Add CPM/VAM (Release 2) to Vanetza

.github/workflows/docker-ci.yml

@@ -15,5 +15,5 @@ jobs:
  ${{github.workspace}}/tools/docker
  - run: >
  docker run --rm
- -v${{github.workspace}}:/home/build-user/workspace:ro
+ -v${{github.workspace}}:/home/build-user/workspace
  vanetza/docker-ci:${{matrix.ubuntu-version}}

.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/TS103300-3v221-VAM-MotorcylistSpecialContainer.asn

@@ -0,0 +1,39 @@
+-- Draft V0.0.4_2.2.1 - TS 103 300-3 
+-- Based on the official version available at @url https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/-/tree/v2.1.1
+-- Modified to import from the CDD module V2.1.1
+
+-- This module defines a special container for motorcycles, to be integrated into the 
+-- Cooperative Awareness Message (CAM) defined in ETSI TS 103 900
+
+VRU-Motorcyclist-Special-Container {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
+ wg1(1) 103300 motorcyclist-special-container(2) version2(2)}
+
+
+DEFINITIONS AUTOMATIC TAGS ::= 
+
+BEGIN
+
+IMPORTS
+ PathPredicted, SequenceOfSafeDistanceIndication,
+ StabilityChangeIndication, Wgs84Angle, CartesianAngle,
+ VruSizeClass, VruSubProfileMotorcyclist
+FROM ETSI-ITS-CDD 
+ {itu-t(0) identified-organization(4) etsi(0)
+ itsDomain(5) wg1(1) 102894 cdd(2) major-version-4(4) minor-version-1(1)}
+;
+
+MotorcylistSpecialContainer ::= SEQUENCE {
+ motorcyclist VruSubProfileMotorcyclist,
+ sizeClass VruSizeClass,
+ rollAngle CartesianAngle OPTIONAL, 
+ orientation Wgs84Angle OPTIONAL,
+ safeDistance SequenceOfSafeDistanceIndication OPTIONAL,
+ pathPrediction PathPredicted OPTIONAL,
+ stabilityChangeIndication StabilityChangeIndication OPTIONAL,
+ ...
+}
+
+
+
+END
+

asn1/TS103300-3v221-VAM.asn

@@ -0,0 +1,229 @@
+-- Draft V0.0.4_2.2.1 - VAM TS 103 300-1 ASN.1 module
+-- Based on the official version available at @url https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3/-/tree/v2.1.1
+-- Modified to import from the CDD module V2.1.1
+
+VAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5)
+ wg1(1) 103300 vam(1) major-version-3(3) minor-version-1(1)}
+DEFINITIONS AUTOMATIC TAGS ::=
+BEGIN
+
+ IMPORTS
+ AccelerationChangeIndication, BasicContainer, CartesianAngle, ClusterBreakupInfo,
+ ClusterJoinInfo, ClusterLeaveInfo, Curvature, CurvatureCalculationMode, 
+ DeltaTimeQuarterSecond, GenerationDeltaTime, HeadingChangeIndication, ItsPduHeader, LanePosition, 
+ LateralAcceleration, LongitudinalAcceleration, PathHistory, PathPredicted, 
+ SequenceOfSafeDistanceIndication, SequenceOfTrajectoryInterceptionIndication, 
+ SequenceOfTrajectoryInterceptionIndication, Speed, StabilityChangeIndication, StationId, 
+ TrajectoryInterceptionIndication, VerticalAcceleration, VruClusterInformation, VruDeviceUsage, 
+ VruEnvironment, VruExteriorLights, GeneralizedLanePosition, VruProfileAndSubprofile, VruMovementControl, 
+ VruSizeClass, YawRate, Wgs84Angle
+ FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) 102894 cdd (2) major-version-4 (4) minor-version-1 (1) }
+ WITH SUCCESSORS
+ ;
+
+ VAM ::= SEQUENCE {
+ header ItsPduHeaderVam,
+ vam VruAwareness
+ }
+
+/**
+ * @details ItsPduHeaderVam
+ * The ITS PDU header for the VAM.
+ *
+ * This DF includes DEs for the VAM _protocolVersion_, the VAM message type identifier _messageID_ 
+ * and the station identifier _stationID_ of the originating ITS-S.
+ *
+ * @category: Communication information
+ * @revision: V2.2.1
+ */
+ ItsPduHeaderVam ::= ItsPduHeader(WITH COMPONENTS {..., protocolVersion(3), messageId(vam)})
+
+
+/**
+ * @details VruAwareness
+ * VAM payload.
+ *
+ * It includes the time stamp of the VAM and the VAM different containers
+ *
+ * @category: Communication information
+ * @revision: V2.2.1
+ */
+ VruAwareness ::= SEQUENCE {
+ generationDeltaTime GenerationDeltaTime,
+ vamParameters VamParameters 
+ }
+
+/**
+ * @details VamParameters
+ * The VAM payload includes the @ref BasicContainer and @ref VruHighFrequencyContainer. 
+ * The VAM payload may also include additional containers: @ref VruLowFrequencyContainer,
+ * @ref VruClusterInformationContainer, @ref VruClusterOperationContainer and @ref VruMotionPredictionContainer.
+ * The selection of the additional containers depends on the dissemination criteria, 
+ * e.g. _vruCluster_ or _MotionDynamicPrediction_ availability.
+ * 
+ * @category: Communication information
+ * @revision: V2.2.1
+**/
+ VamParameters ::= SEQUENCE {
+ basicContainer BasicContainer,
+ vruHighFrequencyContainer VruHighFrequencyContainer, 
+ vruLowFrequencyContainer VruLowFrequencyContainer OPTIONAL,
+ vruClusterInformationContainer VruClusterInformationContainer OPTIONAL,
+ vruClusterOperationContainer VruClusterOperationContainer OPTIONAL,
+ vruMotionPredictionContainer VruMotionPredictionContainer OPTIONAL,
+ ...
+ }
+
+/**
+ * @details VruHighFrequencyContainer
+ * The VRU HF container of the VAM contains potentially fast-changing status information of the VRU ITS-S.
+ * It includes the following components (setting indications are specified in clause 7.3.3 of TS 103 300-3): 
+ * 
+ * @field heading: heading and heading confidence of the originating VRU with regards to the true north. 
+ * @field speed: speed in moving direction and speed confidence of the originating VRU. 
+ * @field longitudinalAcceleration: longitudinal acceleration of the originating VRU. 
+ * @field curvature: related to the actual trajectory of the originating VRU vehicle.
+ _(recommended for VRU Profile 2)_
+ * @field curvatureCalculationMode: indicates whether vehicle yaw-rate is used in the calculation of
+ * the curvature of the VRU vehicle ITS-S that originates the VAM. _(recommended for VRU Profile 2)_
+ * @field yawRate: yaw rate of originating VRU vehicle. _(recommended for VRU Profile 2)_
+ * @field lateralAcceleration: originating VRU lateral acceleration in the street plane.
+ * This field shall be present if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_ 
+ * @field verticalAcceleration: vertical acceleration of the originating VRU.
+ * This field shall be present if the data is available at the originating ITS-S.
+ * @field vruLanePosition: lane position of the referencePosition of a VRU, which is either a VRU-specific non-traffic lane 
+ * or a standard traffic lane. This field shall be present if the data is available at the originating ITS-S.
+ * @field environment: provides contextual awareness of the VRU among other road users.
+ * This field shall be present only if the data is available at the originating ITS-S.
+ * @field movementControl: indicates the mechanism used by the VRU to control the longitudinal movement of the VRU vehicle.
+ * This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
+ * @field orientation : complements the dimensions of the VRU vehicle by defining the angle of the VRU vehicle longitudinal
+ * axis with regards to the WGS84 north. _(recommended for VRU Profile 2)_
+ * @field rollAngle: provides the 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. 
+ * This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
+ * @field deviceUsage: provides indications from the personal device about the potential 
+ * activity of the VRU. This field shall be present only if the data is available at the originating ITS-S.
+ * _(recommended for VRU Profile 1)_
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+ VruHighFrequencyContainer ::= SEQUENCE {
+ heading Wgs84Angle, 
+ speed Speed, 
+ longitudinalAcceleration LongitudinalAcceleration, 
+ curvature Curvature OPTIONAL, 
+ curvatureCalculationMode CurvatureCalculationMode OPTIONAL, 
+ yawRate YawRate OPTIONAL, 
+ lateralAcceleration LateralAcceleration OPTIONAL, 
+ verticalAcceleration VerticalAcceleration OPTIONAL, 
+ vruLanePosition GeneralizedLanePosition OPTIONAL, 
+ environment VruEnvironment OPTIONAL,
+ movementControl VruMovementControl OPTIONAL,
+ orientation Wgs84Angle OPTIONAL, 
+ rollAngle CartesianAngle OPTIONAL, 
+ deviceUsage VruDeviceUsage OPTIONAL,
+ ...
+ }
+
+/**
+ * @details VruLowFrequencyContainer
+ * The VRU LF container of the VAM contains potentially slow-changing information of the VRU ITS-S.
+ * It is mandatory with higher periodicity as specified in clause 6.2 or when VRU cluster operation container is present.
+ * It includes the following components (setting indications are specified in clause 7.3.4 of TS 103 300-3): 
+ *
+ * @field profileAndSubprofile: profile of the ITS-S that originates the VAM, including sub-profile information. 
+ * @field sizeClass: information about the size of the VRU. 
+ * @field exteriorLights: status of the most important exterior lights switches of the VRU ITS-S that originates the VAM. 
+ * _(conditional mandatory as specified in clause 7.3.4 of TS 103 300-3)_ 
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+ VruLowFrequencyContainer ::= SEQUENCE {
+ profileAndSubprofile VruProfileAndSubprofile,
+ sizeClass VruSizeClass OPTIONAL, 
+ exteriorLights VruExteriorLights OPTIONAL,
+ ...
+ }
+
+ /**
+ * @details VruClusterInformationContainer
+ * The VRU Cluster Information container of the VAM provides the information/parameters relevant to the VRU cluster.
+ * It is mandatory if the VAM is transmitted by VRU cluster leader.
+ * It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3): 
+ *
+ * @field vruClusterInformation: set of parammeters releated to the VRU cluster. 
+ * When transmitted by a VRU ITS-S, the clusterId and clusterBoundingBoxShape fields inside this DF shall be present.
+ * The clusterBoundingBoxShape is positioned with respect to the position sent in the BasicContainer.
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+ VruClusterInformationContainer::= SEQUENCE{ 
+ vruClusterInformation VruClusterInformation (WITH COMPONENTS{..., clusterId, clusterBoundingBoxShape PRESENT}), 
+ ...
+ }
+
+
+ /**
+ * @details VruClusterOperationContainer
+ * The VRU Cluster Operation container of the VAM provides information relevant to change of cluster state and composition.
+ * It is mandatory if the VAM is transmitted by a VRU joining, leaving or breaking up a cluster.
+ * It includes the following components (setting indications are specified in clause 7.3.5 of TS 103 300-3). 
+ * At least one of the fields below shall be present if the container is present in the VAM: 
+ *
+ * @field clusterJoinInfo: indicates the intent of an individual VAM transmitter to join a cluster. 
+ * @field clusterLeaveInfo : indicates that an individual VAM transmitter has recently left the VRU cluster. 
+ * @field clusterBreakupInfo: indicates the intent of a cluster VAM transmitter to stop sending cluster VAMs. 
+ * @field clusterIdChangeTimeInfo: indicates the intent of a cluster VAM transmitter to change cluster ID. 
+ * 
+ * @category: VRU information
+ * @revision: V2.2.1
+ */
+ VruClusterOperationContainer ::= SEQUENCE {
+ clusterJoinInfo ClusterJoinInfo OPTIONAL,
+ clusterLeaveInfo ClusterLeaveInfo OPTIONAL,
+ clusterBreakupInfo ClusterBreakupInfo OPTIONAL,
+ clusterIdChangeTimeInfo DeltaTimeQuarterSecond OPTIONAL,
+ ...
+ }
+
+ /**
+ * @details VruMotionPredictionContainer
+ * The VRU Motion Prediction container of the VAM carries the past and future motion state information of the VRU.
+ * It includes the following components (setting indications are specified in clause 7.3.6 of TS 103 300-3). 
+ * At least one of the fields below shall be present if the container is present in the VAM: 
+ *
+ * @field pathHistory: represents the VRU's recent movement over some past time and/or distance. 
+ * It consists of a list of path points. 
+ * @field pathPrediction: provides the set of predicted locations of the ITS-S, confidence values 
+ * and the corresponding future time instants. 
+ * @field safeDistance: provides indication of safe distance between an ego-VRU and up to 8 other ITS-S 
+ * or entity on the road to indicate whether the ego-VRU is at a safe distance (that is less likely to 
+ * physically collide) from another ITS-S or entity on the road. 
+ * @field trajectoryInterceptionIndication: provides the indication for possible trajectory interception 
+ * with up to 8 VRUs or other objects on the road.. 
+ * @field accelerationChangeIndication: provides an acceleration change indication of the VRU. 
+ * When present this DF indicates an anticipated change in the VRU speed for period of actionDeltaTime.
+ * @field headingChangeIndication: provides additional data elements associated to heading change indicators 
+ * such as a change of travel direction (left or right). 
+ * The direction change action is performed for a period of actionDeltaTime. 
+ * @field stabilityChangeIndication: provides an estimation of the VRU stability. 
+ * 
+ * @category: GeoReference information, VRU information
+ * @revision: V2.2.1
+ */
+ VruMotionPredictionContainer ::= SEQUENCE {
+ pathHistory PathHistory OPTIONAL,
+ pathPrediction PathPredicted OPTIONAL, 
+ safeDistance SequenceOfSafeDistanceIndication OPTIONAL,
+ trajectoryInterceptionIndication SequenceOfTrajectoryInterceptionIndication OPTIONAL,
+ accelerationChangeIndication AccelerationChangeIndication OPTIONAL,
+ headingChangeIndication HeadingChangeIndication OPTIONAL,
+ stabilityChangeIndication StabilityChangeIndication OPTIONAL,
+ ...
+ }
+
+END

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