From 9bf8b8e4de620c8cf818daa8a015f6d3b84b4e6b Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Sat, 25 Apr 2026 16:39:39 +0200 Subject: [PATCH] feat: Add some message parsing --- Cargo.lock | 582 ++++++++++++++++++++++++++++++++++++++++++- Cargo.toml | 19 ++ src/applogic/cam.rs | 65 +++++ src/applogic/denm.rs | 182 ++++++++++++++ src/applogic/mod.rs | 8 + src/applogic/tlc.rs | 51 ++++ src/main.rs | 103 +++++++- src/radio.rs | 2 +- 8 files changed, 1006 insertions(+), 6 deletions(-) create mode 100644 src/applogic/cam.rs create mode 100644 src/applogic/denm.rs create mode 100644 src/applogic/mod.rs create mode 100644 src/applogic/tlc.rs diff --git a/Cargo.lock b/Cargo.lock index 3810bc6..6ef3d5d 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -17,6 +17,12 @@ version = "0.3.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c583acf993cf4245c4acb0a2cc2ab1f9cc097de73411bb6d3647ff6af2b1013d" +[[package]] +name = "anyhow" +version = "1.0.102" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7f202df86484c868dbad7eaa557ef785d5c66295e41b460ef922eca0723b842c" + [[package]] name = "arrayvec" version = "0.7.6" @@ -61,6 +67,28 @@ version = "2.11.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "c4512299f36f043ab09a583e57bceb5a5aab7a73db1805848e8fef3c9e8c78b3" +[[package]] +name = "bitvec" +version = "1.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1bc2832c24239b0141d5674bb9174f9d68a8b5b3f2753311927c172ca46f7e9c" +dependencies = [ + "funty", + "radium", + "tap", + "wyz", +] + +[[package]] +name = "bitvec-nom2" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d988fcc40055ceaa85edc55875a08f8abd29018582647fd82ad6128dba14a5f0" +dependencies = [ + "bitvec", + "nom", +] + [[package]] name = "block-buffer" version = "0.10.4" @@ -70,6 +98,12 @@ dependencies = [ "generic-array", ] +[[package]] +name = "bumpalo" +version = "3.20.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5d20789868f4b01b2f2caec9f5c4e0213b41e3e5702a50157d699ae31ced2fcb" + [[package]] name = "bytemuck" version = "1.25.0" @@ -82,6 +116,29 @@ version = "1.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "1fd0f2584146f6f2ef48085050886acf353beff7305ebd1ae69500e27c67f64b" +[[package]] +name = "bytes" +version = "1.11.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "1e748733b7cbc798e1434b6ac524f0c1ff2ab456fe201501e6497c8417a4fc33" + +[[package]] +name = "c-its-parser" +version = "2.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d343eab948bdc3745a9abd17ccc33fe3a0df236888bc460fe9655043fc853581" +dependencies = [ + "chrono", + "etherparse", + "geo-types", + "geonetworking", + "hex", + "nom", + "num-traits", + "rasn", + "wasm-bindgen", +] + [[package]] name = "cc" version = "1.2.62" @@ -129,6 +186,21 @@ version = "1.2.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b" +[[package]] +name = "crossbeam-queue" +version = "0.3.12" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0f58bbc28f91df819d0aa2a2c00cd19754769c2fad90579b3592b1c9ba7a3115" +dependencies = [ + "crossbeam-utils", +] + +[[package]] +name = "crossbeam-utils" +version = "0.8.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d0a5c400df2834b80a4c3327b3aad3a4c4cd4de0629063962b03235697506a28" + [[package]] name = "crypto-common" version = "0.1.7" @@ -292,6 +364,12 @@ dependencies = [ "litrs", ] +[[package]] +name = "either" +version = "1.15.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "48c757948c5ede0e46177b7add2e67155f70e33c07fea8284df6576da70b3719" + [[package]] name = "embassy-embedded-hal" version = "0.6.0" @@ -933,8 +1011,10 @@ dependencies = [ name = "esp32-c_its-companion" version = "0.1.0" dependencies = [ + "c-its-parser", "chrono", "critical-section", + "crossbeam-queue", "embassy-executor", "embassy-time", "embassy_gps", @@ -1013,6 +1093,15 @@ dependencies = [ "vcell", ] +[[package]] +name = "etherparse" +version = "0.20.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3ac016aaf11dfe643edcd088a166234bfcb72e7f06691abfcf21e9af524037f4" +dependencies = [ + "arrayvec", +] + [[package]] name = "find-msvc-tools" version = "0.1.9" @@ -1025,6 +1114,12 @@ version = "1.0.7" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3f9eec918d3f24069decb9af1554cad7c880e2da24a9afd88aca000531ab82c1" +[[package]] +name = "foldhash" +version = "0.1.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9c4f5dac5e15c24eb999c26181a6ca40b39fe946cbe4c263c7209467bc83af2" + [[package]] name = "fugit" version = "0.3.9" @@ -1034,6 +1129,12 @@ dependencies = [ "gcd", ] +[[package]] +name = "funty" +version = "2.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e6d5a32815ae3f33302d95fdcb2ce17862f8c65363dcfd29360480ba1001fc9c" + [[package]] name = "futures-core" version = "0.3.32" @@ -1094,6 +1195,42 @@ dependencies = [ "version_check", ] +[[package]] +name = "geo-types" +version = "0.7.19" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "94776032c45f950d30a13af6113c2ad5625316c9abfbccee4dd5a6695f8fe0f5" +dependencies = [ + "num-traits", +] + +[[package]] +name = "geonetworking" +version = "0.2.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ea4f48e7b1cdf91ad77ec1e4c5617aee3666a929288f4a3f11e473b67d3a6314" +dependencies = [ + "bitvec", + "bitvec-nom2", + "bytes", + "nom", + "num", + "num-traits", +] + +[[package]] +name = "getrandom" +version = "0.4.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0de51e6874e94e7bf76d726fc5d13ba782deca734ff60d5bb2fb2607c7406555" +dependencies = [ + "cfg-if", + "libc", + "r-efi", + "wasip2", + "wasip3", +] + [[package]] name = "hash32" version = "0.3.1" @@ -1103,6 +1240,15 @@ dependencies = [ "byteorder", ] +[[package]] +name = "hashbrown" +version = "0.15.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9229cfe53dfd69f0609a49f65461bd93001ea1ef889cd5529dd176593f5338a1" +dependencies = [ + "foldhash", +] + [[package]] name = "hashbrown" version = "0.17.0" @@ -1135,6 +1281,18 @@ version = "0.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea" +[[package]] +name = "hex" +version = "0.4.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70" + +[[package]] +name = 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"bbd2bcb4c963f2ddae06a2efc7e9f3591312473c50c6685e1f298068316e66fe" +[[package]] +name = "leb128fmt" +version = "0.1.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "09edd9e8b54e49e587e4f6295a7d29c3ea94d469cb40ab8ca70b288248a81db2" + [[package]] name = "libc" version = "0.2.186" @@ -1321,6 +1496,38 @@ dependencies = [ "windows-sys", ] +[[package]] +name = "num" +version = "0.4.3" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "35bd024e8b2ff75562e5f34e7f4905839deb4b22955ef5e73d2fea1b9813cb23" +dependencies = [ + "num-complex", + "num-integer", + "num-iter", + "num-rational", + "num-traits", +] + +[[package]] +name = "num-bigint" +version = "0.4.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "a5e44f723f1133c9deac646763579fdb3ac745e418f2a7af9cd0c431da1f20b9" +dependencies = [ + "num-integer", + "num-traits", +] + +[[package]] +name = "num-complex" +version = "0.4.6" +source = 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= [ + "num-integer", + "num-traits", +] + [[package]] name = "num-traits" version = "0.2.19" @@ -1405,6 +1642,16 @@ dependencies = [ "syn 2.0.117", ] +[[package]] +name = "prettyplease" +version = "0.2.37" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "479ca8adacdd7ce8f1fb39ce9ecccbfe93a3f1344b3d0d97f20bc0196208f62b" +dependencies = [ + "proc-macro2", + "syn 2.0.117", +] + [[package]] name = "proc-macro-crate" version = "3.5.0" @@ -1432,6 +1679,18 @@ dependencies = [ "proc-macro2", ] +[[package]] +name = "r-efi" +version = "6.0.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "f8dcc9c7d52a811697d2151c701e0d08956f92b0e24136cf4cf27b57a6a0d9bf" + +[[package]] +name = "radium" +version = "0.7.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dc33ff2d4973d518d823d61aa239014831e521c75da58e3df4840d3f47749d09" + [[package]] name = "rand_core" version = "0.6.4" @@ -1450,6 +1709,54 @@ version = 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[[package]] name = "serde_yaml" version = "0.9.34+deprecated" @@ -1621,6 +1947,27 @@ version = "1.15.1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03" +[[package]] +name = "snafu" +version = "0.8.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "6e84b3f4eacbf3a1ce05eac6763b4d629d60cbc94d632e4092c54ade71f1e1a2" +dependencies = [ + "snafu-derive", +] + +[[package]] +name = "snafu-derive" +version = "0.8.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c1c97747dbf44bb1ca44a561ece23508e99cb592e862f22222dcf42f51d1e451" +dependencies = [ + "heck", + "proc-macro2", + "quote", + "syn 2.0.117", +] + [[package]] name = "somni-expr" version = "0.2.0" @@ -1704,6 +2051,12 @@ dependencies = [ "unicode-ident", ] +[[package]] +name = "tap" +version = "1.0.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369" + [[package]] name = "termcolor" version = "1.4.1" @@ -1837,12 +2190,27 @@ version = "0.1.14" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "7dd6e30e90baa6f72411720665d41d89b9a3d039dc45b8faea1ddd07f617f6af" +[[package]] +name = "unicode-xid" +version = "0.2.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ebc1c04c71510c7f702b52b7c350734c9ff1295c464a03335b00bb84fc54f853" + [[package]] name = "unsafe-libyaml" version = "0.2.11" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "673aac59facbab8a9007c7f6108d11f63b603f7cabff99fabf650fea5c32b861" +[[package]] +name = "uuid" +version = "1.23.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ddd74a9687298c6858e9b88ec8935ec45d22e8fd5e6394fa1bd4e99a87789c76" +dependencies = [ + "getrandom", +] + [[package]] name = "valuable" version = "0.1.1" @@ -1867,6 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"wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-macro" +version = "0.2.121" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8e68e6f4afd367a562002c05637acb8578ff2dea1943df76afb9e83d177c8578" +dependencies = [ + "quote", + "wasm-bindgen-macro-support", +] + +[[package]] +name = "wasm-bindgen-macro-support" +version = "0.2.121" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d95a9ec35c64b2a7cb35d3fead40c4238d0940c86d107136999567a4703259f2" +dependencies = [ + "bumpalo", + "proc-macro2", + "quote", + "syn 2.0.117", + "wasm-bindgen-shared", +] + +[[package]] +name = "wasm-bindgen-shared" +version = "0.2.121" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "c4e0100b01e9f0d03189a92b96772a1fb998639d981193d7dbab487302513441" +dependencies = [ + "unicode-ident", +] + +[[package]] +name = "wasm-encoder" +version = "0.244.0" +source = "registry+https://github.com/rust-lang/crates.io-index" 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"serde_json", + "unicode-xid", + "wasmparser", +] + +[[package]] +name = "wyz" +version = "0.5.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "05f360fc0b24296329c78fda852a1e9ae82de9cf7b27dae4b7f62f118f77b9ed" +dependencies = [ + "tap", +] + +[[package]] +name = "xml-no-std" +version = "0.8.26" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd223bc94c615fc02bf2f4bbc22a4a9bfe489c2add3ec10b1038df3aca44cac7" + [[package]] name = "xtensa-lx" version = "0.13.0" @@ -1939,3 +2513,9 @@ dependencies = [ "quote", "syn 2.0.117", ] + +[[package]] +name = "zmij" +version = "1.0.21" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "b8848ee67ecc8aedbaf3e4122217aff892639231befc6a1b58d29fff4c2cabaa" diff --git a/Cargo.toml b/Cargo.toml index 0f12b56..6bd60e9 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -8,6 +8,17 @@ version = "0.1.0" name = "esp32-c_its-companion" path = "./src/main.rs" +[features] +default = ["spat"] + +# echo CAM data on serial +cam = ["c-its-parser/cam"] +# echo DENM events on serial and BLE +denm = ["c-its-parser/denm"] +# evaluate SPAT information +spat = ["c-its-parser/spatem", "c-its-parser/mapem"] + + [dependencies] esp-hal = { version = "~1.1.0", features = ["esp32c5", "log-04", "unstable"] } @@ -44,7 +55,15 @@ esp-radio = { version = "0.18.0", features = [ ] } embassy_gps = { version = "0.1.0", default-features = false, features = ["esp", "log-04"], git = "https://github.com/jbeyerstedt/embassy_gps.git", branch = "feat/rework-gpsfix" } +c-its-parser = { version = "2.2.1", default-features = false, features = [ + "time", + "geo", + "libm", + "transport", +] } chrono = { version = "0.4.44", default-features = false, features = ["alloc"] } +crossbeam-queue = { version = "0.3.12", default-features = false, features = ["alloc"] } + # For fine tuning these settings, please refer to https://doc.rust-lang.org/cargo/reference/profiles.html [profile.dev] diff --git a/src/applogic/cam.rs b/src/applogic/cam.rs new file mode 100644 index 0000000..cef3a91 --- /dev/null +++ b/src/applogic/cam.rs @@ -0,0 +1,65 @@ +//! C-ITS CAM Evaluation + +use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::{self, HighFrequencyContainer}; +use log::info; + +pub fn handle_cam(etsi: &cam_pdu_descriptions::CAM) { + // only POC output + match &etsi.cam.cam_parameters.high_frequency_container { + HighFrequencyContainer::basicVehicleContainerHighFrequency(obu) => { + let station_id = etsi.header.station_id.0; + let lat_deg = etsi + .cam + .cam_parameters + .basic_container + .reference_position + .latitude + .as_deg(); + let lon_deg = etsi + .cam + .cam_parameters + .basic_container + .reference_position + .longitude + .as_deg(); + + if obu.speed.speed_value.is_unavailable() { + info!( + "Got CAM from {station_id} at {lat_deg:.3}°N, {lon_deg:.3}°E, speed unavailable", + ); + } else { + info!( + "Got CAM from {station_id} at {lat_deg:.3}°N, {lon_deg:.3}°E, speed {:.2} km/h", + obu.speed.speed_value.as_kmh() + ); + } + } + HighFrequencyContainer::rsuContainerHighFrequency(rsu) => { + info!( + "Got RSU from {} at {:.3}°N, {:.3}°E, {} protected zones", + etsi.header.station_id.0, + etsi.cam + .cam_parameters + .basic_container + .reference_position + .latitude + .as_deg(), + etsi.cam + .cam_parameters + .basic_container + .reference_position + .longitude + .as_deg(), + rsu.protected_communication_zones_rsu + .as_ref() + .map(|d| d.0.len()) + .unwrap_or_default() + ); + } + + _ => { + // enum is non-exhaustive, so we need a default case + // but this should never be reached in pactical applications + } + } +} diff --git a/src/applogic/denm.rs b/src/applogic/denm.rs new file mode 100644 index 0000000..6ecd3c8 --- /dev/null +++ b/src/applogic/denm.rs @@ -0,0 +1,182 @@ +//! C-ITS DENM Evaluation + +use c_its_parser::standards::cdd_2_2_1::etsi_its_cdd; +use c_its_parser::standards::denm_2_2_1::denm_pdu_description; +use log::info; + +pub fn handle_denm(etsi: &denm_pdu_description::DENM) { + let mgmt = &etsi.denm.management; + + if mgmt.termination.is_some() { + return; + } + + if let (Some(sit), Some(loc)) = (&etsi.denm.situation, &etsi.denm.location) { + // let timestamp: chrono::DateTime = mgmt.reference_time.clone().into(); + let end_time = chrono::DateTime::::from(mgmt.reference_time.clone()) + + chrono::Duration::seconds(mgmt.validity_duration.0.into()); + let station_id = &mgmt.action_id.originating_station_id.0; + let seq_num = mgmt.action_id.sequence_number.0; + + let lat_deg = mgmt.event_position.latitude.as_deg(); + let lon_deg = mgmt.event_position.longitude.as_deg(); + + // TODO: use `as_deg()` when in new c-its-parser release + let heading = loc + .event_position_heading + .as_ref() + .map(|v| f32::from(v.value.0) / 10f32); + + // let direction = mgmt.traffic_direction; + + let (cc, scc) = cause_code_choice_to_numbers(&sit.event_type.cc_and_scc); + + if let Some(hdg) = heading { + info!( + "DENN: {station_id}/{seq_num} CC {cc}/{scc} at {lat_deg:.3}°N, {lon_deg:.3}°E, hdg {hdg:.1}° until {end_time:?}" + ) + } else { + info!( + "DENN: {station_id}/{seq_num} CC {cc}/{scc} at {lat_deg:.3}°N, {lon_deg:.3}°E until {end_time:?}" + ) + } + } else { + info!("DENM: One of situation or location container not available"); + } +} + +fn cause_code_choice_to_numbers(choice: &etsi_its_cdd::CauseCodeChoice) -> (u8, u8) { + match choice { + etsi_its_cdd::CauseCodeChoice::reserved0(scc) => (0, scc.0), + etsi_its_cdd::CauseCodeChoice::trafficCondition1(scc) => (1, scc.0), + etsi_its_cdd::CauseCodeChoice::accident2(scc) => (2, scc.0), + etsi_its_cdd::CauseCodeChoice::roadworks3(scc) => (3, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved4(scc) => (4, scc.0), + etsi_its_cdd::CauseCodeChoice::impassability5(scc) => (5, scc.0), + etsi_its_cdd::CauseCodeChoice::adverseWeatherCondition_Adhesion6(scc) => (6, scc.0), + etsi_its_cdd::CauseCodeChoice::aquaplaning7(scc) => (7, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved8(scc) => (8, scc.0), + etsi_its_cdd::CauseCodeChoice::hazardousLocation_SurfaceCondition9(scc) => (9, scc.0), + etsi_its_cdd::CauseCodeChoice::hazardousLocation_ObstacleOnTheRoad10(scc) => (10, scc.0), + etsi_its_cdd::CauseCodeChoice::hazardousLocation_AnimalOnTheRoad11(scc) => (11, scc.0), + etsi_its_cdd::CauseCodeChoice::humanPresenceOnTheRoad12(scc) => (12, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved13(scc) => (13, scc.0), + etsi_its_cdd::CauseCodeChoice::wrongWayDriving14(scc) => (14, scc.0), + etsi_its_cdd::CauseCodeChoice::rescueAndRecoveryWorkInProgress15(scc) => (15, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved16(scc) => (16, scc.0), + etsi_its_cdd::CauseCodeChoice::adverseWeatherCondition_ExtremeWeatherCondition17(scc) => { + (17, scc.0) + } + etsi_its_cdd::CauseCodeChoice::adverseWeatherCondition_Visibility18(scc) => (18, scc.0), + etsi_its_cdd::CauseCodeChoice::adverseWeatherCondition_Precipitation19(scc) => (19, scc.0), + etsi_its_cdd::CauseCodeChoice::violence20(scc) => (20, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved21(scc) => (21, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved22(scc) => (22, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved23(scc) => (23, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved24(scc) => (24, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved25(scc) => (25, scc.0), + etsi_its_cdd::CauseCodeChoice::slowVehicle26(scc) => (26, scc.0), + etsi_its_cdd::CauseCodeChoice::dangerousEndOfQueue27(scc) => (27, scc.0), + etsi_its_cdd::CauseCodeChoice::publicTransportVehicleApproaching28(scc) => (28, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved29(scc) => (29, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved30(scc) => (30, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved31(scc) => (31, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved32(scc) => (32, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved33(scc) => (33, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved34(scc) => (34, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved35(scc) => (35, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved36(scc) => (36, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved37(scc) => (37, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved38(scc) => (38, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved39(scc) => (39, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved40(scc) => (40, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved41(scc) => (41, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved42(scc) => (42, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved43(scc) => (43, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved44(scc) => (44, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved45(scc) => (45, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved46(scc) => (46, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved47(scc) => (47, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved48(scc) => (48, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved49(scc) => (49, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved50(scc) => (50, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved51(scc) => (51, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved52(scc) => (52, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved53(scc) => (53, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved54(scc) => (54, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved55(scc) => (55, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved56(scc) => (56, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved57(scc) => (57, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved58(scc) => (58, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved59(scc) => (59, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved60(scc) => (60, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved61(scc) => (61, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved62(scc) => (62, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved63(scc) => (63, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved64(scc) => (64, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved65(scc) => (65, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved66(scc) => (66, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved67(scc) => (67, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved68(scc) => (68, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved69(scc) => (69, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved70(scc) => (70, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved71(scc) => (71, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved72(scc) => (72, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved73(scc) => (73, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved74(scc) => (74, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved75(scc) => (75, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved76(scc) => (76, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved77(scc) => (77, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved78(scc) => (78, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved79(scc) => (79, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved80(scc) => (80, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved81(scc) => (81, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved82(scc) => (82, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved83(scc) => (83, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved84(scc) => (84, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved85(scc) => (85, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved86(scc) => (86, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved87(scc) => (87, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved88(scc) => (88, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved89(scc) => (89, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved90(scc) => (90, scc.0), + etsi_its_cdd::CauseCodeChoice::vehicleBreakdown91(scc) => (91, scc.0), + etsi_its_cdd::CauseCodeChoice::postCrash92(scc) => (92, scc.0), + etsi_its_cdd::CauseCodeChoice::humanProblem93(scc) => (93, scc.0), + etsi_its_cdd::CauseCodeChoice::stationaryVehicle94(scc) => (94, scc.0), + etsi_its_cdd::CauseCodeChoice::emergencyVehicleApproaching95(scc) => (95, scc.0), + etsi_its_cdd::CauseCodeChoice::hazardousLocation_DangerousCurve96(scc) => (96, scc.0), + etsi_its_cdd::CauseCodeChoice::collisionRisk97(scc) => (97, scc.0), + etsi_its_cdd::CauseCodeChoice::signalViolation98(scc) => (98, scc.0), + etsi_its_cdd::CauseCodeChoice::dangerousSituation99(scc) => (99, scc.0), + etsi_its_cdd::CauseCodeChoice::railwayLevelCrossing100(scc) => (100, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved101(scc) => (101, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved102(scc) => (102, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved103(scc) => (103, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved104(scc) => (104, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved105(scc) => (105, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved106(scc) => (106, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved107(scc) => (107, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved108(scc) => (108, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved109(scc) => (109, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved110(scc) => (110, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved111(scc) => (111, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved112(scc) => (112, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved113(scc) => (113, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved114(scc) => (114, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved115(scc) => (115, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved116(scc) => (116, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved117(scc) => (117, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved118(scc) => (118, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved119(scc) => (119, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved120(scc) => (120, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved121(scc) => (121, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved122(scc) => (122, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved123(scc) => (123, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved124(scc) => (124, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved125(scc) => (125, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved126(scc) => (126, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved127(scc) => (127, scc.0), + etsi_its_cdd::CauseCodeChoice::reserved128(scc) => (128, scc.0), + } +} diff --git a/src/applogic/mod.rs b/src/applogic/mod.rs new file mode 100644 index 0000000..1e61aa8 --- /dev/null +++ b/src/applogic/mod.rs @@ -0,0 +1,8 @@ +//! Application Logic + +#[cfg(feature = "cam")] +pub mod cam; +#[cfg(feature = "denm")] +pub mod denm; +#[cfg(feature = "spat")] +pub mod tlc; diff --git a/src/applogic/tlc.rs b/src/applogic/tlc.rs new file mode 100644 index 0000000..ed03922 --- /dev/null +++ b/src/applogic/tlc.rs @@ -0,0 +1,51 @@ +//! C-ITS Traffic Light Data (MAPEM/ SPATEM) Evaluation + +use c_its_parser::standards::mapem_2_2_1::mapem_pdu_descriptions; +use c_its_parser::standards::spatem_2_2_1::spatem_pdu_descriptions; +use chrono::Datelike; +use esp_println::println; + +pub fn handle_mapem(etsi: &mapem_pdu_descriptions::MAPEM) { + // TODO: proof of concept only -- replace with actual evaluation + if let Some(map) = &etsi.map.intersections { + for int in &map.0 { + println!("got MAPEM for intersection {}", int.id.id.0); + } + } +} + +pub fn handle_spatem(etsi: &spatem_pdu_descriptions::SPATEM, now: &chrono::NaiveDateTime) { + // TODO: proof of concept only -- replace with actual evaluation + for int in &etsi.spat.intersections.0 { + println!("got SPATEM for intersection {}", int.id.id.0); + + if let (Some(moy), Some(second)) = (&int.moy, &int.time_stamp) { + let year = now.year(); + + let ref_time = c_its_parser::time_utils::time_from_moy_and_dsecond(moy, second, year); + println!("- ref time: {ref_time:?}"); + + for state in &int.states.0 { + let sig_grp = state.signal_group.0; + + if let Some(event) = state.state_time_speed.0.first() { + if let Some(timing) = &event.timing { + let min_end_time = timing.min_end_time.to_datetime_from_moy(moy, year); + + println!( + "- sig grp. {sig_grp:03}: until {min_end_time:?} at {:?}", + event.event_state + ); + } else { + println!( + "- sig grp. {sig_grp:03}: {:?} until unknown", + event.event_state + ); + } + } else { + println!("- sig grp. {sig_grp:03}: no events"); + } + } + } + } +} diff --git a/src/main.rs b/src/main.rs index fe4d827..807561e 100644 --- a/src/main.rs +++ b/src/main.rs @@ -7,19 +7,22 @@ )] // #![deny(clippy::large_stack_frames)] +use alloc::vec::Vec; use core::cell::RefCell; use critical_section::Mutex; +use crossbeam_queue::ArrayQueue; use embassy_executor::Spawner; use embassy_gps::gps::l76k; use esp_backtrace as _; use esp_hal::clock::CpuClock; use esp_hal::timer::timg::TimerGroup; use esp_radio::wifi; -use log::{debug, info, warn}; +use log::{debug, error, info, warn}; extern crate alloc; +mod applogic; mod radio; const WIFI_CHANNEL: radio::Channel = 180; @@ -85,6 +88,7 @@ esp_bootloader_esp_idf::esp_app_desc!(); static GNSS_UPDATE: Mutex>> = Mutex::new(RefCell::new(None)); +static WIFI_RX_QUEUE: Mutex>>>> = Mutex::new(RefCell::new(None)); #[allow( clippy::large_stack_frames, @@ -111,6 +115,7 @@ async fn main(spawner: Spawner) -> ! { // - GPIO28 esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536); + esp_alloc::psram_allocator!(peripherals.PSRAM, esp_hal::psram); let timg0 = TimerGroup::new(peripherals.TIMG0); let sw_interrupt = @@ -125,6 +130,10 @@ async fn main(spawner: Spawner) -> ! { ) .expect("Failed to initialize Wi-Fi controller"); + critical_section::with(|cs| { + WIFI_RX_QUEUE.borrow(cs).replace(Some(ArrayQueue::new(2))); + }); + let mut sniffer = interfaces.sniffer; radio::setup_wifi_sniffer(WIFI_CHANNEL, &mut sniffer, handle_frame) .expect("Fatal error initializing 802.11p sniffer"); @@ -150,7 +159,7 @@ async fn main(spawner: Spawner) -> ! { let mut state = State::default(); loop { - embassy_time::Timer::after(embassy_time::Duration::from_millis(100)).await; + embassy_time::Timer::after(embassy_time::Duration::from_millis(5)).await; critical_section::with(|cs| { let gnss_update_ref = GNSS_UPDATE.borrow(cs); @@ -164,6 +173,68 @@ async fn main(spawner: Spawner) -> ! { } } }); + + critical_section::with(|cs| { + let queue_rc = WIFI_RX_QUEUE.borrow(cs).borrow(); + // unwrap is fine b/c we stored something in it before + let queue = queue_rc.as_ref().unwrap(); + + if let Some(data) = queue.pop() { + match c_its_parser::de::decode(&data, c_its_parser::Headers::IEEE802LlcGnBtp) { + Ok(msg) => { + use c_its_parser::ItsMessage; + use c_its_parser::standards::extensions::ItsMessageId; + + debug!("Got new {:?} message", ItsMessageId::from(&msg)); + + match msg { + #[cfg(feature = "spat")] + ItsMessage::Mapem { + geonetworking: _, + transport: _, + etsi, + } => applogic::tlc::handle_mapem(&etsi), + #[cfg(feature = "spat")] + ItsMessage::Spatem { + geonetworking: _, + transport: _, + etsi, + } => { + if state.initialized { + applogic::tlc::handle_spatem(&etsi, &state.time); + } + } + + #[cfg(feature = "cam")] + ItsMessage::Cam { + geonetworking: _, + transport: _, + etsi, + } => applogic::cam::handle_cam(&etsi), + + #[cfg(feature = "denm")] + ItsMessage::DenmV2 { + geonetworking: _, + transport: _, + etsi, + } => applogic::denm::handle_denm(&etsi), + #[cfg(feature = "denm")] + ItsMessage::DenmV1 { + geonetworking: _, + transport: _, + etsi: _, + } => { + // irrelevant since all received DENMs should be parsed as v2 + } + } + } + Err(err) => { + // will give false-positives when a message is received which wasn't enabled + debug!("Failed to parse V2X message: {err}"); + } + } + } + }); } } @@ -183,8 +254,32 @@ fn handle_frame(frame: wifi::sniffer::PromiscuousPkt<'_>) { return; } - // TODO: handle 802.11 frame - info!("Received frame with {} bytes", frame.len); + // Ignore non-broadcast frames + if frame.len < (4 + 6) { + warn!( + "Received frame too small to be a valid broadcast frame: {} bytes", + frame.len + ); + return; + } + let dest_mac = &frame.data[4..10]; + if dest_mac != [0xff; 6] { + warn!("Received frame is not broadcast frame: Dest MAC {dest_mac:02x?}"); + return; + } + + debug!("Received frame with {} bytes", frame.len); + + // Send data to main thread + critical_section::with(|cs| { + let queue_rc = WIFI_RX_QUEUE.borrow(cs).borrow(); + // unwrap is fine b/c we stored something in it before + let queue = queue_rc.as_ref().unwrap(); + + if queue.push(frame.data.to_vec()).is_err() { + error!("V2X RX queue is full"); + } + }); } #[allow(clippy::large_stack_frames, reason = "GNSS driver needs some space")] diff --git a/src/radio.rs b/src/radio.rs index 83a5c27..652dbdf 100644 --- a/src/radio.rs +++ b/src/radio.rs @@ -67,7 +67,7 @@ impl PromiscuousPktType { core::ffi::c_uint::from(self.as_repr()) } - /// Determines if + /// Determines if we are the same frame type as `esp_radio::wifi::sniffer::PromiscuousPkt::frame_type` pub fn matches(self, frame_type: core::ffi::c_uint) -> bool { self.as_frame_type() == frame_type }