Split CPM module into multiple separate files and modules

CPM-FreeSpaceAddendum-Descriptions {

itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) freeSpaceAddendum (6) version1 (1)

}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

AreaCircular, AreaEllipse,  AreaPolygon, AreaRectangle, FreeSpaceConfidence, SensorIdList, ShadowingApplies

FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)};

-- @brief Free Space Addendum Container

-- A list of provided free space addendums. Each addendum shall be described asa provided by

-- @see FreeSpaceAddendum.

FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum

-- @brief Free Space Addendum

-- This container shall only be added if the confidence indication needs to be altered with respect

-- to the isotropic @see FreeSpaceConfidence confidence level indication provided in the

-- @see SensorInformation.

FreeSpaceAddendum ::= SEQUENCE {

    -- @detailsfreeSpaceConfidence

    -- Describes an isotropic free space confidence that applies to the entire area as defined in

    -- the @see freeSpaceArea of a particular free space addendum container.

    freeSpaceConfidence    FreeSpaceConfidence,

    -- @details freeSpaceArea

    -- Describes the free space area for which the free space confidence of this addendum

    -- container is valid.

    freeSpaceArea          FreeSpaceArea,

	-- @details sensorIDList

    -- Provides a list of pseudonym sensor IDs which performed the measurement to indicate the

    -- free space.

    sensorIDList           SensorIdList OPTIONAL,

    -- @details shadowingApplies

    -- Indicates if the simple shadowing mechanism  applies within the area described

    -- by @see freeSpaceArea.

    shadowingApplies       ShadowingApplies DEFAULT TRUE,

	...

}

-- @brief Free Space Area

-- The described area that is considered as not occupied by any traffic participant or obstacle by

-- the disseminating ITS-S.

FreeSpaceArea ::= CHOICE {

    -- @details freeSpacePolygon

    -- A sequence of node points from a given offset point to describe an arbitrary area shape.

    freeSpacePolygon     AreaPolygon,

    -- @details freeSpaceCircular

    -- A description of a circular area.

    freeSpaceCircular    AreaCircular,

    -- @details freeSpaceEllipse

    -- A description of an elliptical area.

    freeSpaceEllipse     AreaEllipse,

    -- @details freeSpaceRectangle

    -- A description of a rectangular area.

    freeSpaceRectangle   AreaRectangle,

    ...

}

END

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CPM-OriginatingStationData-Descriptions {

itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationData (3) version1 (1)

}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

DriveDirection, Heading, LateralAcceleration, LongitudinalAcceleration, Speed, VehicleLength,

VehicleWidth, VerticalAcceleration, YawRate

FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)}

-- @brief Include ISO 19091

-- Include references from @url https://standards.iso.org/iso/ts/19091/addgrp_c/ISO-TS-19091-addgrp-C.asn

IntersectionReferenceID, RoadSegmentReferenceID

FROM DSRC {iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)}

CartesianAngle, TrailerDataContainer, VehicleHeight, WGS84Angle

FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)};

-- @brief Originating Vehicle Container

-- The _originatingVehicleContainer_ provides detailed information about the vehicle ITS-S

-- disseminating the CPM.

OriginatingVehicleContainer ::= SEQUENCE {

    -- @details heading

    -- Heading and heading accuracy of the vehicle movement of the originating ITS-S with regards to

    -- the true north. The heading accuracy provided in the DE @see headingConfidence value shall

    -- provide the accuracy of the measured vehicle heading with a confidence level of 95 %.

    heading                     Heading,

    -- @details speed

    -- Driving speed and speed accuracy of the originating ITS-S. The speed accuracy provided in the

    -- DE speedConfidence shall provide the accuracy of the speed value with a confidence level of 95 %.

    speed                       Speed,

    -- @details vehicleOrientationAngle

    -- Angle and angle accuracy of the absolute orientation of the disseminating vehicle in the

    -- WGS84 coordinate system with respect to true North. This is opposed to the vehicle heading

    -- which is calculated taking into account the speed vector. The confidence denotes the accuracy

    -- of the measured angle value for a confidence level of 95 %.

    vehicleOrientationAngle     WGS84Angle OPTIONAL,

    driveDirection              DriveDirection DEFAULT forward,

    longitudinalAcceleration    LongitudinalAcceleration OPTIONAL,

    lateralAcceleration         LateralAcceleration OPTIONAL,

    verticalAcceleration        VerticalAcceleration OPTIONAL,

    yawRate                     YawRate OPTIONAL,

    -- @details pitchAngle

    -- Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

    -- x-axis with respect to the ground plane about the y-axis according to the ISO 8855.

    pitchAngle                  CartesianAngle OPTIONAL,

    -- @details rollAngle

    -- Angle and angle accuracy between the ground plane and the current orientation of a vehicle's

    -- y-axis with respect to the ground plane about the x-axis according to the ISO 8855

    rollAngle                   CartesianAngle OPTIONAL,

    vehicleLength               VehicleLength OPTIONAL,

    vehicleWidth                VehicleWidth OPTIONAL,

    vehicleHeight               VehicleHeight OPTIONAL,

    -- @details trailerDataContainer

    -- Provides detailed information about the trailers dimensions and orientation in case a trailer is present.

    trailerDataContainer        TrailerDataContainer OPTIONAL,

    ...

}

-- @brief Originating RSU Container

-- The _originatingRSUContainer_ provides information about the RSU type ITS-S disseminating the CPM.

OriginatingRSUContainer ::= CHOICE {

    -- @details intersectionReferenceId

    -- Conveys the combination of an optional RoadRegulatorID and of an IntersectionID that is

    -- unique within that region. When the RoadRegulatorID is present, the IntersectionReferenceID

    -- is guaranteed to be globally unique.

    intersectionReferenceId     IntersectionReferenceID,

    -- @details roadSegmentReferenceId

    -- Conveys the RoadSegmentReferenceID which is unique to a given road segment of interest, and

    -- also the RoadRegulatorID assigned to the region in which it is operating

    roadSegmentReferenceId      RoadSegmentReferenceID,

    ...

}

END

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CPM-PerceivedObject-Descriptions {

itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObject (5) version1 (1)

}

DEFINITIONS AUTOMATIC TAGS ::=

BEGIN

IMPORTS

LongitudinalAcceleration, LateralAcceleration, VerticalAcceleration

FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }

CartesianAngle, DynamicStatus, Identifier, MatchedPosition,

NumberOfPerceivedObjects, ObjectAge, ObjectConfidence, ObjectClassDescription, ObjectDimension,

ObjectDistanceWithConfidence, ObjectRefPoint, SensorIdList, SpeedExtended, TimeOfMeasurement

FROM CPM-CommonDataTypes-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)};

-- @brief Perceived Object Container

-- A list of perceived objects. Each object shall be described as defined in @see PerceivedObject.

PerceivedObjectContainer ::= SEQUENCE {

    -- @details numberOfPerceivedObjects

    -- The total number of detected objects by the station at the time of generating the message.

    numberOfPerceivedObjects    NumberOfPerceivedObjects DEFAULT 0,

    perceivedObjects            SEQUENCE SIZE(1..128, ...) OF PerceivedObject

}

-- @brief Perceived Object

-- An object in the context of the CP Service refers to the kinematic and attitude representation of

-- a detected object within a sensor’s perception range. An object may be reported directly by a

-- sensor or a sensor fusion system.

PerceivedObject ::= SEQUENCE {

    -- @details objectID

    -- Identifier assigned to a detected object which remains constant as long as the object is

    -- perceived by the disseminating ITS-S. Numbers are assigned in an increasing round-robin

    -- fashion. When the last identifier in the allowed range has been used, the first counter for

    -- the identifier starts from the beginning of the range again.

    objectID                Identifier,

    -- @details sensorIDList

    -- List of sensor-IDs which provided the measurement data. Refers to the sensorID in the

    -- @see SensorInformationContainer.

    sensorIDList            SensorIdList OPTIONAL,

    -- @details timeOfMeasurement

    -- Provides the time difference from the message’s generation delta time to the time of the

    -- measurement of the object.

    timeOfMeasurement       TimeOfMeasurement,

    -- @details objectAge

    -- Provides the age of the detected and described object.

    objectAge               ObjectAge OPTIONAL,

    -- @details objectConfidence

    -- The confidence associated to the object.

    objectConfidence        ObjectConfidence DEFAULT 0,

    -- @details xDistance

    -- Absolute distance to detected object from the ITS-S's reference point in x-direction for the

    -- time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the distance is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    xDistance               ObjectDistanceWithConfidence,

    -- @details yDistance

    -- Absolute distance to detected object from the ITS-S's reference point in y-direction for the

    -- time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the distance is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    yDistance               ObjectDistanceWithConfidence,

    -- @details zDistance

    -- Absolute distance to detected object from the ITS-S's reference point in z-direction for the

    -- time of measurement. For a vehicle, the distance is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the distance is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    zDistance               ObjectDistanceWithConfidence OPTIONAL,

    -- @details xSpeed

    -- Relative speed of the detected object from the ITS-S's reference point in x-direction for the

    -- time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the speed is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    xSpeed                  SpeedExtended,

    -- @details ySpeed

    -- Relative speed of the detected object from the ITS-S's reference point in y-direction for the

    -- time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the speed is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    ySpeed                  SpeedExtended,

    -- @details zSpeed

    -- Relative speed of the detected object from the ITS-S's reference point in z-direction for the

    -- time of measurement. For a vehicle, the speed is reported in a body-fixed coordinate system

    -- as provided by ISO 8855. For a RSU, the speed is reported in a coordinate system in which

    -- the y-axis corresponds to the North direction, the x-axis to the East direction, and the z-

    -- axis to the vertical direction.

    zSpeed                  SpeedExtended OPTIONAL,

    -- @details xAcceleration

    -- Relative acceleration of the detected object from the ITS-S's reference point in x-direction

    -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed

    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a

    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the

    -- East direction, and the z-axis to the vertical direction.

    xAcceleration           LongitudinalAcceleration OPTIONAL,

    -- @details yAcceleration

    -- Relative acceleration of the detected object from the ITS-S's reference point in y-direction

    -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed

    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a

    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the

    -- East direction, and the z-axis to the vertical direction.

    yAcceleration           LateralAcceleration OPTIONAL,

    -- @details zAcceleration

    -- Relative acceleration of the detected object from the ITS-S's reference point in z-direction

    -- for the time of measurement. For a vehicle, the acceleration is reported in a body-fixed

    -- coordinate system as provided by ISO 8855. For a RSU, the acceleration is reported in a

    -- coordinate system in which the y-axis corresponds to the North direction, the x-axis to the

    -- East direction, and the z-axis to the vertical direction.

    zAcceleration           VerticalAcceleration OPTIONAL,

    -- @details yawAngle

    -- Relative yaw angle of object from the ITS-S's reference point. For a vehicle, the angle is

    -- reported in a body-fixed coordinate system as provided by ISO 8855. For a RSU, the angle is

    -- reported in a coordinate system in which the y-axis corresponds to the North direction, the

    -- x-axis to the East direction, and the z- axis to the vertical direction.

    -- The angle is measured with positive values considering the object orientation turning

    -- counter-clockwise starting from the x-direction.

    -- A value of 3601 shall be set if the value is unavailable.

    -- The yaw angle confidence is described with a predefined confidence level of 95% for the

    -- component.

    yawAngle                CartesianAngle OPTIONAL,

    -- @details planarObjectDimension1

    -- First dimension of object as provided by the sensor or environment model. This dimension is

    -- always contained in the plane which is oriented perpendicular to the direction of the angle

    -- indicated by the yawAngle and which contains the object's reference point.

    planarObjectDimension1  ObjectDimension OPTIONAL,

    -- @details planarObjectDimension2

    -- Second dimension of the object as provided by the sensor environment model. This dimension is

    -- contained in the plane oriented in the direction of the angle indicated by the yawAngle and

    -- the object's reference point.

    planarObjectDimension2  ObjectDimension OPTIONAL,

    -- @details verticalObjectDimension

    -- Vertical dimension of object as provided by the sensor or object model.

    verticalObjectDimension ObjectDimension OPTIONAL,

    -- @details objectRefPoint

    -- The reference point on the perceived object. The kinematic attitude and state data provided

    -- for this object are valid for this reference point of the object. In case no object reference

    -- point can be determined, it is assumed to be the center point of the detected object.

    objectRefPoint          ObjectRefPoint DEFAULT 0,

    -- @details dynamicStatus

    -- Indicated the dynamic capabilities of a detected object.

    dynamicStatus           DynamicStatus OPTIONAL,

    -- @details classification

    -- Provides the classification of the described object. Multi-dimensional classification may be

    -- provided.

    classification          ObjectClassDescription OPTIONAL,

    -- @details matchedPosition

    -- The optional map-matched position of an object. This requires that a MAP-message is provided.

    matchedPosition         MatchedPosition OPTIONAL,

    ...

}

END

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