AVM-Commons {
  itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103882) avmCommons (5) major-version-1 (1) minor-version-1(1)
}

DEFINITIONS AUTOMATIC TAGS ::= BEGIN  -- AVM-specific common data elements


/** 
 * This DE represents with an unsigned interger value. 
 * Size: 8 bit, 1 Byte
 *
*/
UInt8 ::= INTEGER (0..255)


/** 
 * This DE represents with a signed interger value. 
 * Size: 16 bit, 2 Bytes
 *
*/
Int16 ::= INTEGER (-32768..32767)

/** 
 * This DE represents with an unsigned interger value. 
 * Size: 16 bit, 2 Bytes
 *
*/
UInt16 ::= INTEGER (0..65535)

/** 
 * This DE represents with an unsigned interger value. 
 * Size: 32 bit, 4 Bytes
 *
*/
UInt32 ::= INTEGER (0..4294967295)

/** 
 * This DE represents with an unsigned interger value. 
 * Size: 64 bit, 8 Bytes
 *
*/
UInt64 ::= INTEGER(0..18446744073709551615)

/** 
 * 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. 
 *
*/
RollingCounter ::= UInt16

/** 
 * 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. 
 *
*/
WaypointIndex ::= UInt16

/** 
 * This DE represents a 2 byte unspecified
 * The value shall be set due to specific requirements between a RO sytem and vehicles of a dedicated OEM.
 *
*/
ProprietaryExtensionField ::= UInt16


/** 
 * 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: 
 *
 * @field x: The position in x direction
 * 
 * @field y: The position in x direction
 *
 * @field psi: The orientation of the vehicle's driving direction.  x (North) axis of the reference coordinate system.
 *
*/
Pose ::= SEQUENCE {  

  x Centimetre,
  y Centimetre,     
  psi 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
 *
 * @unit: 0.0001 radian
*/
Psi ::= INTEGER {
    xDirection  (0), 
	  outOfRange  (62832),
    unavailable (62833)	
} 
(0..62833)        			

/** 
 * 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.
 *
 * @unit: 1 centimeter
*/
Centimetre ::= INTEGER {
	  negativeOutOfRange (-524287),
    positiveOutOfRange (524287),
    unavailable        (-524288)  
}
(-524288..524287)

/** 
 * 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].
 *
 * 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.
 * 
 * @note: The present DE is limited to vehicle types as defined in ISO 8855 [21].
 * 
 * @unit: 1 over 100 000 metres
 */
HighResCurvature ::= INTEGER {
    outOfRangeNegative (-32767),
    straight           (0),
    outOfRangePositive (32767), 
    unavailable        (-32768)
} 
(-32768..32767)


/**
 * 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.
 * 
 * @unit: 0.0001 [rad/s]. 
*/
RadPerSecond ::= INTEGER {
    negativeOutOfRange (-32766), 
    positiveOutOfRange (32766), 
    unavailable        (-32767)
} 
(-32767..32766)

/**
 * This DE represents a signed time value, size 2 Bytes.
 * 
 * @unit: 0,001 s   (1 ms)
 */
Millisecond16 ::= Int16      

/**
 * 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.
 *
 */
GearEnum ::= ENUMERATED {
  park(0),       
  backwards(1),  
  neutral(2),    
  forwards(3),   
  unknown (4)	
}

/**
 * Data element directionIndicatorEnum describes the use of vehicle direction indicator system during VMC .
 * It offers the following signal values:
 * 
 * - 0 - `off`		  - The vehicle does not flash indicator lights at this stage. ,
 * - 1 - `right`	  - Flash right indicator lights.  ,
 * - 2 - `left`		  - Flash left indicator lights.  ,
 * - 3 - `both`		  - Flash right and left indicator lights.  ,
 * - 4 - `unknown`	- Direction indicator request is unknown. (Do not use for drive command).
 */
DirectionIndicatorEnum ::= ENUMERATED {
  off(0),      
  right(1),   
  left(2),    
  both(3),    
  unknown(4)  
}

/**
 * Data element MotorSystemEnum optionally describes the desired or system stae of the vehicle's propulsion motor (engine). 
 * It offers the following signal values:
 * 
 * - 0 - `off`      - Propulsion motor  off 
 * - 1 - `on`       - Propulsion motor on
 * - 2 - `unknown`  - The propulsion motor state is unknown.
 *
 */
MotorSystemEnum ::= ENUMERATED {
  off(0),    
  on(1),   
  unknown(2)	
}

/**
 * Data element VidVehicleStateEnum describes the current state in the vehicle identification process .
 * It offers the following signal values:
 * 
 * - 0 - `undefined`                    - Default value ,
 * - 1 - `ready`                        - Vehicle is ready to get flashing code ,
 * - 2 - `lightFlashingInProgress`      - Vehicle flashing is in progress,
 * - 3 - `lightFlashingCompleted`       - Flashing is finished,
 * - 4 - `lightFlashingFailed`          - This indicates that the vehicle can't flash because of vehicle error,
 * - 5 - `authorized`                   - Vehicle identification was successful and vehicle has switched its state.
 *
 */
VidVehicleStateEnum ::= ENUMERATED {
  undefined(0),   
  ready(1),        
  lightFlashingInProgress(2), 
  lightFlashingCompleted(3),   
  lightFlashingFailed(4),  
  authorized(5)      
}

/**
 * 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 - `noViolation`                         - Default value ,
 * - 1 - `noDrivingPermissionReceived`         - Vehicle has not received a driving permission ,
 * - 2 - `lastDrivingPermissionTooOld`         - The driving permission is outdated,
 * - 3 - `crcViolationClockSyncRequest`        - The time synchronization request has an invalid checksum,
 * - 4 - `crcViolationDrivingPermission`       - The driving permission has an invalid checksum,
 * - 5 - `expirationTimeViolation`             - the allowed time is expired.
 * - 6 - `drivingDirectionMismatch`            - wrong driving direction is indcated, plausibility error with speed signal,
 * - 7 - `velocityViolation`                   - The speed value is out of the allowed range ,
 * - 8 - `curvatureMinViolation`               - The allowed minimal curvature is out of range ,
 * - 9 - `curvatureMaxViolation`               - The allowed maximal curvature is out of range ,
 * - 10 - `expirationTimeTooHigh`              - The experiation time is out of the allowed range,
 * - 11 - `monitoring`                         - Violation monitoring is ongoing.
 */
 SafetyViolationsEnum ::= ENUMERATED {
  noViolation(0),
  noDrivingPermissionReceived(1),
  lastDrivingPermissionTooOld(2),
  crcViolationClockSyncRequest(3),
  crcViolationDrivingPermission(4),
  expirationTimeViolation(5),
  drivingDirectionMismatch(6),
  velocityViolation(7),
  curvatureMinViolation(8),
  curvatureMaxViolation(9),
  expirationTimeTooHigh(10),
  monitoring(11),
  ...
}

/** 
 * This type represents a container of system management data, i.e. identification labels.
 *
 * It shall include the following components: 
 * 
 * @field sessionID: It is a unique identifier that is known by the infrastructure and 
 *        the vehicle side at the same time. It is valid for a complete parking/marshalling task.
 *
 * @field missionID: It is a unique identifier that is known by the infrastructure and 
 *        the vehicle side at the same time. It identifies a subtask within a sessionID.
 *
 * @field vehicleID: It is a unique identifier that is known by the infrastructure and vehicle The vehicle needs to know its own vehicleID.
 *        This can serve as a safety check for the RO regarding vehicle parameters, as it receives them from the vehicle backend, 
 *        and it can then verify that it is communicating to the right vehicle through MVM (as the vehicle sends its vehicleID there).      
 *
 * @field facilityID: It is a unique identifier that describes the infrastructure in which the vehicle operates.
 *        It is used for documentation purposes. The vehicle does not respond to this data element 
 *
 */
SystemManagementData ::= SEQUENCE {     
  sessionID SessionMissionID OPTIONAL,
  missionID SessionMissionID OPTIONAL,
  vehicleID VehicleID OPTIONAL,
  facilityID FacilityID OPTIONAL
}

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

/** 
 * This DE serves for the identification of the specified vehicle
 * The value be freely selected as a string of 1 to 17 characters. 
 *
*/
VehicleID ::= IA5String (SIZE(1..17)) 

/** 
 * This DE serves for the identification of infrastructure facility 
 * The value be freely selected as a string of 1 to 32 characters. 
 *
*/
FacilityID ::= IA5String (SIZE(1..32)) 

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

/** 
 * 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: 
 *
 * @field length: represents the overall payload of the body container in the Park Control message. Starting point is this data element.
 * 
 * @field rollingCounter: 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.
 *
 * @field dataID: The data element is usable to identify the originating system (RO or vehicle). It is to the best effort unique within the network ;
 *                It is negotiated between the RO and the vehicle OEM in case they want to identify each other with this signal
 *
 * @field crc32: 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.
 *
*/
AvmE2EProtection ::= SEQUENCE {
  length UInt16,
  rollingCounter UInt16,  
  dataID UInt32,
  crc32 UInt32                     
}

END