vidResponse VidResponse OPTIONAL, -- The current vehicle identification stat
safetyTimeSyncResponse SafetyTimeSyncResponse OPTIONAL, -- Functional Safety related container
safeVehicleTypeConfirmation SafeVehicleTypeConfirmation OPTIONAL, -- Functional Safety related container
vehicleError VehicleError OPTIONAL, -- Optional error information. Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission.
@@ -43,7 +44,6 @@ Pcvm ::= SEQUENCE {
VehicleState ::= SEQUENCE {
vehicleStateGenerationTime TimestampIts OPTIONAL, -- checks on the Data Freshness on receive side
operationMode VehicleOperationModeEnum, -- The current operation mode or state of the vehicle.
vehicleAutorizationState VidVehicleStateEnum, -- The current authorization/vehicle identification state
gearSelected GearEnum, -- Direction in which the vehicle is currently driving or about to drive.
currentVelocity CentimetrePerSecond, -- Current vehicle velocity. Negative when driving backwards.
currentCurvature HighResCurvature, -- Current vehicle curvature.
@@ -52,6 +52,11 @@ VehicleState ::= SEQUENCE {
localizedPose Pose OPTIONAL -- The current vehicle pose estimated by the vehicle. (Usually close to the pose estimated by the GMS, prediction by the vehicle)
}
VidResponse ::= SEQUENCE {
vidVehicleState VidVehicleStateEnum, -- The current vehicle identification state
vidVehiclePublicKey UInt64 -- Public Key used by vehicle to derive vehicle identification secret
}
VehicleError ::= SEQUENCE {
time TimestampIts, -- Timestamp when the error occurred.
vehCode VehCodeEnum, -- Depending on the given error, the infrastructure either tries to resolve the issue or aborts the mission, saves this message for logging and forwards its content to the backend.
@@ -81,7 +86,8 @@ SafetyViolationsContainer ::= SEQUENCE (SIZE(0..5)) OF SafetyViolationsEnum -- u
SafetyTimeSyncResponse ::= SEQUENCE {
challenge UInt16, -- Challenge received in the SafetyTimeSyncRequest message
currentVehicleSafetyClockTime TimestampIts, -- Time of the Vehicle Safety Clock when SafetyTimeSyncRequest was received
vehicleSafetyClockReceiveTimestamp TimestampIts, -- Time of the Vehicle Safety Clock when SafetyTimeSyncRequest arrived in the vehicle
vehicleSafetyClockTransmitTimestamp TimestampIts, -- Time of the Vehicle Safety Clock when this response left for the RV
checksum UInt32 -- See safety checksum calculation
