Ashin Walpola
a5ad3dcc5d
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.
49 lines
2.1 KiB
Kotlin
49 lines
2.1 KiB
Kotlin
package com.hawhamburg.micr0bu
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import com.hawhamburg.micr0bu.domain.asn1.CamUperCodec
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import com.hawhamburg.micr0bu.domain.cam.StationType
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import org.junit.Assert.assertEquals
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import org.junit.Assert.assertNotNull
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import org.junit.Test
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/**
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* A roadside unit's CAM must decode, not be dropped.
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*
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* ETSI's `HighFrequencyContainer` is a CHOICE, and an RSU picks `rsuContainerHighFrequency`
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* instead of `basicVehicleContainerHighFrequency`. That container holds no kinematics at all -
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* only an optional protected-zone list - so an earlier version of the decoder bailed on it and
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* every RSU CAM was silently discarded. The bench RSU sends CAM and SPATEM from the same station
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* id, so dropping its CAM meant the one station a rider most wants to see never appeared.
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*
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* The fixture is a real 26-byte RSU CAM taken live from the OBU's `v2x/rx/cam` topic; the
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* expected values are asn1tools' decoding of those same bytes using the ETSI modules in the
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* `C-ITS-Parser` checkout.
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*/
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class RsuCamDecodeTest {
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private val rsuCam = "020239b9de898b8b00fab215af6e286477c0c20c200033fa4e80"
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private fun String.hexToBytes(): ByteArray =
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chunked(2).map { it.toInt(16).toByte() }.toByteArray()
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@Test
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fun `decodes a roadside unit CAM for position and station type`() {
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val cam = CamUperCodec.decode(rsuCam.hexToBytes(), receivedAtEpochMs = 1_787_100_000_000L)
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assertNotNull("an RSU CAM must not be dropped", cam)
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cam!!
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assertEquals(968_482_441L, cam.stationId)
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assertEquals(StationType.ROAD_SIDE_UNIT, cam.stationType)
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assertEquals(15, cam.stationType) // the enumeration jumps 11 -> 15; 12 would be wrong
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assertEquals(53.5544955, cam.latitude, 1e-7)
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assertEquals(10.0225470, cam.longitude, 1e-7)
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// An RSU has no kinematics to report. Zero is a placeholder, which is only safe because
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// CamUseCaseRepository keeps RSU CAMs out of UseCaseDetectionEngine - otherwise this
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// would read as a permanently stopped vehicle and raise a standing false alert.
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assertEquals(0.0, cam.speedMps, 0.0)
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assertEquals(0.0, cam.headingDeg, 0.0)
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}
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}
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