Update CPM.asn (b7e90023) · Commits · ITS - Intelligent Transport Systems / ASN1 / CPM TS 103 324

asn/CPM-PDU-Descriptions.asn

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		-- Date 29.11.2022

		CPM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) major-version-1 (1) minor-version-1(1)}

		DEFINITIONS AUTOMATIC TAGS ::=

		BEGIN

		IMPORTS

		ItsPduHeader, MessageRateHz, MessageSegmentationInfo, OrdinalNumber1B, ReferencePosition, StationType, TimestampIts
		FROM ETSI-ITS-CDD {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}
		WITH SUCCESSORS

		OriginatingRsuContainer, OriginatingVehicleContainer
		FROM CPM-OriginatingStationContainers {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}
		WITH SUCCESSORS

		SensorInformationContainer
		FROM CPM-SensorInformationContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformationContainer (3) major-version-1 (1) minor-version-1(1)}
		WITH SUCCESSORS

		PerceivedRegionContainer
		FROM CPM-PerceivedRegionContainer {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedRegionContainer (5) major-version-1 (1) minor-version-1(1)}
		WITH SUCCESSORS

		PerceivedObjectContainer
		FROM CPM-PerceivedObject-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObjectContainer (4) major-version-1 (1) minor-version-1(1)}
		WITH SUCCESSORS

		;

		/**
		* This DF represents the Collective Perception Message (CPM) and is the top level Protocol Data Unit.
		*
		* It shall include the following components:
		*
		* @field header: the common message header for the facilities layer message.
		*
		* @field payload: the payload of the message.
		*
		*/
		CollectivePerceptionMessage ::= SEQUENCE {
		header ItsPduHeader (WITH COMPONENTS {... , protocolVersion (2), messageId(cpm)}),
		payload CpmPayload
		}

		/**
		* This DF represents the payload of the CPM.
		*
		* It shall include the following components:
		*
		* @field managementContainer: the management container.
		*
		* @field cpmContainers: the list of CPM containers, including either one or none of originatingVehicleContainer and/or originatingRsuContainer.
		*
		*/
		CpmPayload ::= SEQUENCE {
		managementContainer ManagementContainer,
		cpmContainers WrappedCpmContainers
		((WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 1)})) \|
		(WITH COMPONENT (WITH COMPONENTS {..., containerId (ALL EXCEPT 2)}))),
		...
		}

		/**
		* This DF represents the management container of the CPM.
		* The management container provides basic information about the originating ITS-S, which are not specific to a specific type of station.
		*
		* It shall include the following components:
		*
		* @field referenceTime: the reference time for all time related information in the CPM.
		*
		* @field messageRateRange: the planned or expected range of the CPM generation rate.
		*
		* @field segmentationInfo: information regarding the message segmentation on facility layer.
		*
		* @field referencePosition: the reference position for all position related information in the CPM.
		*
		*/
		ManagementContainer ::= SEQUENCE {
		referenceTime TimestampIts,
		referencePosition ReferencePosition,
		segmentationInfo MessageSegmentationInfo OPTIONAL,
		messageRateRange MessageRateRange OPTIONAL,
		...
		}

		/**
		* This information object class is an abstract template to instantiate containers.
		*
		* It shall include the following components:
		*
		* @field &id: the identifier of the container type.
		*
		* @field &Type: the container content.
		*
		*/

		CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
		&id CpmContainerId UNIQUE,
		&Type
		} WITH SYNTAX {&Type IDENTIFIED BY &id}

		/**
		* This DE represents the identifier of the container type.
		*
		*/
		CpmContainerId ::= INTEGER (1..16)

		/**
		* These value assignements represent specific values of the container type identifier.
		*/
		originatingVehicleContainer CpmContainerId ::= 1
		originatingRsuContainer CpmContainerId ::= 2
		sensorInformationContainer CpmContainerId ::= 3
		perceivedRegionContainer CpmContainerId ::= 4
		perceivedObjectContainer CpmContainerId ::= 5


		/**
		* This information object set represents the association between the container type and the container content.
		*/
		CpmContainers CPM-CONTAINER-ID-AND-TYPE ::= {
		{OriginatingVehicleContainer IDENTIFIED BY originatingVehicleContainer} \|
		{OriginatingRsuContainer IDENTIFIED BY originatingRsuContainer} \|
		{SensorInformationContainer IDENTIFIED BY sensorInformationContainer} \|
		{PerceivedRegionContainer IDENTIFIED BY perceivedRegionContainer} \|
		{PerceivedObjectContainer IDENTIFIED BY perceivedObjectContainer},
		...
		}

		/**
		* This DF represents a CPM container preceded by its type identifier and a lenght indicator.
		*
		* It shall include the following components:
		*
		* @field &containerId: the identifier of the container type.
		*
		* @field &containerData: the container content consistent with the container type.
		*
		*/
		WrappedCpmContainer ::= SEQUENCE {
		containerId CPM-CONTAINER-ID-AND-TYPE.&id( {CpmContainers} ),
		containerData CPM-CONTAINER-ID-AND-TYPE.&Type( {CpmContainers}{@containerId} )
		}

		/**
		* This DF represents a list of CPM containers, each with their type identifier.
		*/
		WrappedCpmContainers::= SEQUENCE SIZE(1..8,...) OF WrappedCpmContainer

		/**
		* This DF represents the planned or expected range of the message generation rate.
		*
		* It shall include the following components:
		*
		* @field messageRateMin: the minimum planned or expected message rate.
		*
		* @field messageRateMax: the maximum planned or expected message rate.
		*
		*/
		MessageRateRange::= SEQUENCE{
		messageRateMin MessageRateHz,
		messageRateMax MessageRateHz
		}

		END

asn/CPM.asn

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		--! @brief Specification of the Collective Perception Message ETSI TS 103 324
		--! Latest version available at @url https://forge.etsi.org/rep/ITS/CPM_TS103324

		CPM-PDU-Descriptions {
		itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) cpm (1) version1 (1)
		}

		DEFINITIONS AUTOMATIC TAGS ::=

		BEGIN

		IMPORTS
		/** @brief Include ETSI TS 102 894-2 v1.3.1
		Include references from @url https://forge.etsi.org/rep/ITS/asn1/cdd_ts102894_2/blob/v1.3.1/ITS-Container.asn
		*/
		ItsPduHeader, ReferencePosition, StationType
		FROM ITS-Container {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }

		/** @brief Include ETSI EN 302 637-2 v1.4.1
		Include references from @url https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2/blob/v1.4.1/CAM-PDU-Descriptions.asn
		*/
		GenerationDeltaTime
		FROM CAM-PDU-Descriptions {itu-t(0) identified-organization(4) etsi(0) itsDomain(5) wg1(1) en(302637) cam(2) version(2)}

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

		--! @brief Import Originating Vehicle Container
		OriginatingVehicleContainer, OriginatingRSUContainer
		FROM CPM-OriginatingStationData-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationData (3) version1 (1)}

		--! @brief Import Sensor Information Container
		SensorInformationContainer
		FROM CPM-SensorInformation-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) sensorInformation (4) version1 (1)}

		PerceivedObjectContainer
		FROM CPM-PerceivedObject-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) perceivedObject (5) version1 (1)}

		FreeSpaceAddendumContainer
		FROM CPM-FreeSpaceAddendum-Descriptions {itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) freeSpaceAddendum (6) version1 (1)};

		--! Information Object Class Definitions
		CPM-STATIONDATA-ID-AND-TYPE ::= CLASS {
		&id CpmStationDataId UNIQUE,
		&Type
		} WITH SYNTAX {&Type IDENTIFIED BY &id}

		CpmStationDataContainer {CPM-STATIONDATA-ID-AND-TYPE : Set} ::= SEQUENCE {
		containerId CPM-STATIONDATA-ID-AND-TYPE.&id( {Set} ),
		containerData CPM-STATIONDATA-ID-AND-TYPE.&Type( {Set}{@containerId} )
		}

		CPM-CONTAINER-ID-AND-TYPE ::= CLASS {
		&id CpmContainerId UNIQUE,
		&Type
		} WITH SYNTAX {&Type IDENTIFIED BY &id}

		CpmPerceptionDataContainer {CPM-CONTAINER-ID-AND-TYPE : Set} ::= SEQUENCE {
		containerId CPM-CONTAINER-ID-AND-TYPE.&id( {Set} ),
		containerData CPM-CONTAINER-ID-AND-TYPE.&Type( {Set}{@containerId} )
		}

		CpmStationDataId ::= INTEGER (0..255)
		CpmContainerId ::= INTEGER (0..255)

		-- Information Object Class Registry
		OriginatingStationData CPM-STATIONDATA-ID-AND-TYPE ::= {
		{OriginatingVehicleContainer IDENTIFIED BY originatingStationVehicleContainer} \|
		{OriginatingRSUContainer IDENTIFIED BY originatingStationRSUContainer},
		...
		}

		PerceptionData CPM-CONTAINER-ID-AND-TYPE ::= {
		{SensorInformationContainer IDENTIFIED BY sensorInformationCpmContainer} \|
		{PerceivedObjectContainer IDENTIFIED BY perceivedObjectCpmContainer} \|
		{FreeSpaceAddendumContainer IDENTIFIED BY freeSpaceAdddendumCpmContainer},
		...
		}

		--! ID Assignments for Information Object Classes
		--! Assignment for Originating Station Container
		originatingStationVehicleContainer CpmStationDataId ::= 1
		originatingStationRSUContainer CpmStationDataId ::= 2

		--! Assignment for Perception Data Container
		sensorInformationCpmContainer CpmContainerId ::= 1
		perceivedObjectCpmContainer CpmContainerId ::= 2
		freeSpaceAdddendumCpmContainer CpmContainerId ::= 3

		--! Collective Perception Message

		/** @brief Collective Perception Message Root
		This DF includes DEs for the CPM protocolVersion, the CP message type identifier _messageID_ and
		the station identifier _stationID_ of the originating ITS-S.
		*/
		CPM ::= SEQUENCE {
		/** @details header
		The DE _protocolVersion_ is used to select the appropriate protocol decoder at the receiving
		ITS-S. It shall be set to @todo cpm(15).
		The DE _messageID_ shall be harmonized with other V2X message identifier definitions.
		*/
		header ItsPduHeader,
		cpm CollectivePerceptionMessage
		}

		/** Collective Perception Message
		This is the actual CPM Payload. It shall include the time stamp of the CPM and the applicable
		containers of type _PerceptionData_. The selection of the StationDataContainer type container
		depends on the _StationType_ as selected in the @see CpmManagementContainer
		*/
		CollectivePerceptionMessage ::= SEQUENCE {
		generationDeltaTime GenerationDeltaTime,
		cpmParameters CpmParameters
		}

		/** CPM Parameters
		The sequence of mandatory and optional containers. Other containers may be added in the future.
		*/
		CpmParameters ::= SEQUENCE {
		/** @brief managementContainer
		The managementContainer comprises basic information about the originating ITS-S, which are
		not specific to vehicles or RSUs.
		*/
		managementContainer CpmManagementContainer,
		/** @brief stationDataContainer
		The stationDataContainer comprises ITS-S type specific information about the sending station.
		*/
		stationDataContainer CpmStationDataContainer {{OriginatingStationData}} OPTIONAL,
		/** @brief perceptionData
		The perceptionData comprises different container types for describing the sensory properties
		of the transmitting ITS-S, its detected objects and free space estimates.
		*/
		perceptionData SEQUENCE SIZE(1..255) OF CpmPerceptionDataContainer {{PerceptionData}} OPTIONAL,
		...
		}

		/** @brief CPM Management Container
		The managementContainer comprises basic information about the originating ITS-S, which are not
		specific to vehicles or RSUs.
		*/
		CpmManagementContainer ::= SEQUENCE {
		stationType StationType,
		/** @brief messageSegmentInfo
		The perceived object container segment info describes the segmentation information in case
		the data for CPM transmission needs to be split up into multiple messages due to
		message size constraints.
		*/
		messageSegmentInfo MessageSegmentInfo OPTIONAL,
		referencePosition ReferencePosition,
		...
		}

		END