[WIP] Add DENM TS

.github/workflows/codegen.yml

@@ -70,6 +70,8 @@ jobs:
             script: utils/codegen/asn1ToC/asn1ToC.py asn1/raw/cam_ts103900/CAM-PDU-Descriptions.asn asn1/patched/cam_ts103900/cdd/ETSI-ITS-CDD.asn -t cam_ts -o etsi_its_coding/etsi_its_cam_ts_coding -di asn1c:ci
           - message: denm
             script: utils/codegen/asn1ToC/asn1ToC.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_coding/etsi_its_denm_coding -di asn1c:ci
+          - message: denm_ts
+            script: utils/codegen/asn1ToC/asn1ToC.py asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn -t denm_ts -o etsi_its_coding/etsi_its_denm_ts_coding -di asn1c:ci
           - message: cpm_ts
             script: utils/codegen/asn1ToC/asn1ToC.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -t cpm_ts -o etsi_its_coding/etsi_its_cpm_ts_coding -di asn1c:ci
           - message: mapem_ts
@@ -123,6 +125,8 @@ jobs:
             script: utils/codegen/codegen-py/asn1ToRosMsg.py asn1/raw/cam_ts103900/CAM-PDU-Descriptions.asn asn1/patched/cam_ts103900/cdd/ETSI-ITS-CDD.asn -t cam_ts -o etsi_its_msgs/etsi_its_cam_ts_msgs/msg
           - message: denm
             script: utils/codegen/codegen-py/asn1ToRosMsg.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_msgs/etsi_its_denm_msgs/msg
+          - message: denm_ts
+            script: utils/codegen/codegen-py/asn1ToRosMsg.py asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn -t denm_ts -o etsi_its_msgs/etsi_its_denm_ts_msgs/msg
           - message: cpm_ts
             script: utils/codegen/codegen-py/asn1ToRosMsg.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -t cpm_ts -o etsi_its_msgs/etsi_its_cpm_ts_msgs/msg
           - message: mapem_ts
@@ -168,6 +172,8 @@ jobs:
             script: utils/codegen/codegen-py/asn1ToConversionHeader.py asn1/raw/cam_ts103900/CAM-PDU-Descriptions.asn asn1/patched/cam_ts103900/cdd/ETSI-ITS-CDD.asn -t cam_ts -o etsi_its_conversion/etsi_its_cam_ts_conversion/include/etsi_its_cam_ts_conversion
           - message: denm
             script: utils/codegen/codegen-py/asn1ToConversionHeader.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_conversion/etsi_its_denm_conversion/include/etsi_its_denm_conversion
+          - message: denm_ts
+            script: utils/codegen/codegen-py/asn1ToConversionHeader.py asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn -t denm_ts -o etsi_its_conversion/etsi_its_denm_ts_conversion/include/etsi_its_denm_ts_conversion
           - message: cpm_ts
             script: utils/codegen/codegen-py/asn1ToConversionHeader.py asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn -t cpm_ts -o etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion
           - message: mapem_ts

.gitlab-ci.codegen.yml

@@ -98,6 +98,21 @@ etsi_its_denm_coding:
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
+etsi_its_denm_ts_coding:
+  stage: asn1c
+  needs: ["asn1c-docker"]
+  script:
+    - >
+      utils/codegen/asn1ToC/asn1ToC.py
+      asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn
+      asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn
+      -t denm_ts
+      -o etsi_its_coding/etsi_its_denm_ts_coding
+      -td /builds/$CI_PROJECT_PATH/tmp
+      -di ${_ASN1C_CI_IMAGE}
+    - rm -rf /builds/$CI_PROJECT_PATH/tmp
+    - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi 
+
 etsi_its_cpm_ts_coding:
   stage: asn1c
   needs: ["asn1c-docker"]
@@ -201,6 +216,17 @@ etsi_its_denm_msgs:
       -o etsi_its_msgs/etsi_its_denm_msgs/msg
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
+etsi_its_denm_ts_msgs:
+  stage: ROS Messages
+  script:
+    - >
+      utils/codegen/codegen-py/asn1ToRosMsg.py
+      asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn
+      asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn
+      -t denm_ts
+      -o etsi_its_msgs/etsi_its_denm_ts_msgs/msg
+    - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
+
 etsi_its_cpm_ts_msgs:
   stage: ROS Messages
   script:
@@ -288,6 +314,17 @@ etsi_its_denm_conversion:
       -o etsi_its_conversion/etsi_its_denm_conversion/include/etsi_its_denm_conversion
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
+etsi_its_denm_ts_conversion:
+  stage: Conversion Headers
+  script:
+    - >
+      utils/codegen/codegen-py/asn1ToConversionHeader.py
+      asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn
+      asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn
+      -t denm_ts
+      -o etsi_its_conversion/etsi_its_denm_ts_conversion/include/etsi_its_denm_ts_conversion
+    - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
+
 etsi_its_cpm_ts_conversion:
   stage: Conversion Headers
   script:

.gitmodules

@@ -10,6 +10,9 @@
 [submodule "denm_en302637_3"]
 	path = asn1/raw/denm_en302637_3
 	url = https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3.git
+[submodule "asn1/raw/denm_ts103831"]
+	path = asn1/raw/denm_ts103831
+	url = https://forge.etsi.org/rep/ITS/asn1/denm_ts103831.git
 [submodule "asn1/raw/vam-ts103300_3"]
 	path = asn1/raw/vam-ts103300_3
 	url = https://forge.etsi.org/rep/ITS/asn1/vam-ts103300_3.git

.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)", "DENM TS (coding)", "CPM TS (coding)", "VAM TS (coding)", "MAPEM TS (coding)", "SPATEM 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)", "DENM TS (msgs)", "CPM TS (msgs)", "VAM TS (msgs)", "MAPEM TS (msgs)", "SPATEM 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)", "DENM TS (msgs)", "CPM TS (conversion)", "VAM TS (conversion)", "MAPEM TS (conversion)", "SPATEM TS (conversion)"],
             "stopAll": false
         }
     ],
@@ -171,6 +171,57 @@
             "console": "integratedTerminal",
             "justMyCode": true
         },
+        {
+            "name": "DENM TS (coding)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/asn1ToC/asn1ToC.py",
+            "args": [
+                "asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn",
+                "asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn",
+                "-t",
+                "denm_ts",
+                "-o",
+                "etsi_its_coding/etsi_its_denm_ts_coding"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "DENM TS (msgs)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-py/asn1ToRosMsg.py",
+            "args": [
+                "asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn",
+                "asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn",
+                "-t",
+                "denm_ts",
+                "-o",
+                "etsi_its_msgs/etsi_its_denm_ts_msgs/msg"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "DENM TS (conversion)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-py/asn1ToConversionHeader.py",
+            "args": [
+                "asn1/raw/denm_ts103831/DENM-PDU-Descriptions.asn",
+                "asn1/patched/denm_ts103831/cdd/ETSI-ITS-CDD.asn",
+                "-t",
+                "denm_ts",
+                "-o",
+                "etsi_its_conversion/etsi_its_denm_ts_conversion/include/etsi_its_denm_ts_conversion"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
         {
             "name": "CPM TS (coding)",
             "preLaunchTask": "Patch ASN.1 files",

asn1/patches/denm_ts103831/cdd/ETSI-ITS-CDD.asn.patch

@@ -0,0 +1,46 @@
+diff --git a/ETSI-ITS-CDD.asn b/ETSI-ITS-CDD.asn
+index 66e391d..ea18b5e 100755
+--- a/ETSI-ITS-CDD.asn
++++ b/ETSI-ITS-CDD.asn
+@@ -3339,16 +3339,6 @@ StationaryVehicleSubCauseCode ::= INTEGER {
+  */
+ StationId ::= INTEGER(0..4294967295)
+
+-/**
+- * This DE represents the identifier of an ITS-S.
+- * The ITS-S ID may be a pseudonym. It may change over space and/or over time.
+- *
+- * @note: this DE is kept for backwards compatibility reasons only. It is recommended to use the @ref StationId instead.
+- * @category: Basic information
+- * @revision: V1.3.1
+- */
+-StationID ::= INTEGER(0..4294967295)
+-
+ /**
+  * This DE represents the type of technical context the ITS-S is integrated in.
+  * The station type depends on the integration environment of ITS-S into vehicle, mobile devices or at infrastructure.
+@@ -4479,24 +4469,6 @@ ActionId ::= SEQUENCE {
+     sequenceNumber          SequenceNumber
+ }
+
+-/**
+- * This DF represents an identifier used to describe a protocol action taken by an ITS-S.
+- * 
+- * It shall include the following components: 
+- *
+- * @field originatingStationId: Id of the ITS-S that takes the action. 
+- * 
+- * @field sequenceNumber: a sequence number. 
+- * 
+- * @note: this DF is kept for backwards compatibility reasons only. It is recommended to use the @ref ActionId instead. 
+- * @category: Communication information
+- * @revision: V1.3.1
+- */
+-ActionID ::= SEQUENCE {
+-    originatingStationId    StationID,
+-    sequenceNumber          SequenceNumber
+-}
+-
+ /**
+  * This DF shall contain a list of @ref ActionId. 
+

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_denm_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_denm_ts_coding/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(etsi_its_denm_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_denm_ts_coding/include/etsi_its_denm_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_denm_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 */