fix documentation issues

 *

 * It shall include the following components: 

 *

 * @field MIMDataControlField: a container of specific Control Data for MIM.

 * @field mimDataControlField: a container of specific Control Data for MIM.

 *

 * @field systemManagementData: a container of identification data

 *

ControlInterface ::= CHOICE {

  pathControl PathControl,

  trajectoryControl TrajectoryControl,

  ...                                                   -- extension marker

  ...

}

/** 

 *

 * It shall include the following components: 

 *

 * @field Pathsnippet: a sequence of up to 200 way points

 * @field pathSnippet: a sequence of up to 200 way points

 *

 * @field clearedDistanceOnPath: the RVO can tell the vehicle to stop on the known PathSnippet without sending a new PathSnippet.

 *

/** 

 * The type PathSnippet represents the container with Path Snippet elements.

 *

 * It shall include the following components: 

 *

 * @field WayPoint: a sequence of up to 200 way points

 * It shall contain up to 200 way points of type @ref WayPoint

 *

*/

PathSnippet ::= SEQUENCE (SIZE(0..200)) OF WayPoint

 * It shall include the following components: 

 *

 * @field timeReference: The reference time indicates the absolute time given in Vehicle Functional Clock 

 * at which the first element of the ControlTrajectory vector and StateTrajectory vector is expected to be executed.

 * at which the first element of the @ref ControlTrajectory vector and @ref StateTrajectory vector is expected to be executed.

 *

 * @field driveDirection: The data element describes the desired driving direction of the vehicle in alignment with the signed value of the vehicle acceleration requests. 

 * 

 * @field controlTrajectory: This consists of a sequence of controlPoint containers with a maximum size of 50. 

 * @field controlTrajectory: This consists of a sequence of @ref ControlPoint elements with a maximum size of 50. 

 * 

 * @field stateTrajectory: The elements in the optional field StateTrajectory vector are considered as odometry target values. These consist of a sequence of statePoint containers with a maximum size of 50.

 * @field stateTrajectory: The elements in the optional field @ref StateTrajectory vector are considered as odometry target values.

 *        These consist of a sequence of @ref StatePoint elements with a maximum size of 50.

 *

*/

TrajectoryControl ::= SEQUENCE {

 *

 * @field curvature: The data element contains the target curvature that is requested in the according control Poiint

 *

 * @field controlParameter: The field controlParameter selects the method how to represent a controlPoint container .

 * @field controlParameter: This field selects the method how to represent a @ref ControlPoint container .

 * 

*/

ControlPoint ::= SEQUENCE {

}

/** 

 * The ControlParameter container offers two  options to represent the second parameter within a controlPoint, 

 * The ControlParameter container offers two  options to represent the second parameter within a @ref ControlPoint, 

 *

 * It shall include the following components: 

 *

 * @field controlAcceleration: The data element represents the vehicles's target acceleration in the according control point.

 *

 * @field controlVelocity: The field controlVelocity is selected the according ControlPoint uses speed values instead of acceleration.

 * @field controlVelocity: Theis field is selected when the according @ref ControlPoint uses speed values instead of acceleration.

 * 

*/

ControlParameter ::= CHOICE {

}

/** 

 * The ControlAcceleration data element is a single data element when choosing the ControlParameter controlAcceleration

 * The @ref ControlAcceleration data element is a single data element when choosing the @ref ControlParameter controlAcceleration

 * It deals with a signed acceleration value.

 *

 */

ControlAcceleration ::= LongitudinalAccelerationValue 	 

/** 

 * The ControlVelocity container consists of 2 data elements belonging to the according controlPoint, 

 * The ControlVelocity container consists of 2 data elements belonging to the according @ref ControlPoint, 

 *

 * It includes the following components: 

 *

 * @field velocity: The data element represents the target speed of the vehicle. It is a signed velocity value. 

 * It deals with a signed velocity value. Positive: drive forwards / Negative: driving reverse.

 * It deals with a signed velocity value.

 * - Positive: drive forwards

 * - Negative: driving reverse.

 *

 * @field distanceToStop: The data element represents the unsigned maximum distance that the vehicle can drive before a standstill. 

 * 

 *

 * It shall include the following components: 

 *

 * @field statePose: This field implements the sequence of data elements for the vehicle' positioning in the according statePoint. 

 * @field statePose: This field implements the sequence of data elements for the vehicle's positioning in the according statePoint. 

 * A point indicates an agreed reference point of the vehicle,e.g. the middle of the rear axle.

 *

 * @field velocity: The data element represents the target speed of the vehicle in the according statePoint. It is a signed velocity value.

 * Data element DriveCommandActionEnum describes the current state in the vehicle identification process .

 * It offers the following signal values:

 * 

 * - 0 - `sleep`		  - The vehicle is commanded to go into sleep mode for low power consumption.

 * - 1 - `initialize`	- The vehicle is awake and remains in standstill. It shall initialize and prepare for a driving job, including a sequence of power-on the engine system and the lights.  ,

 * - 2 - `wait`			  - The vehicle shall wait in marshalling capable state.,

 * - 3 - `drive`		  - The vehicle is commanded to actively drive and follow the according control commands. Standstill and pause situations are potentially included in this stage. ,

 * - 0 - `sleep`		- The vehicle is commanded to go into sleep mode for low power consumption

 * - 1 - `initialize`	- The vehicle is awake and remains in standstill. It shall initialize and prepare for a driving job, including a sequence of power-on the engine system and the lights,

 * - 2 - `wait`			- The vehicle shall wait in marshalling capable state,

 * - 3 - `drive`		- The vehicle is commanded to actively drive and follow the according control commands. Standstill and pause situations are potentially included in this stage,

 * - 4 - `terminate`	- The vehicle shall disable the according control interface. After brining the vehicle to a safe standstill state it shuts down as soon as possible.

 */

DriveCommandActionEnum ::= ENUMERATED {

 * Data element TerminateReasonEnum describes verbally the rational why to terminate the VMC process  .

 * It offers the following signal values:

 * 

 * - 0 - `proceed`				- Everything is okay. Proceed, do not terminate. ,

 * - 1 - `destination-reached`	- Vehicle has reached its destinations.  ,

 * - 2 - `infrastructure-error`	- Error in infrastructure detected. ,

 * - 3 - `vehicle-error`		- Vehicle has sent an error code. ,

 * - 4 - `backend`				- Error in backend. ,

 * - 0 - `proceed`				- Everything is okay. Proceed, do not terminate,

 * - 1 - `destination-reached`	- Vehicle has reached its destinations,

 * - 2 - `infrastructure-error`	- Error in infrastructure detected,

 * - 3 - `vehicle-error`		- Vehicle has sent an error code,

 * - 4 - `backend`				- Error in backend,

 * - 5 - `vehicle-identification-error`   - Either a wrong or no code was detected. Even with a crash of the camera, there is an error.

 */

 TerminateReasonEnum ::= ENUMERATED {

 * Data element InterlockEnum describes the status of vehicle interlock system during VMC .

 * It offers the following signal values:

 * 

 * - 0 - `none`				- The vehicle shall not use Interlock at this stage. ,

 * - 1 - `zonal-interlock`	- Zonal Interlock is specific to the factory use case).  ,

 * - 0 - `none`				- The vehicle shall not use Interlock at this stage,

 * - 1 - `zonal-interlock`	- Zonal Interlock is specific to the factory use case,

 * - 2 - `global-stop`		- Command for global stop - external operator intervention is required.

 */

InterlockEnum ::= ENUMERATED {

  *

  * It includes the following components: 

  *

  * @field mvmDataControlField: It contains specific Control Data for MVM   

  * @field mvmDataControlField: It contains specific Control Data for @ref MVM   

  * 

  * @field systemManagementData: It contains system management data, i.e. identification labels   				

  * 

}

/** 

 * This type represents a container of specific Control Data for MVM.

 * This type represents a container of specific Control Data for @ref MVM.

 *

 * It shall include the following components: 

 *

}

/**

  * Up to 20 VehicleSafetyFeedback containers for down to 5 ms monitoring, logging and debugging.

  * Up to 20 elements of @ref VehicleSafetyFeedbackContainer for down to 5 ms monitoring, logging and debugging.

*/

VehicleSafetyFeedback ::= SEQUENCE (SIZE(1..20)) OF VehicleSafetyFeedbackContainer   

}

/**

  * Up to 5 safety violations can be reported per cycle.

  * Up to 5 elements of @ref SafetyViolationsEnum can be reported per cycle.

*/

SafetyViolationsContainer ::= SEQUENCE (SIZE(0..5)) OF SafetyViolationsEnum 

# ASN.1 module for Automated Vehicle Marshalling Service [ETSI TS 103 882]

This repository contains the ASN.1 and XML modules for ETSI ITS Automated Vehicle Marshalling Service (AVM).

* The modules are published as a part of the ITS_TS_103882_v0.0.15 (2023-12).

* The modules are published as a part of the ETSI TS 103 882 v2.1.1 (2023-12).

## License

## Dependencies

- The **[ETSI-ITS-CDD](https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2)** module from [ETSI TS 102 894-2 v1.3.1](https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/01.03.01_60/ts_10289402v020101p.pdf) - Common Data Dictionary

- The **[ETSI-ITS-CDD](https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2)** module from [ETSI TS 102 894-2 v2.2.1](https://www.etsi.org/deliver/etsi_ts/102800_102899/10289402/02.02.01_60/ts_10289402v020201p.pdf) - Common Data Dictionary