[WIP] IVIM Support

.vscode/launch.json

@@ -3,17 +3,17 @@
     "compounds": [
         {
             "name": "All (coding)",
-            "configurations": ["CAM (coding)", "CAM TS (coding)", "DENM (coding)", "CPM TS (coding)", "VAM TS (coding)", "MAPEM TS (coding)", "SPATEM TS (coding)"],
+            "configurations": ["CAM (coding)", "CAM TS (coding)", "DENM (coding)", "CPM TS (coding)", "VAM TS (coding)", "MAPEM TS (coding)", "SPATEM TS (coding), IVIM TS (coding)"],
             "stopAll": false
         },
         {
             "name": "All (msgs)",
-            "configurations": ["CAM (msgs)", "CAM TS (msgs)", "DENM (msgs)", "CPM TS (msgs)", "VAM TS (msgs)", "MAPEM TS (msgs)", "SPATEM TS (msgs)"],
+            "configurations": ["CAM (msgs)", "CAM TS (msgs)", "DENM (msgs)", "CPM TS (msgs)", "VAM TS (msgs)", "MAPEM TS (msgs)", "SPATEM TS (msgs), IVIM TS (msgs)"],
             "stopAll": false
         },
         {
             "name": "All (conversion)",
-            "configurations": ["CAM (conversion)", "CAM TS (conversion)", "DENM (conversion)", "CPM TS (conversion)", "VAM TS (conversion)", "MAPEM TS (conversion)", "SPATEM TS (conversion)"],
+            "configurations": ["CAM (conversion)", "CAM TS (conversion)", "DENM (conversion)", "CPM TS (conversion)", "VAM TS (conversion)", "MAPEM TS (conversion)", "SPATEM TS (conversion), IVIM TS (conversion)"],
             "stopAll": false
         }
     ],
@@ -285,6 +285,81 @@
             "console": "integratedTerminal",
             "justMyCode": true
         },
+        {
+            "name": "IVIM TS (coding)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/asn1ToC/asn1ToC.py",
+            "args": [
+                "asn1/raw/is_ts103301/IVIM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14823-missing.asn",
+                "asn1/raw/is_ts103301/build/asn1/TS17419_2014_CITSapplMgmtIDs.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcGenericv7-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcApplicationv6-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO19321IVIv2.asn",
+                "-t",
+                "ivim_ts",
+                "-o",
+                "etsi_its_coding/etsi_its_ivim_ts_coding"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "IVIM TS (msgs)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-py/asn1ToRosMsg.py",
+            "args": [
+                "asn1/raw/is_ts103301/IVIM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14823-missing.asn",
+                "asn1/raw/is_ts103301/build/asn1/TS17419_2014_CITSapplMgmtIDs.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcGenericv7-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcApplicationv6-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO19321IVIv2.asn",
+                "-t",
+                "ivim_ts",
+                "-o",
+                "etsi_its_msgs/etsi_its_ivim_ts_msgs/msg"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "IVIM TS (conversion)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-py/asn1ToConversionHeader.py",
+            "args": [
+                "asn1/raw/is_ts103301/IVIM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14823-missing.asn",
+                "asn1/raw/is_ts103301/build/asn1/TS17419_2014_CITSapplMgmtIDs.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcGenericv7-patched.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO14906(2018)EfcDsrcApplicationv6-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO19321IVIv2.asn",
+                "-t",
+                "ivim_ts",
+                "-o",
+                "etsi_its_conversion/etsi_its_ivim_ts_conversion/include/etsi_its_ivim_ts_conversion"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
         {
             "name": "MAPEM TS (coding)",
             "preLaunchTask": "Patch ASN.1 files",

README.md

@@ -8,7 +8,7 @@
   <a href="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml"><img src="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml/badge.svg"/></a>
   <img src="https://img.shields.io/badge/ROS-noetic-blueviolet"/>
   <img src="https://img.shields.io/badge/ROS 2-humble|iron|jazzy-blueviolet"/>
-  <img src="https://img.shields.io/badge/V2X-CAM|CPM|DENM|MAPEM|SPATEM|VAM-aqua"/>
+  <img src="https://img.shields.io/badge/V2X-CAM|CPM|DENM|IVIM|MAPEM|SPATEM|VAM-aqua"/>
 </p>
 
 **ROS / ROS 2 Support for ETSI ITS Messages for V2X Communication**
@@ -56,6 +56,7 @@ During runtime, the `etsi_its_conversion` ROS node converts incoming UDP payload
 | :white_check_mark: | CAM | Cooperative Awareness Message | [EN 302 637-2 V1.4.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2)) | [TS 103 900 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103900_103999/103900/02.01.01_60/ts_103900v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_ts103900)) |
 | :white_check_mark: | CPM | Collective Perception Message | - | [TS 103 324 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103324/02.01.01_60/ts_103324v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324)) |
 | :white_check_mark: | DENM | Decentralized Environmental Notification Message | [EN 302 637-3 V1.3.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.03.01_60/en_30263703v010301p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3)) | - |
+| :white_check_mark: | IVIM | In-Vehicle Information Message | - | [TS 103 301 V2.1.1](https://cdn.standards.iteh.ai/samples/59277/21ee1e46b905419c84f44b40713f4bbc/ETSI-TS-103-301-V2-1-1-2021-03-.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/is_ts103301/-/tree/v2.1.1/)) |
 | :white_check_mark: | MAPEM | Map Extended Message | - | [TS 103 301 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103301/02.01.01_60/ts_103301v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/is_ts103301/-/tree/v2.1.1?ref_type=tags)) |
 | :white_check_mark: | SPATEM | Signal Phase and Timing Extended Message | - | [TS 103 301 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103301/02.01.01_60/ts_103301v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/is_ts103301/-/tree/v2.1.1?ref_type=tags)) |
 | :white_check_mark: | VAM | VRU Awareness Message | - | [TS 103 300-3 V2.2.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/10330003/02.02.01_60/ts_10330003v020201p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3)) |

etsi_its_coding/etsi_its_coding/package.xml

@@ -19,6 +19,7 @@
   <depend>etsi_its_cam_ts_coding</depend>
   <depend>etsi_its_cpm_ts_coding</depend>
   <depend>etsi_its_denm_coding</depend>
+  <depend>etsi_its_ivim_ts_coding</depend>
   <depend>etsi_its_mapem_ts_coding</depend>
   <depend>etsi_its_spatem_ts_coding</depend>
   <depend>etsi_its_vam_ts_coding</depend>

etsi_its_coding/etsi_its_ivim_ts_coding/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(etsi_its_ivim_ts_coding)
+
+find_package(ros_environment REQUIRED QUIET)
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+AUX_SOURCE_DIRECTORY(src SRC_FILES)
+
+# === ROS 2 (AMENT) ============================================================
+if(${ROS_VERSION} EQUAL 2)
+
+  find_package(ament_cmake REQUIRED)
+
+  add_library(${PROJECT_NAME} SHARED
+    ${SRC_FILES}
+  )
+
+  target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+
+  ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+  install(DIRECTORY include/
+    DESTINATION include
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}Targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib
+    INCLUDES DESTINATION include
+  )
+
+  ament_package()
+
+# === ROS (CATKIN) =============================================================
+elseif(${ROS_VERSION} EQUAL 1)
+
+  find_package(catkin REQUIRED)
+
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+  )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
+
+  add_library(${PROJECT_NAME} SHARED
+    ${SRC_FILES}
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+  )
+
+endif()

etsi_its_coding/etsi_its_ivim_ts_coding/include/etsi_its_ivim_ts_coding/ANY.h

@@ -0,0 +1,86 @@
+/*-
+ * Copyright (c) 2004-2017 Lev Walkin <[email protected]>. All rights reserved.
+ * Redistribution and modifications are permitted subject to BSD license.
+ */
+#ifndef ASN_TYPE_ANY_H
+#define ASN_TYPE_ANY_H
+
+#include <etsi_its_ivim_ts_coding/OCTET_STRING.h>	/* Implemented via OCTET STRING type */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct ANY {
+	uint8_t *buf;	/* BER-encoded ANY contents */
+	int size;	/* Size of the above buffer */
+
+	asn_struct_ctx_t _asn_ctx;	/* Parsing across buffer boundaries */
+} ANY_t;
+
+extern asn_TYPE_descriptor_t asn_DEF_ANY;
+extern asn_TYPE_operation_t asn_OP_ANY;
+extern asn_OCTET_STRING_specifics_t asn_SPC_ANY_specs;
+
+#define ANY_free OCTET_STRING_free
+
+#if !defined(ASN_DISABLE_PRINT_SUPPORT)
+#define ANY_print OCTET_STRING_print
+#endif  /* !defined(ASN_DISABLE_PRINT_SUPPORT) */
+
+#define ANY_compare OCTET_STRING_compare
+#define ANY_copy    OCTET_STRING_copy
+
+#define ANY_constraint asn_generic_no_constraint
+
+#if !defined(ASN_DISABLE_BER_SUPPORT)
+#define ANY_decode_ber OCTET_STRING_decode_ber
+#define ANY_encode_der OCTET_STRING_encode_der
+#endif  /* !defined(ASN_DISABLE_BER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_XER_SUPPORT)
+#define ANY_decode_xer OCTET_STRING_decode_xer_hex
+xer_type_encoder_f ANY_encode_xer;
+#endif  /* !defined(ASN_DISABLE_XER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_JER_SUPPORT)
+jer_type_decoder_f ANY_decode_jer;
+jer_type_encoder_f ANY_encode_jer;
+#endif  /* !defined(ASN_DISABLE_JER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_UPER_SUPPORT)
+per_type_decoder_f ANY_decode_uper;
+per_type_encoder_f ANY_encode_uper;
+#endif  /* !defined(ASN_DISABLE_UPER_SUPPORT) */
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+per_type_decoder_f ANY_decode_aper;
+per_type_encoder_f ANY_encode_aper;
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+/******************************
+ * Handy conversion routines. *
+ ******************************/
+
+/* Convert another ASN.1 type into the ANY. This implies DER encoding. */
+int ANY_fromType(ANY_t *, asn_TYPE_descriptor_t *td, void *struct_ptr);
+ANY_t *ANY_new_fromType(asn_TYPE_descriptor_t *td, void *struct_ptr);
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+int ANY_fromType_aper(ANY_t *st, asn_TYPE_descriptor_t *td, void *sptr);
+ANY_t *ANY_new_fromType_aper(asn_TYPE_descriptor_t *td, void *sptr);
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+/* Convert the contents of the ANY type into the specified type. */
+int ANY_to_type(ANY_t *, asn_TYPE_descriptor_t *td, void **struct_ptr);
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+int ANY_to_type_aper(ANY_t *, asn_TYPE_descriptor_t *td, void **struct_ptr);
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+#define	ANY_fromBuf(s, buf, size)	OCTET_STRING_fromBuf((s), (buf), (size))
+#define	ANY_new_fromBuf(buf, size)	OCTET_STRING_new_fromBuf(	\
+						&asn_DEF_ANY, (buf), (size))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* ASN_TYPE_ANY_H */

etsi_its_coding/etsi_its_ivim_ts_coding/include/etsi_its_ivim_ts_coding/BIT_STRING.h

@@ -0,0 +1,77 @@
+/*-
+ * Copyright (c) 2003-2017 Lev Walkin <[email protected]>. All rights reserved.
+ * Redistribution and modifications are permitted subject to BSD license.
+ */
+#ifndef	_BIT_STRING_H_
+#define	_BIT_STRING_H_
+
+#include <etsi_its_ivim_ts_coding/OCTET_STRING.h>	/* Some help from OCTET STRING */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct BIT_STRING_s {
+	uint8_t *buf;	/* BIT STRING body */
+	size_t size;	/* Size of the above buffer */
+
+	int bits_unused;/* Unused trailing bits in the last octet (0..7) */
+
+	asn_struct_ctx_t _asn_ctx;	/* Parsing across buffer boundaries */
+} BIT_STRING_t;
+
+extern asn_TYPE_descriptor_t asn_DEF_BIT_STRING;
+extern asn_TYPE_operation_t asn_OP_BIT_STRING;
+extern asn_OCTET_STRING_specifics_t asn_SPC_BIT_STRING_specs;
+
+#define BIT_STRING_free OCTET_STRING_free
+
+#if !defined(ASN_DISABLE_PRINT_SUPPORT)
+asn_struct_print_f BIT_STRING_print;  /* Human-readable output */
+#endif  /* !defined(ASN_DISABLE_PRINT_SUPPORT) */
+
+asn_struct_compare_f BIT_STRING_compare;
+asn_struct_copy_f    BIT_STRING_copy;
+
+asn_constr_check_f BIT_STRING_constraint;
+
+#if !defined(ASN_DISABLE_BER_SUPPORT)
+#define BIT_STRING_decode_ber OCTET_STRING_decode_ber
+#define BIT_STRING_encode_der OCTET_STRING_encode_der
+#endif  /* !defined(ASN_DISABLE_BER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_XER_SUPPORT)
+#define BIT_STRING_decode_xer OCTET_STRING_decode_xer_binary
+xer_type_encoder_f BIT_STRING_encode_xer;
+#endif  /* !defined(ASN_DISABLE_XER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_JER_SUPPORT)
+jer_type_decoder_f BIT_STRING_decode_jer;
+jer_type_encoder_f BIT_STRING_encode_jer;
+#endif  /* !defined(ASN_DISABLE_JER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_OER_SUPPORT)
+oer_type_decoder_f BIT_STRING_decode_oer;
+oer_type_encoder_f BIT_STRING_encode_oer;
+#endif  /* !defined(ASN_DISABLE_OER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_UPER_SUPPORT)
+per_type_decoder_f BIT_STRING_decode_uper;
+per_type_encoder_f BIT_STRING_encode_uper;
+#endif  /* !defined(ASN_DISABLE_UPER_SUPPORT) */
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+#define BIT_STRING_decode_aper OCTET_STRING_decode_aper
+#define BIT_STRING_encode_aper OCTET_STRING_encode_aper
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_RFILL_SUPPORT)
+asn_random_fill_f BIT_STRING_random_fill;
+#endif  /* !defined(ASN_DISABLE_RFILL_SUPPORT) */
+
+const BIT_STRING_t *BIT_STRING__compactify(const BIT_STRING_t *st, BIT_STRING_t *tmp);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _BIT_STRING_H_ */