSirenInUse.buf && ec.lightBarSirenInUse.size > 0)
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prefix("Light Bar Siren in Use") << (unsigned) ec.lightBarSirenInUse.buf[0] << "\n";
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if (nullptr != ec.incidentIndication) {
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#if ITS_RELEASE == 1
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prefix("Incident Indication Cause Code") << ec.incidentIndication->causeCode << "\n";
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prefix("Incident Indication Sub Cause Code") << ec.incidentIndication->subCauseCode << "\n";
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#else
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prefix("Incident Indication Cause Code V2") << ec.incidentIndication->ccAndScc.present << "\n";
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prefix("Incident Indication Sub Cause Code V2") << ec.incidentIndication->ccAndScc.choice.reserved0 << "\n";
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#endif
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}
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if (nullptr != ec.emergencyPriority && nullptr != ec.emergencyPriority->buf
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&& ec.emergencyPriority->size > 0) {
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prefix("Emergency Priority") << (unsigned) ec.emergencyPriority->buf[0] << "\n";
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}
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--level;
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} else if (cam.camParameters.specialVehicleContainer->present == ASN1_PREFIXED(SpecialVehicleContainer_PR_safetyCarContainer)) {
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prefix("Special Vehicle Container [Safety Car]") << "\n";
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ASN1_PREFIXED(SafetyCarContainer_t)& sc = cam.camParameters.specialVehicleContainer->choice.safetyCarContainer;
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++level;
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if (nullptr != sc.lightBarSirenInUse.buf && sc.lightBarSirenInUse.size > 0)
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prefix("Light Bar Siren in Use") << (unsigned) sc.lightBarSirenInUse.buf[0] << "\n";
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if (nullptr != sc.incidentIndication) {
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#if ITS_RELEASE == 1
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prefix("Incident Indication Cause Code") << sc.incidentIndication->causeCode << "\n";
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prefix("Incident Indication Sub Cause Code") << sc.incidentIndication->subCauseCode << "\n";
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#else
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prefix("Incident Indication Cause Code V2") << sc.incidentIndication->ccAndScc.present << "\n";
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prefix("Incident Indication Sub Cause Code V2") << sc.incidentIndication->ccAndScc.choice.reserved0 << "\n";
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#endif
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}
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if (nullptr != sc.trafficRule) {
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prefix("Traffic Rule") << *(sc.trafficRule) << "\n";
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}
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if (nullptr != sc.speedLimit) {
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prefix("Speed Limit") << *(sc.speedLimit) << "\n";
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}
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--level;
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}
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else // SpecialVehicleContainer_PR_NOTHING
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prefix("Special Vehicle Container") << ("present but empty") << "\n";
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}
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else
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prefix("Special Vehicle Container") << "not present" << "\n";
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|
|
|
--level;
|
|
}
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|
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} // namespace facilities
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} // namespace vanetza
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