Add CPM (TS102894-2v211) to Vanetza

.gitignore

@@ -1,4 +1,6 @@
-build
+.vscode/
+build/
+build.asn1/
 conanfile.pyc
 doxygen/html/
-www/
+www/

CMakeLists.txt

@@ -75,6 +75,14 @@ if (VANETZA_WITH_OPENSSL)
   include(CompatOpenSSLTargets)
 endif()
 
+# ASN.1 select ITS version
+option(VANETZA_ASN1_WITH_ITS2 "ENABLE ITS2 ASN.1 support" OFF)
+if(VANETZA_ASN1_WITH_ITS2)
+  set(VANETZA_USE_ITS2 1)
+else()
+  set(VANETZA_USE_ITS2 0)
+endif()
+
 add_subdirectory(vanetza/access)
 add_subdirectory(vanetza/asn1)
 add_subdirectory(vanetza/btp)

asn1/TS103324v211-CPM-OriginatingStationContainers.asn

@@ -0,0 +1,54 @@
+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)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CartesianAngle, MapReference, Speed, StationType, TrailerData, Wgs84Angle
+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-1 (1)}
+;
+
+/**
+ * This DF  represents the Originating Vehicle Container
+ *
+ * It shall include the following components: 
+ *
+ * @field orientationAngle: the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.
+ *
+ * @field pitchAngle: the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.
+ *
+ * @field rollAngle: the optional angle and angle accuracy between the ground plane and the current orientation of a vehicle's y-axis with respect to the ground plane about the x-axis according to the ISO 8855
+ *
+ * @field trailerData: information about the trailer dimensions and orientation in case a trailer is present.
+ * 
+*/
+OriginatingVehicleContainer ::= SEQUENCE {
+    orientationAngle   Wgs84Angle,
+    pitchAngle         CartesianAngle OPTIONAL,
+    rollAngle          CartesianAngle OPTIONAL,
+    trailerDataSet     TrailerDataSet OPTIONAL,
+    ...
+}
+
+/**
+ * This DF  represents the Originating RSU Container.
+ *
+ * It shall include the following components: 
+ *
+ * @field mapReference: identifies the MAPEM containing the topology information reference in the Perceived Object Container
+ * 
+*/
+OriginatingRsuContainer ::= SEQUENCE{
+    mapReference    MapReference OPTIONAL,
+    ...
+}
+
+/**
+ * This DF  represents a list of trailer data.
+ * 
+*/
+TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,frontOverhang ABSENT, rearOverhang ABSENT, trailerWidth ABSENT}) 
+
+END

asn1/TS103324v211-CPM-PerceivedObjectContainer.asn

@@ -0,0 +1,34 @@
+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)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CardinalNumber1B, PerceivedObject
+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-1 (1)}
+;
+
+/**
+ * This DF  represents the Perceived Object Container 
+ *
+ * It shall include the following components: 
+ *
+ * @field numberOfPerceivedObjects: the total number of perceived objects at the time of generating the message. 
+ *
+ * @field perceivedObjects: the list of perceived objects.
+ *
+*/
+PerceivedObjectContainer ::= SEQUENCE {
+    numberOfPerceivedObjects    CardinalNumber1B,
+    perceivedObjects            PerceivedObjects,
+    ...
+}
+
+/** @brief Perceived Objects
+ * This DF provides a list of perceived objects represented in the coordinate system in which the y-axis corresponds to the North direction, the x-axis to the East direction, and the z- axis to the vertical direction.
+*/
+PerceivedObjects::= SEQUENCE SIZE(0..255, ...) OF PerceivedObject (WITH COMPONENTS {... ,objectId PRESENT})
+
+END

asn1/TS103324v211-CPM-PerceptionRegionContainer.asn

@@ -0,0 +1,54 @@
+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)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+CardinalNumber1B, DeltaTimeMilliSecondSigned, Identifier2B, Shape, ConfidenceLevel, SensorType, SequenceOfIdentifier1B
+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-1 (1)}
+;
+
+/**
+ * This DF  represents the Perception Region Container as a list of perception region information objects. 
+*/
+PerceptionRegionContainer ::= SEQUENCE SIZE(1..256, ...) OF PerceptionRegion
+
+/**
+ * This DF represents the actual perception capabilities available to the transmitting ITS-S, offering additional (often dynamic) details to the information provided in the sensor information container.
+ *
+ * It shall include the following components: 
+
+ * @field measurementDeltaTime: difference between the time of estimation of the perception region and the reference time. Positive values indicates that the provided information refers to a point in time after the reference time.
+ *
+ * @field perceptionRegionConfidence: the perception confidence.
+ *
+ * @field perceptionRegionShape: specification of the shape of the perception region.
+ *
+ * @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
+ *
+ * @field sensorIdList: the optional list of identifiers of the sensors which are involved in perceiving the region.
+ *
+ * @field numberOfPerceivedObjects: the optional number of perceived objects contained in the perception region specified in the component perceptionRegionShape. 
+ *
+ * @field perceivedObjectIds: the optional list of identifiers of the objects specified in the Perceived Object Container that are contained in the perception region specified in the component perceptionRegionShape.
+ *
+*/
+PerceptionRegion ::= SEQUENCE {
+    measurementDeltaTime         DeltaTimeMilliSecondSigned,     
+    perceptionRegionConfidence   ConfidenceLevel,
+    perceptionRegionShape        Shape, 
+    shadowingApplies             BOOLEAN,
+    sensorIdList                 SequenceOfIdentifier1B OPTIONAL,
+    numberOfPerceivedObjects     CardinalNumber1B OPTIONAL,
+    perceivedObjectIds           PerceivedObjectIds OPTIONAL,
+	...
+}
+
+/**
+ * This DF  represents a list of identifiers of perceived objects. 
+*/
+PerceivedObjectIds::= SEQUENCE SIZE(0..255, ...) OF Identifier2B
+
+END

asn1/TS103324v211-CPM-SensorInformationContainer.asn

@@ -0,0 +1,47 @@
+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)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+Shape, ConfidenceLevel, Identifier1B, SensorType
+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-1 (1) }
+;
+
+/**
+ * This DF  represents the Sensor Information Container as a list of information objects about the sensors or data fusion systems from which the station provides information about detected objects.
+*/
+SensorInformationContainer ::= SEQUENCE SIZE(1..128, ...) OF SensorInformation
+
+
+/**
+ * This DF  represents the characteristics of a single sensor or data fusion system.
+ *
+ * It shall include the following components: 
+ *
+ * @field sensorId: identifier of the sensor or data fusion system used to relate the perceived object in the Perceived Object Container to the sensor that detected it.
+ * this identifier shall uniquely identify the sensor inside the CPM, but may be changed from one CPM to the next.
+ *
+ * @field sensorType: the type of the sensor.
+ *
+ * @field perceptionRegionShape: the perception region of the sensor.
+ *
+ * @field perceptionRegionConfidence: the homogeneous perception region confidence that can be assumed for the entire perception region shape of this sensor. 
+ *
+ * @field shadowingApplies: indicates if the standard shadowing approach applies to the described perception region.
+ *
+*/
+
+SensorInformation ::= SEQUENCE {
+    sensorId          		    Identifier1B,
+    sensorType        		    SensorType,
+    perceptionRegionShape		Shape OPTIONAL,
+    perceptionRegionConfidence  ConfidenceLevel OPTIONAL,
+    shadowingApplies            BOOLEAN,
+   ...
+}
+
+
+END

asn1/TS103324v211-CPM.asn

@@ -0,0 +1,171 @@
+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)}
+
+DEFINITIONS AUTOMATIC TAGS ::=
+
+BEGIN
+
+IMPORTS
+
+ItsPduHeader, MessageRateHz, MessageSegmentationInfo, OrdinalNumber1B,  ReferencePosition, StationType, TimestampIts
+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-1 (1)}
+WITH SUCCESSORS
+
+OriginatingRsuContainer, OriginatingVehicleContainer
+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)}
+WITH SUCCESSORS
+
+SensorInformationContainer
+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)}
+WITH SUCCESSORS
+
+PerceptionRegionContainer
+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)}
+WITH SUCCESSORS
+
+PerceivedObjectContainer
+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)}
+WITH SUCCESSORS
+
+;
+
+/**
+ * This DF  represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit. 
+ *
+ * It shall include the following components: 
+ *
+ * @field header: the common message header for the facilities layer message. 
+ *
+ * @field payload: the payload of the message. 
+ *
+*/
+CollectivePerceptionMessage ::= SEQUENCE {
+    header     ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
+    payload    CpmPayload
+}
+
+/**
+ * This DF  represents the payload of the CPM. 
+ *
+ * It shall include the following components: 
+ *
+ * @field managementContainer: the management container. 
+ *
+ * @field cpmContainers: the list of CPM containers, including its container type identifier and including either one or none of originatingVehicleContainer and/or originatingRsuContainer. 
+ *
+*/
+CpmPayload ::= SEQUENCE {
+    managementContainer   ManagementContainer,
+    cpmContainers         ConstraintWrappedCpmContainers,
+    ...
+}
+
+/**
+ * This DF  represents the management container of the CPM. 
+ * The management container provides basic information about the originating ITS-S, which are not specific to a specific type of station.
+ *
+ * It shall include the following components: 
+ *
+ * @field referenceTime: the reference time for all time related information in the CPM.
+ *
+ * @field messageRateRange: the planned or expected range of the CPM generation rate.
+ *
+ * @field segmentationInfo: information regarding the message segmentation on facility layer.
+ *
+ * @field referencePosition: the reference position for all position related information in the CPM.
+ *
+*/
+ManagementContainer ::= SEQUENCE {
+    referenceTime      TimestampIts,
+    referencePosition  ReferencePosition,
+    segmentationInfo   MessageSegmentationInfo OPTIONAL,
+    messageRateRange   MessageRateRange OPTIONAL,
+    ...
+}
+
+/**
+ * This information object class is an abstract template to instantiate containers.
+ *
+ * It shall include the following components: 
+ *
+ * @field &id: the identifier of the container type.
+ *
+ * @field &Type: the container content.
+ *
+*/
+
+CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
+    &id     CpmContainerId UNIQUE,
+    &Type
+} WITH SYNTAX {&Type IDENTIFIED BY &id}
+
+/**
+ * This DE represents the identifier of the container type. 
+ *
+*/
+CpmContainerId ::= INTEGER (1..16)
+
+/**
+ * These value assignements represent specific values of the container type identifier. 
+*/
+originatingVehicleContainer CpmContainerId ::= 1
+originatingRsuContainer CpmContainerId ::= 2
+sensorInformationContainer CpmContainerId ::= 3
+perceptionRegionContainer CpmContainerId ::= 4
+perceivedObjectContainer CpmContainerId ::= 5
+
+
+/**
+ * This information object set represents the association between the container type and the container content.
+*/
+CpmContainers CPM-CONTAINER-ID-AND-TYPE ::= {
+    {OriginatingVehicleContainer IDENTIFIED BY originatingVehicleContainer} |
+    {OriginatingRsuContainer IDENTIFIED BY originatingRsuContainer} |
+    {SensorInformationContainer IDENTIFIED BY sensorInformationContainer} |
+    {PerceptionRegionContainer IDENTIFIED BY perceptionRegionContainer} |
+    {PerceivedObjectContainer IDENTIFIED BY perceivedObjectContainer},
+    ...
+}
+
+/**
+ * This DF represents a CPM container preceded by its type identifier and a lenght indicator.
+ *
+ * It shall include the following components: 
+ *
+ * @field containerId: the identifier of the container type.
+ *
+ * @field containerData: the container content consistent with the container type.
+ *
+*/
+WrappedCpmContainer ::= SEQUENCE {
+   containerId     CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
+   containerData   CPM-CONTAINER-ID-AND-TYPE.&Type( {CpmContainers}{@containerId} )
+}
+
+/**
+ * This DF represents a list of CPM containers, each with their type identifier. 
+*/
+WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer 
+
+/**
+ * This DF represents a list of CPM containers, each with their type identifier with an additional constraint. 
+*/
+ConstraintWrappedCpmContainers ::= WrappedCpmContainers
+    ((WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 1)})) |
+    (WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 2)})))
+
+/**
+ * This DF  represents the planned or expected range of the message generation rate.
+ *
+ * It shall include the following components: 
+ *
+ * @field messageRateMin: the minimum planned or expected message rate.
+ *
+ * @field messageRateMax: the maximum planned or expected message rate.
+ *
+*/
+MessageRateRange::= SEQUENCE{
+   messageRateMin   MessageRateHz,
+   messageRateMax   MessageRateHz
+}
+
+END