Merge remote-tracking branch 'origin/feature_cpm'

CMakeLists.txt

@@ -12,32 +12,49 @@ add_message_files(
   BasicVehicleContainerLowFrequency.msg
   CAM.msg
   CauseCode.msg
+  CPM.msg
   Curvature.msg
   CurvatureCalculationMode.msg
   DeltaReferencePosition.msg
   DENM.msg
   DriveDirection.msg
+  DynamicStatus.msg
   EventPoint.msg
   ExteriorLights.msg
   Heading.msg
   InformationQuality.msg
   ItsPduHeader.msg
+  LateralAcceleration.msg
+  ListOfPerceivedObjects.msg
   LocationContainer.msg
   LongitudinalAcceleration.msg
   ManagementContainer.msg
+  MatchedPosition.msg
+  ObjectClassDescription.msg
+  ObjectDimension.msg
+  ObjectDistanceWithConfidence.msg
+  ObjectRefPoint.msg
+  OriginatingVehicleContainer.msg
   PathDeltaTime.msg
   PathHistory.msg
   PathPoint.msg
+  PerceivedObject.msg
   PositionConfidenceEllipse.msg
   ReferencePosition.msg
   RelevanceDistance.msg
   RelevanceTrafficDirection.msg
+  SensorInformation.msg
+  SensorInformationContainer.msg
   SituationContainer.msg
   Speed.msg
+  SpeedExtended.msg
   StationType.msg
   VehicleLength.msg
   VehicleRole.msg
+  VehicleSensor.msg
+  VehicleSensorProperty.msg
   VehicleWidth.msg
+  WGS84Angle.msg
   YawRate.msg
   GenericLane.msg
   IntersectionGeometry.msg

msg/CPM.msg

@@ -0,0 +1,25 @@
+Header header
+ItsPduHeader its_header
+
+#CpmParameters container
+uint16 generation_delta_time # milliseconds since 2004 modulo 2^16
+
+#CpmParameters
+
+## CpmManagementContainer
+StationType station_type
+ReferencePosition reference_position
+
+## StationDataContainer
+# TODO extend to OriginatingRSUContainer
+OriginatingVehicleContainer originatingVehicleContainer
+
+bool has_sensor_information_container
+SensorInformationContainer sensorInformationContainer
+
+bool has_list_of_perceived_object
+ListOfPerceivedObjects listOfPerceivedObjects
+
+int32 numberOfPerceivedObjects
+
+# TODO: include FreeSpaceAddendumContainer

msg/DynamicStatus.msg

@@ -0,0 +1,5 @@
+int32 value
+
+int32 VALUE_DYNAMIC = 0
+int32 VALUE_HASBEENDYNAMIC = 1
+int32 VALUE_STATIC = 2

msg/ItsPduHeader.msg

@@ -4,3 +4,4 @@ uint32 station_id
 
 uint8 MESSAGE_ID_DENM = 1
 uint8 MESSAGE_ID_CAM = 2
+uint8 MESSAGE_ID_CPM = 3

msg/LateralAcceleration.msg

@@ -0,0 +1,11 @@
+int32 value
+int32 confidence
+
+int32 VALUE_POINTONEMETERPERSECSQUAREDTORIGHT = -1
+int32 VALUE_POINTONEMETERPERSECSQUAREDTOLEFT = 1
+int32 VALUE_UNAVAILABLE = 161
+
+#AccelerationConfidence ::= INTEGER {pointOneMeterPerSecSquared(1), outOfRange(101), unavailable(102)} (0 .. 102)
+int8 CONFIDENCE_POINTONEMETERPERSECSQUARED = 1
+int8 CONFIDENCE_OUTOFRANGE = 101
+int8 CONFIDENCE_UNAVAILABLE = 102

msg/ListOfPerceivedObjects.msg

@@ -0,0 +1 @@
+PerceivedObject[] perceivedObjectContainer

msg/MatchedPosition.msg

@@ -0,0 +1,2 @@
+uint8 laneID
+# LongitudinalLanePosition

msg/ObjectClassDescription.msg

@@ -0,0 +1,9 @@
+#TODO apply the correct one
+int32 type
+
+int32 TYPE_UNKNOWN = 0
+int32 TYPE_MOPED = 1
+int32 TYPE_MOTORCYCLE = 2
+int32 TYPE_PASSENGERCAR = 3
+int32 TYPE_BUS = 3
+int32 TYPE_LIGHTRUCK = 3

msg/ObjectDimension.msg

@@ -0,0 +1,10 @@
+int32 value #0.1m = 1
+int8 confidence
+
+int32 VALUE_ONE_METER = 10
+
+int8 CONFIDENCE_ZEROPOINTZEROONEMETER = 1
+int8 CONFIDENCE_oneMeter = 100
+int8 CONFIDENCE_outOfRange = 101
+int8 CONFIDENCE_unavailable = 102
+

msg/ObjectDistanceWithConfidence.msg

@@ -0,0 +1,8 @@
+int32 value #zeroPointZeroOneMeter(1), oneMeter(100)} (-132768..132767)
+int8 confidence
+
+#zeroPointZeroOneMeter(1), oneMeter(100), outOfRange(101), unavailable(102)} (0..102)
+int8 CONFIDENCE_CM = 1
+int8 CONFIDENCE_M = 100
+int8 CONFIDENCE_OUT_OF_RANGE = 101
+int8 CONFIDENCE_UNAVAILABLE = 102

msg/ObjectRefPoint.msg

@@ -0,0 +1,12 @@
+#mid(0), bottomLeft(1), midLeft(2), topLeft(3), bottomMid(4), topMid(5), bottomRight(6), midRight(7), topRight(8)
+int32 value
+
+int32 VALUE_MID = 0
+int32 VALUE_BOTTOMLEFT = 1
+int32 VALUE_MIDLEFT = 2
+int32 VALUE_TOPLEFT = 3
+int32 VALUE_BOTTOMMID = 4
+int32 VALUE_TOPMID= 5
+int32 VALUE_BOTTOMRIGHT = 6
+int32 VALUE_MIDRIGHT = 7
+int32 VALUE_TOPRIGHT = 8

msg/OriginatingVehicleContainer.msg

@@ -0,0 +1,22 @@
+Heading heading
+Speed speed
+
+bool has_vehicleOrientationAngle
+WGS84Angle vehicleOrientationAngle
+
+DriveDirection drive_direction
+
+bool has_vehicle_length
+VehicleLength vehicle_length
+
+bool has_vehicle_width
+VehicleWidth vehicle_width
+
+bool has_vehicle_height
+uint8 vehicle_height
+
+bool has_longitudinal_acceleration
+LongitudinalAcceleration longitudinal_acceleration
+
+bool has_yaw_rate
+YawRate yaw_rate

msg/PerceivedObject.msg

@@ -0,0 +1,28 @@
+uint8 objectID
+bool has_sensorIDList
+uint8[] sensorIDList
+time timeOfDetection
+int32 timeOfMeasurement #INTEGER {oneMilliSecond(1)} (-1500..1500)
+int32 objectAge #{oneMiliSec(1)} (0..1500)
+int32 objectConfidence # unknown(0), onePercent(1), oneHundredPercent(100), unavailable(101)} (0..101)
+ObjectDistanceWithConfidence xDistance
+ObjectDistanceWithConfidence yDistance
+ObjectDistanceWithConfidence zDistance
+SpeedExtended xSpeed
+SpeedExtended ySpeed
+SpeedExtended zSpeed
+LongitudinalAcceleration xAcceleration
+LateralAcceleration yAcceleration
+
+bool has_planarObjectDimension1
+ObjectDimension planarObjectDimension1
+bool has_planarObjectDimension2
+ObjectDimension planarObjectDimension2
+bool has_verticalObjectDimension
+ObjectDimension verticalObjectDimension
+
+ObjectRefPoint objectRefPoint
+DynamicStatus dynamicStatus
+StationType classification
+MatchedPosition matchedPosition
+float32 objectAngle

msg/SensorInformation.msg

@@ -0,0 +1,6 @@
+uint8 sensorID
+int8 type #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)
+
+#TODO add other type
+VehicleSensor detectionArea
+#TODO add freeSpaceConfidence

msg/SensorInformationContainer.msg

@@ -0,0 +1 @@
+SensorInformation[] sensorsInformation

msg/SpeedExtended.msg

@@ -0,0 +1,9 @@
+int32 value # 0.01 m/s
+uint8 confidence # 0.01 m/s
+
+int32 VALUE_STANDSTILL = 0
+int32 VALUE_ONE_CENTIMETER_PER_SECOND = 1
+int32 VALUE_UNAVAILABLE = 16383
+
+uint8 CONFIDENCE_OUT_OF_RANGE = 126
+uint8 CONFIDENCE_UNAVAILABLE = 127

msg/VehicleSensor.msg

@@ -0,0 +1,5 @@
+uint8 refPointId
+int32 xSensorOffset # negativeZeroPointZeroOneMeter(-1), negativeOneMeter(-100)} (-5000..0)
+int32 ySensorOffset # zeroPointZeroOneMeter(1), oneMeter(100)} (-1000..1000)
+int32 zSensorOffset # zeroPointZeroOneMeter(1), oneMeter(100)} (0..1000)
+VehicleSensorProperty[] vehicleSensorPropertyList

msg/VehicleSensorProperty.msg

@@ -0,0 +1,8 @@
+int32 range # zeroPointOneMeter(1), oneMeter(10)} (0..10000)
+int32 horizontalOpeningAngleStart # zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)
+int32 horizontalOpeningAngleEnd # zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)
+
+bool has_verticalOpeningAngleStart
+int32 verticalOpeningAngleStart # zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)
+bool has_verticalOpeningAngleEnd
+int32 verticalOpeningAngleEnd # zeroPointOneDegree(1), oneDegree(10), unavailable(3601)} (0..3601)

msg/WGS84Angle.msg

@@ -0,0 +1,12 @@
+int16 value #decidegree
+uint8 confidence
+
+int16 WGS84NORTH = 0
+int16 WGS84EAST = 900
+int16 WGS84SOUTH = 2700
+int16 VALUE_UNAVAILABLE = 3601
+
+uint8 CONFIDENCE_ZERO_POINT_ONE_DEGREE = 1
+uint8 CONFIDENCE_ONE_DEGREE = 10
+uint8 CONFIDENCE_OUT_OF_RANGE = 126
+uint8 CONFIDENCE_UNAVAILABLE = 127