Adapted definitions to reflect the specification.

--	The root data frame for cooperative awareness messages

CoopAwareness ::= SEQUENCE {

	-- protocolVersionCAM fixed to 0

	protocolVersionCAM		INTEGER(0..255),

	-- protocolVersion fixed to 0

	protocolVersion		INTEGER(0..255),

	-- message type ID associated to CAM = 0

	messageID 		INTEGER(0..255),

	-- milliseconds elapsed since midnight January 1st, 1970 UTC

	generationTime	INTEGER (0.. 281474976710655),

	stationId	INTEGER(0..4294967295),

    -- STF405: introduced type StationID

	stationId	StationID,

	referencePosition ReferencePosition,

	-- tagged list has optional and mandatory entries depending on the profile of the 

	-- ITS station, this is defined in a separate document

	taggedList	SET SIZE(0..32) OF TaggedValue,

	-- STF405: replace taggedList with profile as described in chapter 7.2

	-- taggedList	SET SIZE(0..32) OF TaggedValue,

	profile ProfileParameters,

   ...

}

TaggedValue ::= CHOICE {

ProfileParameters ::= CHOICE {

    basicVehicle            [1] BasicVehicle,

    basicIRS                [2] NULL,

    emergencyVehicle        [3] EmergencyVehicle,

    publicTransportVehicle  [4] PublicTransportVehicle,

    ...

}

-- STF405: replaced by the different profiles BasicVehicle, BasicIRS, EmergencyVehicle and PublicTransportVehicle

--TaggedValue ::= CHOICE {

--	 vehicleType           			 [1] VehicleType,

--	 publicVehicleType     			 [2] PublicVehicleType,

--	 lightBarInUse         			 [3] LightBarInUse,

--	 sireneInUse           			 [4] SireneInUse,

--	 emergencyResponseType 			 [5] EmergencyResponseType,

--	 stationLength         			 [6] StationLength,

--	 stationLengthConfidence		 [7] Confidence,

--	 stationWidth          			 [8] StationWidth,

--	 stationWidthConfidence			 [9] Confidence,

--	 vehicleSpeed          			[10] VehicleSpeed,

--	 vehicleSpeedConfidence			[11] Confidence,

--	 longAcceleration      			[12] LongAcceleration,

--	 longAccelConfidence   			[13] Confidence,

--	 yawRate               			[14] YawRate,

--	 yawRateConfidence     			[15] Confidence,

--	 accelerationControl   			[16] AccelerationControl,

--	 exteriorLights        			[17] ExteriorLights,

--	 causeCode             			[18] CauseCode,

--	 ambientAirTemperature 			[19] AmbientAirTemperature,

--	 speed                 			[20] Speed,

--	 pTLineDescription     			[22] PTLineDescription,

--	 turnAdvice            			[23] TurnAdvice,

--	 distanceToStopLine    			[24] DistanceToStopLine,

--	 distanceToStoLineConfidence	[25] Confidence,

--	 occupancy             			[26] Occupancy,

--	 scheduleDeviation    			[27] ScheduleDeviation,

--	 trafficLightPriority 			[28] TrafficLightPriority,

--	 doorOpen            			[29] DoorOpen,

--	 dataReference       			[30] DataReference,

--	 posConfidenceElli   			[31] PosConfidenceEllipse,

--	 curvature           			[32] Curvature,

--	 curvatureGradient     			[33] CurvatureGradient,

--	 curvatureConfidence   			[34] Confidence,

--	 wiperSystemFront      			[35] WiperSystemFront,

--	 crashStatus           			[36] CrashStatus,

--	 headingConfidence     			[37] Confidence,

--	 dangerousGoods			 		[38] DangerousGoods,

--	 ...

--	}

-- STF405: introduced as replacement for TaggedValue to reflect the profiles

BasicVehicle ::= SEQUENCE {

     vehicleType                     [1] VehicleType,

	 publicVehicleType     			 [2] PublicVehicleType,

	 lightBarInUse         			 [3] LightBarInUse,

	 sireneInUse           			 [4] SireneInUse,

     stationLength                   [6] StationLength,

     stationLengthConfidence         [7] Confidence OPTIONAL,

     stationWidth                    [8] StationWidth,

     stationWidthConfidence          [9] Confidence OPTIONAL,

     vehicleSpeed                   [10] VehicleSpeed,

     vehicleSpeedConfidence         [11] Confidence,

     longAcceleration               [12] LongAcceleration,

     accelerationControl            [16] AccelerationControl,

     exteriorLights                 [17] ExteriorLights,

     turnAdvice                     [23] TurnAdvice OPTIONAL,

     distanceToStopLine             [24] DistanceToStopLine OPTIONAL,

     occupancy                      [26] Occupancy OPTIONAL,

     doorOpen                       [29] DoorOpen OPTIONAL,

     posConfidenceEllipse           [31] PosConfidenceEllipse,

     curvature                      [32] Curvature,

     curvatureGradient              [33] CurvatureGradient OPTIONAL,

     crashStatus                    [36] CrashStatus OPTIONAL,

     headingConfidence              [37] Confidence,

     dangerousGoods             [38] DangerousGoods OPTIONAL,

     ...

}

-- STF405: introduced as replacement for TaggedValue to reflect the profiles

EmergencyVehicle ::= SEQUENCE {

     vehicleType                     [1] VehicleType,

     lightBarInUse                   [3] LightBarInUse OPTIONAL,

     sireneInUse                     [4] SireneInUse OPTIONAL,

     emergencyResponseType           [5] EmergencyResponseType,

     stationLength                   [6] StationLength,

	 stationLengthConfidence		 [7] Confidence,

     stationLengthConfidence         [7] Confidence OPTIONAL,

     stationWidth                    [8] StationWidth,

	 stationWidthConfidence			 [9] Confidence,

     stationWidthConfidence          [9] Confidence OPTIONAL,

     vehicleSpeed                   [10] VehicleSpeed,

     vehicleSpeedConfidence         [11] Confidence,

     longAcceleration               [12] LongAcceleration,

	 longAccelConfidence   			[13] Confidence,

	 yawRate               			[14] YawRate,

	 yawRateConfidence     			[15] Confidence,

     accelerationControl            [16] AccelerationControl,

     exteriorLights                 [17] ExteriorLights,

	 causeCode             			[18] CauseCode,

	 ambientAirTemperature 			[19] AmbientAirTemperature,

	 speed                 			[20] Speed, --other speed than vehicle speed

	 -- heading               			[21] Heading,

	 pTLineDescription     			[22] PTLineDescription,

	 turnAdvice            			[23] TurnAdvice,

	 distanceToStopLine    			[24] DistanceToStopLine,

	 distanceToStoLineConfidence	[25] Confidence,

	 occupancy             			[26] Occupancy,

	 scheduleDeviation    			[27] ScheduleDeviation,

	 trafficLightPriority 			[28] TrafficLightPriority,

	 doorOpen            			  	[29] DoorOpen,

	 dataReference       			  	[30] DataReference,

	 posConfidenceElli   			  	[31] PosConfidenceEllipse,

     turnAdvice                     [23] TurnAdvice OPTIONAL,

     distanceToStopLine             [24] DistanceToStopLine OPTIONAL,

     occupancy                      [26] Occupancy OPTIONAL,

     doorOpen                       [29] DoorOpen OPTIONAL,

     posConfidenceEllipse           [31] PosConfidenceEllipse,

     curvature                      [32] Curvature,

	 curvatureGradient     			[33] CurvatureGradient,

	 curvatureConfidence   			[34] Confidence,

	 wiperSystemFront      			[35] WiperSystemFront,

	 crashStatus           			[36] CrashStatus,

     curvatureGradient              [33] CurvatureGradient OPTIONAL,

     crashStatus                    [36] CrashStatus OPTIONAL,

     headingConfidence              [37] Confidence,

	 dangerousGoods			 			[38] DangerousGoods,

     dangerousGoods                 [38] DangerousGoods OPTIONAL,

     ...

}

-- STF405: introduced as replacement for TaggedValue to reflect the profiles

PublicTransportVehicle ::= SEQUENCE {

     vehicleType                     [1] VehicleType,

     publicVehicleType               [2] PublicVehicleType,

     stationLength                   [6] StationLength,

     stationLengthConfidence         [7] Confidence OPTIONAL,

     stationWidth                    [8] StationWidth,

     stationWidthConfidence          [9] Confidence OPTIONAL,

     vehicleSpeed                   [10] VehicleSpeed,

     vehicleSpeedConfidence         [11] Confidence,

     longAcceleration               [12] LongAcceleration,

     accelerationControl            [16] AccelerationControl,

     exteriorLights                 [17] ExteriorLights,

     pTLineDescription              [22] PTLineDescription OPTIONAL,

     turnAdvice                     [23] TurnAdvice OPTIONAL,

     distanceToStopLine             [24] DistanceToStopLine OPTIONAL,

     occupancy                      [26] Occupancy OPTIONAL,

     scheduleDeviation              [27] ScheduleDeviation OPTIONAL,

     trafficLightPriority           [28] TrafficLightPriority OPTIONAL,

     doorOpen                       [29] DoorOpen OPTIONAL,

     posConfidenceEllipse           [31] PosConfidenceEllipse,

     curvature                      [32] Curvature,

     curvatureGradient              [33] CurvatureGradient OPTIONAL,

     crashStatus                    [36] CrashStatus OPTIONAL,

     headingConfidence              [37] Confidence,

     dangerousGoods                 [38] DangerousGoods OPTIONAL,

     ...

}

Dimension ::= INTEGER (0..16383)

Direction ::= INTEGER{north(0), east(7200), south(14400), west(21600)} (0..28800)

Direction ::= INTEGER{north(0), east(7200), south(14400), west(21600)} (0..28799)

Distance ::= INTEGER (0..65535) -- multiples of 1.0m

Occupancy ::= INTEGER (0..255) 

PosConfidenceEllipse ::= SEQUENCE {

  semiMajorConfidence   PositionConfidence,   -- confidence of the ellipse's major semi-axes

  semiMinorConfidence   PositionConfidence,   -- confidence of the ellipse's minor semi-axes

-- STF405: changed type from PositionConfidence to Confidence

--  semiMajorConfidence   PositionConfidence,   

  semiMajorConfidence   Confidence,   -- confidence of the ellipse's major semi-axes

-- STF405: changed type from PositionConfidence to Confidence

--  semiMinorConfidence   PositionConfidence,   

  semiMinorConfidence   Confidence,   -- confidence of the ellipse's minor semi-axes

  semiMajorOrientation   Direction

} 

PositionConfidence ::= Confidence -- 2^PositionConfidence * 0.1m 

-- STF405: deleted as there is not need for this special type, all occurencies can be expressed directly by using Confidence

--PositionConfidence ::= Confidence 

-- 2^PositionConfidence * 0.1m 

Priority ::= INTEGER(0..7) 

  elevation Elevation,

  heading [1] Direction OPTIONAL, -- if relevant for position reference

  streetName [2] StreetName OPTIONAL,

  positionConfidence [3] PositionConfidence OPTIONAL, -- ommitted for fixed position, e.g. infrastructure location

  elevationConfidence [4] Confidence OPTIONAL, -- ommitted for fixed position, e.g. infrastructure location

-- STF405: changed optionallity due to introduction of new PositionConfidence type

--  positionConfidence [3] PositionConfidence OPTIONAL, 

  positionConfidence [3] PositionConfidence, -- ommitted for fixed position, e.g. infrastructure location

-- STF405: changed optionallity due to introduction of new PositionConfidence type

--  elevationConfidence [4] Confidence OPTIONAL, 

  elevationConfidence [4] ElevationConfidence, -- ommitted for fixed position, e.g. infrastructure location

  roadSegmentID [5] RoadSegmentID OPTIONAL

}

-- STF405: introduced

PositionConfidence ::= CHOICE {

  mobile Confidence,

  stationary NULL	-- omitted for fixed position, e.g. infrastructure location

}

-- STF405: introduced

ElevationConfidence ::= CHOICE {

  mobile Confidence,

  stationary NULL	-- omitted for fixed position, e.g. infrastructure location

}

RoadSegmentID ::= INTEGER (0..99999999) 

RouteRef ::= IA5String(SIZE(0..32)) 

Speed ::= INTEGER (-32765..32765)  -- multiples of 0.01 m/s 

-- STF405: introduced

StationID ::=   INTEGER(0..4294967295)

StationLength ::= Dimension 

StationWidth ::= Dimension 

  washerActive (4)

}

YawRate ::= INTEGER (-32765..32765) 

-- STF405: changed

-- YawRate ::= INTEGER (-32765..32765) 

YawRate ::= SEQUENCE {

  isLeft BOOLEAN,                 	-- true if yaw is to the left

  yawRate  INTEGER (0..32765)  		-- multiples of 0.01deg/s

}

END

BEGIN

IMPORTS 

    ProfileParameters, StationID 

FROM CAM-PDU-Descriptions { itu-t (0) identified-organization (4) etsi (0) itsDomain (5) wg1 (1) ts (102637) cam (2) version1 (1) };

--STF405: doubled defined, renamed

--DecentralizedSituation ::= SEQUENCE {

DecentralizedEnvironmentalNotificationMessage ::= SEQUENCE {

DecentralizedSituationManagement::= SEQUENCE {

	-- protocol version number of the DENM

	protocolVersionDENM	INTEGER (0..255),

	protocolVersion	INTEGER (0..255),

	-- unique message type identifier assigned to the DENM		

	messageID	MessageID,	-- 1 byte 

	-- time at which an originator  ITS  station generates the DENM

	-- unique identifier about an event from one originator ITS station, combination of node ID and a sequence number

	actionID	ActionID,	-- 6 byte

	-- version of the DENM indicating updates from the same originator ITS station; value of 255 is used for the  cancellation message sent from the originator ITS station

	dataVersion	INTEGER(0..255),  	-- 1 byte

	-- STF405: changed inline definition to explicit

	-- dataVersion	INTEGER(0..255),

	dataVersion	DataVersion,  	-- 1 byte

	-- time when the DENM is deleted from the DEN management and the inforamtion related to the event is set as invalid.. If it is not provided, it indicates that the expiry time is unkown by the originator ITS station	

	expiryTime	TimeStamp  	OPTIONAL, 	-- 6 byte

	frequency	INTEGER (0..255)	OPTIONAL, 	--1 byte

	-- traffic status near the event position, defined based on [3], TPEG table tec001 

	trafficFlowEffect 	TrafficFlowEffect	OPTIONAL,	 -- 1 byte. 

	-- event direct cause and sub cause description as defined in tab6.1 and in [3]

	situation	SEQUENCE {

		cause 	CauseCode, 	-- 1 byte

		subCause	SubCauseCode	-- 1 byte

	},

	situation	Situation,

	-- linked cause if information is available.

	linkedCause	Situation		OPTIONAL,	-- 2 Byte, 

	-- severity value of the event, defined in [3], TPEG table tec003			

		-- event mobility description, set to TRUE if the event is in mobility 

		eventmobility	BOOLEAN,

		-- whether the event is caused by the originator ITS station, set to TRUE if it is the case. FALSE if it is a location that may cause danger

		causeType	BOOLEAN,

-- STF405: changed type to be more self explaining

--		causeType	BOOLEAN,

		causeType   ENUMERATED { itsStation, geographicalRegion },

		-- whether the event is physicalling relevant to the  receiving ITS station.. Set to TRUE if it is the case

		relevant	BOOLEAN,

-- STF405: changed type to be more self explaining

--		relevant	BOOLEAN,

        relevant ENUMERATED {physicallyRelevant, difficultDrivingConditions },

		-- whether the event is time critical road safety event, set to TRUE if it is the case.

		timeCritacality	BOOLEAN,

		-- more characteristics may be added. 	

		...

	} OPTIONAL,

	-- tagged list to provide supplementary information  describing the event, may include DEs and EFs definied in [i.6] or [6]		

	taggedList	SET SIZE(0..32) OF TaggedList OPTIONAL -- optional taggedlist with TaggedValue  OPTIONAL

	-- STF405: changed to profile based on the changes in the CAM module

	-- taggedList	SET SIZE(0..32) OF TaggedList OPTIONAL 

	-- optional taggedlist with TaggedValue  OPTIONAL

	profile ProfileParameters    OPTIONAL

}

DecentralizedSituationLocation::= SEQUENCE {

	eventPosition	CHOICE	{

		-- the geographical position of the reference position 

		refPosition	[0] RefPosition,	

		-- other descriptions of the event position or the event area,  may be  as defined in [6]

		--STF405: type definition of EventArea missing!

		--eventArea	[1]	EventArea,	

		...

	},

	-- description of  the relevance area for the  DENM dissemination

	}

}

ProtocolVersionDENM ::=	INTEGER (0..255) 		-- 1 byte

MessageID ::=  	INTEGER (0..255) 		-- 1 byte

--STF405: renamed to TimeStamp as this is actually referenced, LongTimeStamp never

	sequenceNo 	SequenceNo	-- a 2 byte value

}

--STF405: STRING not a valid ASN.1 type

--STF405: STRING not a valid ASN.1 type, using the CAM definition

--StationID ::=	STRING 		

StationID ::=	CHARACTER STRING 		

-- station ID of the DENM originator ITS station	

SequenceNo ::=	INTEGER (0..65535)		-- increased by 1 each time a new event is detected by the same ITS  station.

DataVersion ::= ENUMERATED {

	firstVersion	(0),

	secondVersion	(1),

	cancellation	(255),

	...

}

-- STF405: changed to INTEGER as ENUMERATED is not applicable for handling

-- DataVersion ::= ENUMERATED {

-- 	firstVersion	(0),

-- 	secondVersion	(1),

-- 	cancellation	(255),

-- 	...

-- }

DataVersion ::= INTEGER {firstVersion(0),secondVersion(1),cancellation(255) } (0..255)

--STF405: removed as is expressed already in TimeStamp which is referenced only, furthermore OPTIONAL is syntactically incorrect

--LongTimeStamp ::=	INTEGER (0.. 281474976710655) 	OPTIONAL

Frenquency ::=	INTEGER (0..255)

Reliability ::=	INTEGER (0.. 100)	--7 bit

-- STF405: no need for explicit type

--Reliability ::=	INTEGER (0..100)	

--7 bit

IsNegation ::=	BOOLEAN	--1 bit

-- STF405: no need for explicit type

-- IsNegation ::=	BOOLEAN	

--1 bit

--STF405: removed OPTIONAL, as it is syntactically incorrect

--TrafficFlowEffect ::= 	INTEGER(0..7)	OPTIONAL

	subCause	SubCauseCode	-- 1 byte

}

CauseCode ::= ENUMERATED  

-- STF405: Changed to INTEGER as it allows to use cause codes in [3]

-- CauseCode ::= ENUMERATED  

-- 1 to 100 indicates causecode defined within [3]

-- 101 – 255 indicates causecode without being defined by [3]

{

	reserved		(0),

	dangerousDriving	(101),

	intersectionViolation	(102),

	vehicleProblem	(103),

	intersectionCollision	(104),

	hazardousLocation	(105),

	...

}

SubCauseCode ::= ENUMERATED

{

	unknown		(0),

	subCauseCode1	(1),

	subCauseCode2	(2),

	...

}													

-- {

--	reserved		(0),

--	dangerousDriving	(101),

--	intersectionViolation	(102),

--	vehicleProblem	(103),

--	intersectionCollision	(104),

--	hazardousLocation	(105),

--	...

--}

CauseCode ::= INTEGER {reserved(0),dangerousDriving(101),intersectionViolation(102),vehicleProblem(103),intersectionCollision(104),hazardousLocation(105) } (0..255)

-- STF405: changed type as it seems more applicable

-- SubCauseCode ::= ENUMERATED

-- {

-- 	unknown		(0),

-- 	subCauseCode1	(1),

-- 	subCauseCode2	(2),

-- 	...

-- }													

SubCauseCode ::= INTEGER {unknown(0)} (0..255)

--STF405: removed OPTIONAL, as it is syntactically incorrect

--LinkedCause ::= 	Situation		OPTIONAL

	highestDanger	(4)		--danger level 3: 

}

--STF405: removed OPTIONAL, as it is syntactically incorrect

EventCharact ::= SEQUENCE	-- 1 byte

{

--STF405: no need for explicit type

--EventCharact ::= SEQUENCE	

-- 1 byte

--{

-- whether the detected event is in mobility (moving vehicle) or static

	mobility		BOOLEAN,

--	mobility		BOOLEAN,

-- whether the detected event is an ITS station, or is a geographical region

	causeType		BOOLEAN,

-- causeType		BOOLEAN,

-- whether the detected event is physically relevant to the received ITS stations (accident) or describing difficult driving conditions (fog on the road)

	relevant	BOOLEAN,

-- relevant	BOOLEAN,

-- whether a detected event is time critical (e.g., electronic braking light) or not (e.g. fog on the road)

	timeCriticality	BOOLEAN,

	...

}

--	timeCriticality	BOOLEAN,

--	...

--}

--STF405: removed OPTIONAL, as it is syntactically incorrect

TaggedList ::= SEQUENCE

{

	...

}

--STF405: The CAM definition is used instead, removed OPTIONAL, as it is syntactically incorrect

-- TaggedList ::= SEQUENCE

-- {

-- 	...

-- }

RefPosition ::= SEQUENCE {

	situationLat	Latitude,  	-- 4 bytes

PositionAccuracy ::= OCTET STRING (SIZE(4))	

--STF405: removed OPTIONAL, as it is syntactically incorrect

Direction ::= INTEGER{north(0), east(7200), south(14400), west(21600)} (0..28800)

Direction ::= INTEGER{north(0), east(7200), south(14400), west(21600)} (0..28799)

--STF405: removed OPTIONAL, as it is syntactically incorrect

Speed ::= INTEGER (-32765..32765)	 -- multiples of 0.01 m/s 

LocationRef ::=	CHOICE {

--STF405: no need for explicit type

--LocationRef ::=	CHOICE {

	-- consequence position of the trace location referencing mechanism

	trace	[0]	TraceLocData,

--	trace	[0]	TraceLocData,

	-- more location referencing mechanism to be added

	...

}

--	...

--}

TraceLocData ::=	SEQUENCE {

	--3 bits, identifier of the trace.

	--3 bits, identifier of the trace

	traceID	INTEGER(0 .. 7),	

	--5 bits, number of waypoint positions included in the trace.	

	--5 bits, number of waypoint positions included in the trace

	waypoints	SEQUENCE (SIZE(0..31)) OF	Waypoint

}

Waypoint  ::=		SEQUENCE{

	-- 1st waypoint positions included in the trace.	

	--  waypoint positions included in the trace.	

	ptLat 	Latitude,							--a 4 bytes value 

	ptLong 	Longitude,						--a 4 bytes value

	ptAlt 	Altitude,							--a 2 bytes value