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docs/CAM-PDU-Descriptions.md

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# ASN.1 module CAM-PDU-Descriptions
 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) en (302637) cam (2) version (2) }_

## Imports:
 * **[ITS-Container](ITS-Container.md)** *{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2) }*<br/>

## Data Elements:
### <a name="CAM"></a>CAM

Fields:
* header [**ItsPduHeader**](ITS-Container.md#ItsPduHeader) <br>
* cam [**CoopAwareness**](#CoopAwareness) <br>
```asn1
CAM ::= SEQUENCE {
	header ItsPduHeader,
	cam CoopAwareness
}
```

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

Fields:
* generationDeltaTime [**GenerationDeltaTime**](CAM-PDU-Descriptions.md#GenerationDeltaTime) <br>
* camParameters [**CamParameters**](#CamParameters) <br>
```asn1
CoopAwareness ::= SEQUENCE {
	generationDeltaTime GenerationDeltaTime,
	camParameters CamParameters
}
```

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

Fields:
* basicContainer [**BasicContainer**](#BasicContainer) <br>
* highFrequencyContainer [**HighFrequencyContainer**](#HighFrequencyContainer) <br>
* lowFrequencyContainer [**LowFrequencyContainer**](#LowFrequencyContainer)  OPTIONAL<br>
* specialVehicleContainer [**SpecialVehicleContainer**](#SpecialVehicleContainer)  OPTIONAL<br>
```asn1
CamParameters ::= SEQUENCE {
	basicContainer BasicContainer,
	highFrequencyContainer HighFrequencyContainer,
	lowFrequencyContainer LowFrequencyContainer OPTIONAL,
	specialVehicleContainer SpecialVehicleContainer OPTIONAL,
	...
}
```

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

Fields:
* basicVehicleContainerHighFrequency [**BasicVehicleContainerHighFrequency**](#BasicVehicleContainerHighFrequency) <br>
* rsuContainerHighFrequency [**RSUContainerHighFrequency**](#RSUContainerHighFrequency) <br>
```asn1
HighFrequencyContainer ::= CHOICE {
	basicVehicleContainerHighFrequency BasicVehicleContainerHighFrequency,
	rsuContainerHighFrequency RSUContainerHighFrequency,
	...
}
```

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

Fields:
* basicVehicleContainerLowFrequency [**BasicVehicleContainerLowFrequency**](#BasicVehicleContainerLowFrequency) <br>
```asn1
LowFrequencyContainer ::= CHOICE {
  basicVehicleContainerLowFrequency BasicVehicleContainerLowFrequency,
	...
}
```

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

Fields:
* publicTransportContainer [**PublicTransportContainer**](#PublicTransportContainer) <br>
* specialTransportContainer [**SpecialTransportContainer**](#SpecialTransportContainer) <br>
* dangerousGoodsContainer [**DangerousGoodsContainer**](#DangerousGoodsContainer) <br>
* roadWorksContainerBasic [**RoadWorksContainerBasic**](#RoadWorksContainerBasic) <br>
* rescueContainer [**RescueContainer**](#RescueContainer) <br>
* emergencyContainer [**EmergencyContainer**](#EmergencyContainer) <br>
* safetyCarContainer [**SafetyCarContainer**](#SafetyCarContainer) <br>
```asn1
SpecialVehicleContainer ::= CHOICE {
	publicTransportContainer PublicTransportContainer,
	specialTransportContainer SpecialTransportContainer,
	dangerousGoodsContainer DangerousGoodsContainer,
	roadWorksContainerBasic RoadWorksContainerBasic,
	rescueContainer RescueContainer,
	emergencyContainer EmergencyContainer,
	safetyCarContainer SafetyCarContainer,
	...
}
```

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

Fields:
* stationType [**StationType**](ITS-Container.md#StationType) <br>
* referencePosition [**ReferencePosition**](ITS-Container.md#ReferencePosition) <br>
```asn1
BasicContainer ::= SEQUENCE {
	stationType StationType,
	referencePosition ReferencePosition,
	...
}
```

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

Fields:
* heading [**Heading**](ITS-Container.md#Heading) <br>
* speed [**Speed**](ITS-Container.md#Speed) <br>
* driveDirection [**DriveDirection**](ITS-Container.md#DriveDirection) <br>
* vehicleLength [**VehicleLength**](ITS-Container.md#VehicleLength) <br>
* vehicleWidth [**VehicleWidth**](ITS-Container.md#VehicleWidth) <br>
* longitudinalAcceleration [**LongitudinalAcceleration**](ITS-Container.md#LongitudinalAcceleration) <br>
* curvature [**Curvature**](ITS-Container.md#Curvature) <br>
* curvatureCalculationMode [**CurvatureCalculationMode**](ITS-Container.md#CurvatureCalculationMode) <br>
* yawRate [**YawRate**](ITS-Container.md#YawRate) <br>
* accelerationControl [**AccelerationControl**](ITS-Container.md#AccelerationControl)  OPTIONAL<br>
* lanePosition [**LanePosition**](ITS-Container.md#LanePosition)  OPTIONAL<br>
* steeringWheelAngle [**SteeringWheelAngle**](ITS-Container.md#SteeringWheelAngle)  OPTIONAL<br>
* lateralAcceleration [**LateralAcceleration**](ITS-Container.md#LateralAcceleration)  OPTIONAL<br>
* verticalAcceleration [**VerticalAcceleration**](ITS-Container.md#VerticalAcceleration)  OPTIONAL<br>
* performanceClass [**PerformanceClass**](ITS-Container.md#PerformanceClass)  OPTIONAL<br>
* cenDsrcTollingZone [**CenDsrcTollingZone**](ITS-Container.md#CenDsrcTollingZone)  OPTIONAL<br>
```asn1
BasicVehicleContainerHighFrequency ::= SEQUENCE {
	heading Heading,
	speed Speed,
	driveDirection DriveDirection,
	vehicleLength VehicleLength,
	vehicleWidth VehicleWidth,
	longitudinalAcceleration LongitudinalAcceleration,
	curvature Curvature,
	curvatureCalculationMode CurvatureCalculationMode,
	yawRate YawRate,
	accelerationControl AccelerationControl OPTIONAL,
	lanePosition LanePosition OPTIONAL,
	steeringWheelAngle SteeringWheelAngle OPTIONAL,
	lateralAcceleration LateralAcceleration OPTIONAL,
	verticalAcceleration VerticalAcceleration OPTIONAL,
	performanceClass PerformanceClass OPTIONAL,
	cenDsrcTollingZone CenDsrcTollingZone OPTIONAL
}
```

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

Fields:
* vehicleRole [**VehicleRole**](ITS-Container.md#VehicleRole) <br>
* exteriorLights [**ExteriorLights**](ITS-Container.md#ExteriorLights) <br>
* pathHistory [**PathHistory**](ITS-Container.md#PathHistory) <br>
```asn1
BasicVehicleContainerLowFrequency  ::= SEQUENCE {
	vehicleRole VehicleRole,
	exteriorLights ExteriorLights,
	pathHistory PathHistory
}
```

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

Fields:
* embarkationStatus [**EmbarkationStatus**](ITS-Container.md#EmbarkationStatus) <br>
* ptActivation [**PtActivation**](ITS-Container.md#PtActivation)  OPTIONAL<br>
```asn1
PublicTransportContainer ::= SEQUENCE {
	embarkationStatus EmbarkationStatus,
	ptActivation PtActivation OPTIONAL
}
```

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

Fields:
* specialTransportType [**SpecialTransportType**](ITS-Container.md#SpecialTransportType) <br>
* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>
```asn1
SpecialTransportContainer ::= SEQUENCE {
	specialTransportType SpecialTransportType,
	lightBarSirenInUse LightBarSirenInUse
}
```

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

Fields:
* dangerousGoodsBasic [**DangerousGoodsBasic**](ITS-Container.md#DangerousGoodsBasic) <br>
```asn1
DangerousGoodsContainer ::= SEQUENCE {
  dangerousGoodsBasic DangerousGoodsBasic
 }
```

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

Fields:
* roadworksSubCauseCode [**RoadworksSubCauseCode**](ITS-Container.md#RoadworksSubCauseCode)  OPTIONAL<br>
* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>
* closedLanes [**ClosedLanes**](ITS-Container.md#ClosedLanes)  OPTIONAL<br>
```asn1
RoadWorksContainerBasic ::= SEQUENCE {
  roadworksSubCauseCode RoadworksSubCauseCode OPTIONAL,
  lightBarSirenInUse LightBarSirenInUse,
  closedLanes ClosedLanes OPTIONAL
 }
```

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

Fields:
* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>
```asn1
RescueContainer ::= SEQUENCE {
	lightBarSirenInUse LightBarSirenInUse
}
```

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

Fields:
* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>
* incidentIndication [**CauseCode**](ITS-Container.md#CauseCode)  OPTIONAL<br>
* emergencyPriority [**EmergencyPriority**](ITS-Container.md#EmergencyPriority)  OPTIONAL<br>
```asn1
EmergencyContainer ::= SEQUENCE {
	lightBarSirenInUse LightBarSirenInUse,
	incidentIndication CauseCode OPTIONAL,
	emergencyPriority EmergencyPriority OPTIONAL
}
```

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

Fields:
* lightBarSirenInUse [**LightBarSirenInUse**](ITS-Container.md#LightBarSirenInUse) <br>
* incidentIndication [**CauseCode**](ITS-Container.md#CauseCode)  OPTIONAL<br>
* trafficRule [**TrafficRule**](ITS-Container.md#TrafficRule)  OPTIONAL<br>
* speedLimit [**SpeedLimit**](ITS-Container.md#SpeedLimit)  OPTIONAL<br>
```asn1
SafetyCarContainer ::= SEQUENCE {
	lightBarSirenInUse LightBarSirenInUse,
	incidentIndication CauseCode OPTIONAL,
	trafficRule TrafficRule OPTIONAL,
	speedLimit SpeedLimit OPTIONAL
}
```

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

Fields:
* protectedCommunicationZonesRSU [**ProtectedCommunicationZonesRSU**](ITS-Container.md#ProtectedCommunicationZonesRSU)  OPTIONAL<br>
```asn1
RSUContainerHighFrequency ::= SEQUENCE {
	protectedCommunicationZonesRSU ProtectedCommunicationZonesRSU OPTIONAL,
	...
}
```

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

```asn1
GenerationDeltaTime ::= INTEGER { oneMilliSec(1) } (0..65535)
```


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# ASN.1 module CPM-FreeSpaceAddendum-Descriptions
 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) freeSpaceAddendum (6) version1 (1) }_

## Imports:
 * **[CPM-CommonDataTypes-Descriptions](CPM-CommonDataTypes-Descriptions.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}*<br/>

## Data Elements:
### <a name="FreeSpaceAddendumContainer"></a>FreeSpaceAddendumContainer

Free Space Addendum Container
A list of provided free space addendums. Each addendum shall be described asa provided by
@see FreeSpaceAddendum.


```asn1
FreeSpaceAddendumContainer ::= SEQUENCE SIZE(1..128, ...) OF FreeSpaceAddendum
```

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

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.

Fields:
* freeSpaceConfidence [**FreeSpaceConfidence**](CPM-CommonDataTypes-Descriptions.md#FreeSpaceConfidence) <br>
   @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.
   
* freeSpaceArea [**FreeSpaceArea**](#FreeSpaceArea) <br>

   Describes the free space area for which the free space confidence of this addendum
   container is valid.
   
* sensorIDList [**SensorIdList**](CPM-CommonDataTypes-Descriptions.md#SensorIdList)  OPTIONAL<br>

   Provides a list of pseudonym sensor IDs which performed the measurement to indicate the
   free space.
   
* shadowingApplies [**ShadowingApplies**](CPM-CommonDataTypes-Descriptions.md#ShadowingApplies)  DEFAULT TRUE<br>
```asn1
FreeSpaceAddendum ::= SEQUENCE {
        freeSpaceConfidence    FreeSpaceConfidence,
        freeSpaceArea          FreeSpaceArea,
	    sensorIDList           SensorIdList OPTIONAL,
        shadowingApplies       ShadowingApplies DEFAULT TRUE,
	...
}
```

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

Free Space Area
The described area that is considered as not occupied by any traffic participant or obstacle by
the disseminating ITS-S.

Fields:
* freeSpacePolygon [**AreaPolygon**](CPM-CommonDataTypes-Descriptions.md#AreaPolygon) <br>

   A sequence of node points from a given offset point to describe an arbitrary area shape.
   
* freeSpaceCircular [**AreaCircular**](CPM-CommonDataTypes-Descriptions.md#AreaCircular) <br>
* freeSpaceEllipse [**AreaEllipse**](CPM-CommonDataTypes-Descriptions.md#AreaEllipse) <br>

   A description of an elliptical area.
   
* freeSpaceRectangle [**AreaRectangle**](CPM-CommonDataTypes-Descriptions.md#AreaRectangle) <br>

   A description of a rectangular area.
   
```asn1
FreeSpaceArea ::= CHOICE {
        freeSpacePolygon     AreaPolygon,
        freeSpaceCircular    AreaCircular,
        freeSpaceEllipse     AreaEllipse,
        freeSpaceRectangle   AreaRectangle,
    ...
}
```


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# ASN.1 module CPM-OriginatingStationContainers
 OID: _{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationContainers (2) major-version-1 (1) minor-version-1(1)}_

## Imports:
 * **[ETSI-ITS-CDD](ETSI-ITS-CDD.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) major-version-3 (3) minor-version-1 (1)}*<br/>
  
## Data Elements:
### <a name="OriginatingVehicleContainer"></a>OriginatingVehicleContainer
This DF  represents the Originating Vehicle Container

 It shall include the following components:

Fields:
* orientationAngle of type [**Wgs84Angle**](ETSI-ITS-CDD.md#Wgs84Angle) <br>
  the angle and angle accuracy of the absolute orientation of the disseminating vehicle in the WGS84 coordinate system with respect to true North.


* pitchAngle of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>
  the optional angle and angle accuracy between the ground plane and the current orientation of the vehicle's x-axis with respect to the ground plane about the y-axis according to the ISO 8855.


   
* rollAngle of type [**CartesianAngle**](ETSI-ITS-CDD.md#CartesianAngle)  OPTIONAL<br>
  the optional 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


   
* trailerDataSet of type [**TrailerDataSet**](#TrailerDataSet)  OPTIONAL<br>
   
```asn1
OriginatingVehicleContainer ::= SEQUENCE {
    orientationAngle   Wgs84Angle,
    pitchAngle         CartesianAngle OPTIONAL,
    rollAngle          CartesianAngle OPTIONAL,
    trailerDataSet     TrailerDataSet OPTIONAL,
    ...
}
```

### <a name="OriginatingRsuContainer"></a>OriginatingRsuContainer
This DF  represents the Originating RSU Container.

 It shall include the following components:

Fields:
* mapReference of type [**MapReference**](ETSI-ITS-CDD.md#MapReference)  OPTIONAL<br>
  identifies the MAPEM containing the topology information reference in the Perceived Object Container


```asn1
OriginatingRsuContainer ::= SEQUENCE{
    mapReference    MapReference OPTIONAL,
    ...
}
```


### <a name="TrailerDataSet"></a>TrailerDataSet
This DF  represents a list of trailer data.
```asn1
TrailerDataSet::= SEQUENCE SIZE(1..8,...) OF TrailerData (WITH COMPONENTS {... ,frontOverhang ABSENT, rearOverhang ABSENT, trailerWidth ABSENT})
```



This DF  represents a list of trailer data.

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# ASN.1 module CPM-OriginatingStationData-Descriptions
 OID: _{ itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) originatingStationData (3) version1 (1) }_

## Imports:
 * **[ITS-Container](ITS-Container.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102894) cdd (2) version (2)}*<br/>
   Include ETSI TS 102 894-2
   Include references from https://forge.etsi.org/rep/ITS/ITS_ASN1/blob/master/CDD_TS102894-2/ITS-Container.asn

 * **[DSRC](DSRC.md)** *{iso (1) standard (0) signalizedIntersection (19091) profilec(2) dsrc (2) version2 (2)}*<br/>
   Include ISO 19091
   Include references from https://standards.iso.org/iso/ts/19091/ed-2/en/ISO-TS-19091-addgrp-C-2018.asn

 * **[CPM-CommonDataTypes-Descriptions](CPM-CommonDataTypes-Descriptions.md)** *{itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (103324) commonDataTypes (2) version1 (1)}*<br/>

## Data Elements:
### <a name="OriginatingVehicleContainer"></a>OriginatingVehicleContainer

Originating Vehicle Container
The _originatingVehicleContainer_ provides detailed information about the vehicle ITS-S
disseminating the CPM.


```asn1
OriginatingVehicleContainer ::= SEQUENCE {
        heading                     Heading,
        speed                       Speed,
        verticalSpeed               SpeedExtended OPTIONAL,
```

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


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

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

Fields:
* intersectionReferenceId [**IntersectionReferenceID**](DSRC.md#IntersectionReferenceID) <br>

   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.
   
* roadSegmentReferenceId [**RoadSegmentReferenceID**](DSRC.md#RoadSegmentReferenceID) <br>

   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
   
```asn1
OriginatingRSUContainer ::= CHOICE {
        intersectionReferenceId     IntersectionReferenceID,
        roadSegmentReferenceId      RoadSegmentReferenceID,
    ...
}
```


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