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# <a name="AVP-Commons"></a>ASN.1 module AVP-Commons

OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avpCommons (5) major-version-1 (1) minor-version-1(1) }_



## Data Elements:

### <a name="UInt8"></a>UInt8

This DE represents with an unsigned interger value. 

 Size: 8 bit, 1 Byte

```asn1

UInt8 ::= INTEGER (0..255)

```



### <a name="Int16"></a>Int16

This DE represents with a signed interger value. 

 Size: 16 bit, 2 Bytes

```asn1

Int16 ::= INTEGER (-32768..32767)

```



### <a name="UInt16"></a>UInt16

This DE represents with an unsigned interger value. 

 Size: 16 bit, 2 Bytes

```asn1

UInt16 ::= INTEGER (0..65535)

```



### <a name="UInt32"></a>UInt32

This DE represents with an unsigned interger value. 

 Size: 32 bit, 4 Bytes

```asn1

UInt32 ::= INTEGER (0..4294967295)

```



### <a name="UInt64"></a>UInt64

This DE represents with an unsigned interger value. 

 Size: 64 bit, 8 Bytes

```asn1

UInt64 ::= INTEGER(0..18446744073709551615)

```



### <a name="RollingCounter"></a>RollingCounter

This DE represents a rolling counter 

 The value shall be set to 0 when starting an application: 

 This DE is incremented by 1 for each consecutive message. In case of overflow due to the size limit it restarts at 0.

```asn1

RollingCounter ::= UInt16

```



### <a name="WaypointIndex"></a>WaypointIndex

This DE represents a waypoint index 

 The value shall be set according to the sequence of a path snippet or a complete driving trajectory. 

 In case of overflow due to the size limit it restarts at 0.

```asn1

WaypointIndex ::= UInt16

```



### <a name="OEMSpecificData"></a>OEMSpecificData

This DE represents a 2 byte unspecified

 The value shall be set due to specific requirements between a RVO sytem and vehicles of a dedicated OEM.

```asn1

OEMSpecificData ::= UInt16

```



### <a name="Pose"></a>Pose

This type represents the container of data elements to indicate the vehicle's overall position in a cartesian coordinate system.

 The location is projected to the ground, elevation is not considered .



 It includes the following components:



* x<br>

  The position in x direction



* y<br>

  The position in x direction



* psi<br>

  The orientation of the vehicle's driving direction.  x (North) axis of the reference coordinate system.



```asn1

Pose ::= SEQUENCE {

```



### <a name="Psi"></a>Psi

This DE represents the vehicle's Counter-clockwise orientation in a cartesian coordinate system 



 The value shall be set to: 

 - `n` (`n ≥ 0` and `n ≤ 62831`) to indicate positive orientation equal to or less than n, and greater than (n-1),

 - `62832` if the  radian is out of range, i.e. greater than 524287 cm,

 - `-62833` when the data is unavailable.  Remark: 2* Pi = 6.28318



Values:

* **xDirection** (0)<br>

* **outOfRange** (62832)<br>

* **unavailable** (62833)<br>



&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _0.0001 radian_

```asn1

Psi ::= INTEGER {

    xDirection  (0), 

	outOfRange  (62832),

    unavailable (62833)	

} (0..62833)

```



### <a name="Centimetre"></a>Centimetre

This DE represents a distance in cm 



 The value shall be set to: 

 - `n` (`n > -524287` and `n ≤ 0`) to indicate negative distance equal to or less than n x 1 cm, and greater than (n-1) x 1 cm,

 - `n` (`n > 0` and `n < 524287`) to indicate positive distance equal to or less than n x 1 cm, and greater than (n-1) x 1 cm,

 - `-524287` if the  distance is out of negative range

 - `524287` if the  distance is out of positive range 

 - `-524288` when the data is unavailable.



Values:

* **negativeOutOfRange** (-524287)<br>

* **positiveOutOfRange** (524287)<br>

* **unavailable** (-524288)<br>



&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _1 centimeter_

```asn1

Centimetre ::= INTEGER {

	negativeOutOfRange (-524287),

    positiveOutOfRange (524287),

    unavailable        (-524288)  

}

(-524288..524287)

```



### <a name="HighResCurvature"></a>HighResCurvature

This DE describes vehicle turning curve with the following information:

 ```

     Value = 1 / Radius * 100000

 ```

 wherein radius is the vehicle turning curve radius in metres. 

 

 Positive values indicate a turning curve to the left hand side of the driver.

 It corresponds to the vehicle coordinate system as defined in ISO 8855 [[21]](#references).



 The value shall be set to:

 - `-32767` for  values smaller than -32767,

 - `n` (`n > -32767` and `n < 0`) for negative values equal to or less than `n`, and greater than `(n-1)`,

 - `0` when the vehicle is moving straight,

 - `n` (`n > 0` and `n < 32767`) for positive values equal to or less than `n`, and greater than `(n-1)`,

 - `32767`, for values  greater than 1021,

 - `-32768`, if the information is not available.



Values:

* **outOfRangeNegative** (-32767)<br>

* **straight** (0)<br>

* **outOfRangePositive** (32767)<br>

* **unavailable** (-32768)<br>



&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _1 over 100 000 metres_



>>>

NOTE:&emsp;The present DE is limited to vehicle types as defined in ISO 8855 [[21]](#references).

>>>



```asn1

HighResCurvature ::= INTEGER {

    outOfRangeNegative (-32767),

    straight           (0),

    outOfRangePositive (32767), 

    unavailable        (-32768)

} (-32768..32767)

```



### <a name="RadPerSecond"></a>RadPerSecond

This DE represents the rotational speed of a steering wheel movement 



 The value shall be set to:

 - `-32 766` to indicate that the rotational speed is equal to or greater than 3.2766 [rad/s] to the right,

 - `n` (`n > -32 766` and `n ≤ 0`) to indicate that the rotation is clockwise (i.e. to the right) and is equal to or less than n x 0,01 rad/s, 

      and greater than (n-1) x 0,01 rad/s,

 - `n` (`n > 0` and `n < 32 766`) to indicate that the rotation is anti-clockwise (i.e. to the left) and is equal to or less than n x 0,01 rad/s, 

      and greater than (n-1) x 0,01 rad/s,

 - `32 766` to indicate that the rotational speed is greater than 3.2765 rad/second to the left,

 - `32 767` to indicate that the information is not available.



Values:

* **negativeOutOfRange** (-32766)<br>

* **positiveOutOfRange** (32766)<br>

* **unavailable** (-32767)<br>



&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _0.0001 [rad/s]._

```asn1

RadPerSecond ::= INTEGER {

    negativeOutOfRange (-32766), 

    positiveOutOfRange (32766), 

    unavailable        (-32767)

} (-32767..32766)

```



### <a name="Millisecond16"></a>Millisecond16

This DE represents a signed time value, size 2 Bytes.



&nbsp;&nbsp;&nbsp;&nbsp;**Unit:** _0,001 s   (1 ms)_

```asn1

Millisecond16 ::= Int16

```



### <a name="GearEnum"></a>GearEnum

Data element GearEnum optionally describes the desired or actual driving direction of the vehicle in alignment with the signed value of the vehicle speed . 

 It offers the following signal values:

 

 - 0 - `park`			- P: Vehicle engages P ,

 - 1 - `backwards`	- R: Vehicle drives backwards ,

 - 2 - `neutral`		- N: Vehicle engages neutral gear,

 - 3 - `forwards`		- D: Vehicle drives forwards,

 - 4 - `unknown`		- unknown gear status. Not used for commanding a vehicle gear position.



Values:

* **unknown** (4)<br>

```asn1

GearEnum ::= ENUMERATED {

  park(0),       

  backwards(1),  

  neutral(2),    

  forwards(3),   

  unknown (4)	

}

```



### <a name="VidVehicleStateEnum"></a>VidVehicleStateEnum

Data element VidVehicleStateEnum describes the current state in the vehicle identification process .

 It offers the following signal values:

 

 - 0 - `vehicle-undefined`					- Default value ,

 - 1 - `vehicle-ready`						- Vehicle is ready to get flashing code ,

 - 2 - `vehicle-lightflashing-inprogress`		- Vehicle flashing is in progress,

 - 3 - `vehicle-lightflashing-completed`		- Flashing is finished,

 - 4 - `vehicle-lightflashing-failed`			- This indicates that the vehicle can't flash because of vehicle error,

 - 5 - `vehicle-authorized`					- Vehicle identification was successful and vehicle has switched its state.



Values:

* **vehicle-lightflashing-inprogress** (2)<br>

* **vehicle-lightflashing-failed** (4)<br>

```asn1

VidVehicleStateEnum ::= ENUMERATED {

  vehicle-undefined(0),   

  vehicle-ready(1),        

  vehicle-lightflashing-inprogress (2), 

  vehicle-lightflashing-completed(3),   

  vehicle-lightflashing-failed (4),  

  vehicle-authorized(5)      

}

```



### <a name="SafetyViolationsEnum"></a>SafetyViolationsEnum

Data element SafetyViolationsEnum reports the outcome of a specific safety cycle.  

 As a result a violation leads to stopping the vehicle.



 It offers the following signal values:

 

 - 0 - `no-violation`							- Default value ,

 - 1 - `no-driving-permission-received`		- Vehicle has not received a driving permission ,

 - 2 - `last-driving-permission-too-old`		- The driving permission is outdated,

 - 3 - `crc-violation-clock-sync-response`	- The time synchronization response has an invalid checksum,

 - 4 - `crc-violation-driving-permission`		- The driving permission has an invalid checksum,

 - 5 - `expiration-time-violation`			- the allowed time is expired.

 - 6 - `driving-direction-mismatch`			- wrong driving direction is indcated, plausibility error with speed signal,

 - 7 - `velocity-violation`					- The speed value is out of the allowed range ,

 - 8 - `curvature-min-violation`				- The allowed minimal curvature is out of range ,

 - 9 - `curvature-max-violation`				- The allowed maximal curvature is out of range ,

 - 10 - `clocks-not-synchronized`				- RVO and vehicle clocks are not synchrionized,

 - 11 - `expiration-time-too-high`			- The experiation time is out of the allowed range,

 - 12 - `monitoring`							- Violation monitoring is ongoing.

```asn1

SafetyViolationsEnum ::= ENUMERATED {

  no-violation(0),

  no-driving-permission-received(1),

  last-driving-permission-too-old(2),

  crc-violation-clock-sync-response(3),

  crc-violation-driving-permission(4),

  expiration-time-violation(5),

  driving-direction-mismatch(6),

  velocity-violation(7),

  curvature-min-violation(8),

  curvature-max-violation(9),

  clocks-not-synchronized(10),

  expiration-time-too-high(11),

  monitoring(12),

  ...

}

```



### <a name="SessionMissionID"></a>SessionMissionID

This DE represents a the identification of an driving session or mission  

 The value be freely selected as a string of 17 to 32 characters.

```asn1

SessionMissionID ::= IA5String (SIZE(17..32))

```



### <a name="Description"></a>Description

This DE represents a detailed description.

 It can serve to generate a more extensive, user-friendly description e.g. of an error. 

 The value be freely selected as a string of 1 to 200 characters.

```asn1

Description ::=  IA5String (SIZE(1..200))

```



### <a name="ParkingControlE2EProtection"></a>ParkingControlE2EProtection

This type represents the container of data elements supporting E2E protection mechanisms for the Parking Control messages 

 It complies with AUTOSAR Profile 4 e2e protection. It protects the body of the message and starts in a byte aligned position in the BTP stream.



 It includes the following components:



* _length_ of type [**UInt16**](#UInt16) <br>

  represents the overall payload of the body container in the Park Control message. Starting point is this data element.



* _rollingCounter_ of type [**UInt16**](#UInt16) <br>

  This is a recurring identifier of a Park control message. This identifier is incremented by 1 for the consecutive  message. 

                          In case of overflow due to the size limit it restarts at 0.



* _dataID_ of type [**UInt32**](#UInt32) <br>

  The data element is usable to identify the originating system (RVO or vehicle). It is of free choice;

                  It is negotiated between the RVO and the vehicle OEM in case they want to identify each other with this signal



* _crc32_ of type [**UInt32**](#UInt32) <br>

  The CRC is calculated in byte limits of the body container, considering the data element length. The signal crc32 itself is excluded from the payload.



```asn1

ParkingControlE2EProtection ::= SEQUENCE {

  length UInt16,

  rollingCounter UInt16,  

  dataID UInt32,

  crc32 UInt32                     

}

```

docs/PCIM-PDU-Descriptions.md

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