From 51ebd75cd0bcd4c3519b52ba0ed1e41a4c1a8818 Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Mon, 17 Aug 2026 11:35:00 +0200 Subject: [PATCH 1/4] BLE: Fix UUIDs --- docs/ble-protocol.md | 12 ++++++------ src/ble.rs | 4 ++-- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/ble-protocol.md b/docs/ble-protocol.md index 4560424..8d742e2 100644 --- a/docs/ble-protocol.md +++ b/docs/ble-protocol.md @@ -19,12 +19,12 @@ V2X data is exposed via the service UUID `c0b70000-d4f4-4000-ada8-f99a02ee315c` UUID | Type | Description ------------------------------------- | --------------- | ----------- c0b70001-d4f4-4001-ada8-f99a02ee315c | `PositionState` | Set position from external source -c0b70001-d4f4-4001-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4002-ada8-f99a02ee315c | `CamEvent` | Latest received CAM -c0b70001-d4f4-4003-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4004-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM -c0b70001-d4f4-4005-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4006-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4002-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4003-ada8-f99a02ee315c | `CamEvent` | Latest received CAM +c0b70001-d4f4-4004-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4005-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM +c0b70001-d4f4-4006-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4007-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) ## Message Format diff --git a/src/ble.rs b/src/ble.rs index b585e86..78403f7 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -44,12 +44,12 @@ struct CITSEvents { #[cfg(feature = "cam")] #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM_Event", read, value = "CamEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])] + #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])] cam_event: [u8; CAM_EVENT_SIZE], #[cfg(feature = "denm")] #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM_Event", read, value = "DenmEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])] + #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])] denm_event: [u8; DENM_EVENT_SIZE], } From 62997dbfcbae237e6cf3cfbacb9e64486076dd07 Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Mon, 17 Aug 2026 14:53:48 +0200 Subject: [PATCH 2/4] BLE: Add raw messages BLE can only fit 251 bytes of payload in notifications which isn't nearly enough for a raw V2X message. So only publish a notification which message was received and let the client poll the content from the characteristic (since reads can get data in fragments) --- docs/ble-protocol.md | 33 ++++- docs/c_its-messages.proto | 4 + src/ble.rs | 247 ++++++++++++++++++++++++++++++-------- src/io.rs | 146 ++++++++++++++++++++-- src/main.rs | 67 ++++++++--- 5 files changed, 413 insertions(+), 84 deletions(-) diff --git a/docs/ble-protocol.md b/docs/ble-protocol.md index 8d742e2..e8ad492 100644 --- a/docs/ble-protocol.md +++ b/docs/ble-protocol.md @@ -19,12 +19,16 @@ V2X data is exposed via the service UUID `c0b70000-d4f4-4000-ada8-f99a02ee315c` UUID | Type | Description ------------------------------------- | --------------- | ----------- c0b70001-d4f4-4001-ada8-f99a02ee315c | `PositionState` | Set position from external source -c0b70001-d4f4-4002-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4003-ada8-f99a02ee315c | `CamEvent` | Latest received CAM -c0b70001-d4f4-4004-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4005-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM -c0b70001-d4f4-4006-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) -c0b70001-d4f4-4007-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4002-ada8-f99a02ee315c | `RawNotify` | Raw message notification +c0b70001-d4f4-4003-ada8-f99a02ee315c | `RawMsgRx` | Raw CAM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4004-ada8-f99a02ee315c | `CamEvent` | Latest received CAM +c0b70001-d4f4-4005-ada8-f99a02ee315c | `RawMsgRx` | Raw DENM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4006-ada8-f99a02ee315c | `DenmEvent` | Latest received DENM +c0b70001-d4f4-4007-ada8-f99a02ee315c | `RawMsgRx` | Raw MAPEM message (de-duplicated/ rate-limited) +c0b70001-d4f4-4008-ada8-f99a02ee315c | `RawMsgRx` | Raw SPATEM message (de-duplicated/ rate-limited) + +Since a modern BLE notification can only fit up tp 251 bytes of payload, the raw messages can only be polled. +Please subscribe to `c0b70001-d4f4-4002-ada8-f99a02ee315c` and use the message ID to determine from which service to read the incoming value. ## Message Format @@ -101,3 +105,20 @@ Repetitions of the same message should be dropped by the BLE server. Consecutive messages with no relevant changes may be dropped by the BLE server while keeping some minimal publishing rate, e.g.: - only publish MAPEMs every 10 seconds (since content doesn't change, but client may be restarted after first MAPEM from an intersection was received) - drop high-frequency CAMs (only publish "full" CAMs which include the low-frequency container) + +Maximum message size (assuming realistic value ranges): + +field name | tag size | (max.) data size +--------------------- | -------- | --------- +msg_type | 1 | 1 (VARINT(21)) +payload | 1 | 2+1394 (LEN(1394) + payload) +**SUM** | 2 + | 1397 = 1399 byte + +### Raw Message Notification + +Maximum message size (assuming realistic value ranges): + +field name | tag size | (max.) data size +--------------------- | -------- | --------- +msg_type | 1 | 1 (VARINT(21)) +**SUM** | 1 + | 1 = 2 byte diff --git a/docs/c_its-messages.proto b/docs/c_its-messages.proto index 47e523d..9323b3e 100644 --- a/docs/c_its-messages.proto +++ b/docs/c_its-messages.proto @@ -71,6 +71,10 @@ message RawMsgTx { optional uint32 stationType = 6; // for source position vector } +message RawNotify { + required uint32 message_type = 1; // ITS `MessageId` integer value +} + // ------------------------------ // Messages // ------------------------------ diff --git a/src/ble.rs b/src/ble.rs index 78403f7..64b175d 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -6,6 +6,7 @@ use core::cell::RefCell; use critical_section::Mutex; +use crossbeam_queue::ArrayQueue; use esp_backtrace as _; use log::{info, warn}; use trouble_host::prelude::*; @@ -16,14 +17,26 @@ pub const CONTROLLER_SLOTS: usize = 20; const CONNECTIONS_MAX: usize = 1; const L2CAP_CHANNELS_MAX: usize = 1; -pub static TX_DATA: Mutex>> = Mutex::new(RefCell::new(None)); +pub static CLIENT_CONNECTED: Mutex> = Mutex::new(RefCell::new(false)); +pub static TX_DATA: Mutex>>> = + Mutex::new(RefCell::new(None)); pub static RX_DATA: Mutex>> = Mutex::new(RefCell::new(None)); pub enum BleSendable { + #[cfg(feature = "cam")] + CamRaw(io::msg::RawMsgRx), #[cfg(feature = "cam")] Cam(io::msg::CamEvent), + + #[cfg(feature = "denm")] + DenmRaw(io::msg::RawMsgRx), #[cfg(feature = "denm")] Denm(io::msg::DenmEvent), + + #[cfg(feature = "spat")] + MapemRaw(io::msg::RawMsgRx), + #[cfg(feature = "spat")] + SpatemRaw(io::msg::RawMsgRx), } #[gatt_server] @@ -31,26 +44,43 @@ struct Server { c_its_events: CITSEvents, } -#[cfg(feature = "cam")] -const CAM_EVENT_SIZE: usize = 38; -#[cfg(feature = "denm")] -const DENM_EVENT_SIZE: usize = 51; - #[gatt_service(uuid = "c0b70000-d4f4-4000-ada8-f99a02ee315c")] struct CITSEvents { #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Position", read, value = "PositionState proto msg", type = &'static str)] #[characteristic(uuid = "c0b70001-d4f4-4001-ada8-f99a02ee315c", write)] position: [u8; 27], + #[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] + #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Raw_Notify", read, value = "Raw Message Notification", type = &'static str)] + #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::RawNotify::PROTO_SIZE])] + raw_notify: [u8; io::msg::RawNotify::PROTO_SIZE], + + #[cfg(feature = "cam")] + #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)] + #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] + cam_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], #[cfg(feature = "cam")] #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM_Event", read, value = "CamEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])] - cam_event: [u8; CAM_EVENT_SIZE], + #[characteristic(uuid = "c0b70001-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::CamEvent::PROTO_SIZE])] + cam_event: [u8; io::msg::CamEvent::PROTO_SIZE], + #[cfg(feature = "denm")] + #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM", read, value = "RawMsgRx proto msg", type = &'static str)] + #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] + denm_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], #[cfg(feature = "denm")] #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM_Event", read, value = "DenmEvent proto msg", type = &'static str)] - #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])] - denm_event: [u8; DENM_EVENT_SIZE], + #[characteristic(uuid = "c0b70001-d4f4-4006-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::DenmEvent::PROTO_SIZE])] + denm_event: [u8; io::msg::DenmEvent::PROTO_SIZE], + + #[cfg(feature = "spat")] + #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "MAPEM", read, value = "RawMsgRx proto msg", type = &'static str)] + #[characteristic(uuid = "c0b70001-d4f4-4007-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] + mapem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], + #[cfg(feature = "spat")] + #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "SPATEM", read, value = "RawMsgRx proto msg", type = &'static str)] + #[characteristic(uuid = "c0b70001-d4f4-4008-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] + spatem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], } /// Creates the BLE controller @@ -60,6 +90,10 @@ pub fn make_controller( esp_radio::ble::controller::BleConnector<'static>, CONTROLLER_SLOTS, > { + critical_section::with(|cs| { + TX_DATA.borrow(cs).replace(Some(ArrayQueue::new(2))); + }); + let transport = esp_radio::ble::controller::BleConnector::new( bt_peripheral, esp_radio::ble::Config::default(), @@ -85,7 +119,21 @@ pub async fn run( .. } = stack.build(); - info!("Starting advertising and GATT service"); + let mut features = alloc::vec![]; + if cfg!(feature = "cam") { + features.push("cam"); + } + if cfg!(feature = "denm") { + features.push("denm"); + } + if cfg!(feature = "spat") { + features.push("mapem"); + features.push("spatem"); + } + info!( + "Starting advertising and GATT service for {}", + features.join(",") + ); let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig { name: "ESP32 C-ITS", appearance: &appearance::UNKNOWN, @@ -98,10 +146,15 @@ pub async fn run( Ok(conn) => { // set up tasks when the connection is established to a central, so they don't run when no one is connected. let a = gatt_events_task(&server, &conn); - let b = custom_task(&server, &conn); - // run until any task ends (usually because the connection has been closed), - // then return to advertising state. + let b = publishing_task(&server, &conn); + + // run until any task ends (usually because the connection has been closed), then return to advertising state. embassy_futures::select::select(a, b).await; + + critical_section::with(|cs| { + let value_ref = CLIENT_CONNECTED.borrow(cs); + let _ = value_ref.replace(false); + }); } Err(e) => { panic!("BLE ADV: fatal error {e:?}"); @@ -112,6 +165,21 @@ pub async fn run( .await; } +pub fn update(payload: BleSendable) { + critical_section::with(|cs| { + // only add to queue when someone is connected + if *CLIENT_CONNECTED.borrow(cs).borrow() { + let queue_rc = TX_DATA.borrow(cs).borrow(); + // unwrap is fine b/c we stored something in it before + let queue = queue_rc.as_ref().unwrap(); + + if queue.push(payload).is_err() { + log::error!("BLE TX queue is full"); + } + } + }); +} + /// Create an advertiser to use to connect to a BLE Central, and wait for it to connect. async fn advertise<'values, 'server, C: Controller>( name: &'values str, @@ -201,63 +269,142 @@ async fn gatt_events_task( Ok(()) } -/// Example task to use the BLE notifier interface. -/// This task will notify the connected central of a counter value every 2 seconds. -/// It will also read the RSSI value every 2 seconds. -/// and will stop when the connection is closed by the central or an error occurs. -async fn custom_task(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) { +#[allow(clippy::too_many_lines)] +async fn publishing_task(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) { + critical_section::with(|cs| { + let value_ref = CLIENT_CONNECTED.borrow(cs); + let _ = value_ref.replace(true); + }); + loop { embassy_time::Timer::after(embassy_time::Duration::from_millis(10)).await; let mut new_data = None; critical_section::with(|cs| { - let tx_data_ref = TX_DATA.borrow(cs); + let queue_rc = TX_DATA.borrow(cs).borrow(); + // unwrap is fine b/c we stored something in it before + let queue = queue_rc.as_ref().unwrap(); - if let Some(tx_data) = tx_data_ref.replace(None) { - new_data = Some(tx_data); + if let Some(data) = queue.pop() { + new_data = Some(data); } }); match new_data { #[cfg(feature = "cam")] - Some(BleSendable::Cam(cam_event)) => { - let mut buf = cam_event.serialize_ble_proto(); - - if buf.len() <= CAM_EVENT_SIZE { - // pad with zeros - let pad = alloc::vec![0u8; CAM_EVENT_SIZE - buf.len()]; - buf.extend_from_slice(&pad); - - // unwrap should be fine since we ensured the vector size before - let value = buf.try_into().unwrap(); - + Some(BleSendable::Cam(cam_event)) => match cam_event.serialize_ble_proto() { + Ok(value) => { if let Err(err) = server.c_its_events.cam_event.notify(conn, &value).await { warn!("BLE: failed notifying connection of new CAM event: {err:?}"); } - } else { - warn!("BLE: CAM event too big with {} bytes", buf.len()); } - } + Err(err) => warn!("BLE: CAM event {err}"), + }, + #[cfg(feature = "denm")] - Some(BleSendable::Denm(denm_event)) => { - let mut buf = denm_event.serialize_ble_proto(); - - if buf.len() <= DENM_EVENT_SIZE { - // pad with zeros - let pad = alloc::vec![0u8; DENM_EVENT_SIZE - buf.len()]; - buf.extend_from_slice(&pad); - - // unwrap should be fine since we ensured the vector size before - let value = buf.try_into().unwrap(); - + Some(BleSendable::Denm(denm_event)) => match denm_event.serialize_ble_proto() { + Ok(value) => { if let Err(err) = server.c_its_events.denm_event.notify(conn, &value).await { warn!("BLE: failed notifying connection of new DENM event: {err:?}"); } - } else { - warn!("BLE: DENM event too big with {} bytes", buf.len()); } - } + Err(err) => warn!("BLE: DENM event {err}"), + }, + + #[cfg(feature = "cam")] + Some(BleSendable::CamRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { + Ok(value) => { + if let Err(err) = server.c_its_events.cam_raw.set(server, &value) { + warn!("BLE: failed setting new raw CAM value: {err:?}"); + } + + if let Err(err) = send_raw_notify( + server, + conn, + c_its_parser::standards::extensions::ItsMessageId::Cam, + ) + .await + { + warn!("BLE: {err}"); + } + } + Err(err) => warn!("BLE: Raw CAM too big: {err}"), + }, + #[cfg(feature = "denm")] + Some(BleSendable::DenmRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { + Ok(value) => { + if let Err(err) = server.c_its_events.denm_raw.set(server, &value) { + warn!("BLE: failed setting new raw DENM value: {err:?}"); + } + + if let Err(err) = send_raw_notify( + server, + conn, + c_its_parser::standards::extensions::ItsMessageId::Denm, + ) + .await + { + warn!("BLE: {err}"); + } + } + Err(err) => warn!("BLE: Raw DENM {err}"), + }, + #[cfg(feature = "spat")] + Some(BleSendable::MapemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { + Ok(value) => { + if let Err(err) = server.c_its_events.mapem_raw.set(server, &value) { + warn!("BLE: failed setting new raw MAPEM value: {err:?}"); + } + + if let Err(err) = send_raw_notify( + server, + conn, + c_its_parser::standards::extensions::ItsMessageId::Mapem, + ) + .await + { + warn!("BLE: {err}"); + } + } + Err(err) => warn!("BLE: Raw MAPEM {err}"), + }, + #[cfg(feature = "spat")] + Some(BleSendable::SpatemRaw(raw_msg)) => match raw_msg.serialize_ble_proto() { + Ok(value) => { + if let Err(err) = server.c_its_events.spatem_raw.set(server, &value) { + warn!("BLE: failed setting new raw SPATEM value: {err:?}"); + } + + if let Err(err) = send_raw_notify( + server, + conn, + c_its_parser::standards::extensions::ItsMessageId::Spatem, + ) + .await + { + warn!("BLE: {err}"); + } + } + Err(err) => warn!("BLE: Raw SPATEM {err}"), + }, None => {} } } } + +async fn send_raw_notify( + server: &Server<'_>, + conn: &GattConnection<'_, '_, P>, + msg_id: c_its_parser::standards::extensions::ItsMessageId, +) -> Result<(), alloc::string::String> { + let notify_buf = io::msg::RawNotify::from(msg_id) + .serialize_ble_proto() + .expect("BLE: Raw notify too big"); + + server + .c_its_events + .raw_notify + .notify(conn, ¬ify_buf) + .await + .map_err(|err| alloc::format!("failed notifying connection of new raw {msg_id:?}: {err:?}")) +} diff --git a/src/io.rs b/src/io.rs index 3ef8c6d..80e415e 100644 --- a/src/io.rs +++ b/src/io.rs @@ -40,20 +40,91 @@ impl msg::RawMsgRx { #[cfg(feature = "denm")] impl msg::DenmEvent { #[cfg(feature = "ble")] - pub fn serialize_ble_proto(&self) -> alloc::vec::Vec { + pub const PROTO_SIZE: usize = 51; + + #[cfg(feature = "ble")] + pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { use prost::Message as _; - self.encode_to_vec() + let mut data = [0u8; Self::PROTO_SIZE]; + + let mut mut_buf = &mut data[..]; + if let Err(err) = self.encode(&mut mut_buf) { + Err(alloc::format!("Buffer too small: {err:?}")) + } else { + Ok(data) + } } } #[cfg(feature = "cam")] impl msg::CamEvent { #[cfg(feature = "ble")] - pub fn serialize_ble_proto(&self) -> alloc::vec::Vec { + pub const PROTO_SIZE: usize = 38; + + #[cfg(feature = "ble")] + pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { use prost::Message as _; - self.encode_to_vec() + let mut data = [0u8; Self::PROTO_SIZE]; + + let mut mut_buf = &mut data[..]; + if let Err(err) = self.encode(&mut mut_buf) { + Err(alloc::format!("Buffer too small: {err:?}")) + } else { + Ok(data) + } + } +} + +#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] +impl msg::RawMsgRx { + #[cfg(feature = "ble")] + pub const PROTO_SIZE: usize = 1400; + + #[cfg(feature = "ble")] + pub fn serialize_ble_proto(&self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { + use prost::Message as _; + + let mut data = [0u8; Self::PROTO_SIZE]; + + let mut mut_buf = &mut data[..]; + if let Err(err) = self.encode(&mut mut_buf) { + Err(alloc::format!("Buffer too small: {err:?}")) + } else { + Ok(data) + } + } +} + +#[cfg(all( + feature = "ble", + any(feature = "cam", feature = "denm", feature = "spat") +))] +impl From for msg::RawNotify { + fn from(value: c_its_parser::standards::extensions::ItsMessageId) -> Self { + let message_type = value.as_u8().into(); + Self { message_type } + } +} + +#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] +impl msg::RawNotify { + #[cfg(feature = "ble")] + pub const PROTO_SIZE: usize = 2; + + #[cfg(feature = "ble")] + pub fn serialize_ble_proto(self) -> Result<[u8; Self::PROTO_SIZE], alloc::string::String> { + use prost::Message as _; + + let mut data = [0u8; Self::PROTO_SIZE]; + + let mut mut_buf = &mut data[..]; + if let Err(err) = self.encode(&mut mut_buf) { + Err(alloc::format!("Buffer too small: {err:?}")) + } else { + Ok(data) + } } } @@ -414,11 +485,11 @@ impl msg::RawMsgTx { } #[cfg(feature = "cam")] -impl From> +impl From<&alloc::boxed::Box> for msg::CamEvent { fn from( - value: alloc::boxed::Box, + value: &alloc::boxed::Box, ) -> Self { use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions; @@ -429,12 +500,14 @@ impl From None, }); - let vehicle_data = match value.cam.cam_parameters.high_frequency_container { + let vehicle_data = match &value.cam.cam_parameters.high_frequency_container { cam_pdu_descriptions::HighFrequencyContainer::basicVehicleContainerHighFrequency( basic_vehicle_container_high_frequency, ) => Some(basic_vehicle_container_high_frequency.into()), @@ -460,8 +533,8 @@ impl From for msg::VehicleContainer { - fn from(value: c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency) -> Self { +impl From<&c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency> for msg::VehicleContainer { + fn from(value: &c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicleContainerHighFrequency) -> Self { let heading_deg = if value.heading.heading_value.is_unavailable() { None } else { @@ -489,11 +562,11 @@ impl From> +impl From<&alloc::boxed::Box> for msg::DenmEvent { fn from( - value: alloc::boxed::Box, + value: &alloc::boxed::Box, ) -> Self { let denm_mgmt = &value.denm.management; @@ -512,7 +585,8 @@ impl From fo } } +#[cfg(any(feature = "cam", feature = "denm", feature = "spat"))] +impl TryFrom<&c_its_parser::ItsMessage<'_>> for msg::RawMsgRx { + type Error = alloc::string::String; + + fn try_from(value: &c_its_parser::ItsMessage<'_>) -> Result { + let msg_id = c_its_parser::standards::extensions::ItsMessageId::from(value); + + let payload = match value { + #[cfg(feature = "denm")] + c_its_parser::ItsMessage::DenmV1 { + geonetworking: _, + transport: _, + etsi, + } => etsi.encode_to_uper(), + #[cfg(feature = "denm")] + c_its_parser::ItsMessage::DenmV2 { + geonetworking: _, + transport: _, + etsi, + } => etsi.encode_to_uper(), + #[cfg(feature = "cam")] + c_its_parser::ItsMessage::Cam { + geonetworking: _, + transport: _, + etsi, + } => etsi.encode_to_uper(), + #[cfg(feature = "spat")] + c_its_parser::ItsMessage::Spatem { + geonetworking: _, + transport: _, + etsi, + } => etsi.encode_to_uper(), + #[cfg(feature = "spat")] + c_its_parser::ItsMessage::Mapem { + geonetworking: _, + transport: _, + etsi, + } => etsi.encode_to_uper(), + }?; + + Ok(Self { + msg_type: msg_id.as_u8().into(), + payload, + }) + } +} + #[cfg(test)] mod tests { diff --git a/src/main.rs b/src/main.rs index 6eb670c..d69a9ba 100644 --- a/src/main.rs +++ b/src/main.rs @@ -506,16 +506,36 @@ async fn main(spawner: Spawner) -> ! { ItsMessage::Mapem { geonetworking: _, transport: _, - etsi, - } => state.handle_mapem(&etsi), + ref etsi, + } => { + state.handle_mapem(etsi); + + // Send data to BLE thread + #[cfg(feature = "ble")] + match io::msg::RawMsgRx::try_from(&msg) { + Ok(data) => { + ble::update(ble::BleSendable::MapemRaw(data)); + } + Err(err) => warn!("Failed to create RawMsgRx: {err}"), + } + } #[cfg(feature = "spat")] ItsMessage::Spatem { geonetworking: _, transport: _, - etsi, + ref etsi, } => { if state.initialized() { - state.handle_spatem(&etsi); + state.handle_spatem(etsi); + } + + // Send data to BLE thread + #[cfg(feature = "ble")] + match io::msg::RawMsgRx::try_from(&msg) { + Ok(data) => { + ble::update(ble::BleSendable::SpatemRaw(data)); + } + Err(err) => warn!("Failed to create RawMsgRx: {err}"), } } @@ -523,33 +543,48 @@ async fn main(spawner: Spawner) -> ! { ItsMessage::Cam { geonetworking: _, transport: _, - etsi, + ref etsi, } => { #[cfg(feature = "cam")] - applogic::cam::handle_cam(&etsi); + applogic::cam::handle_cam(etsi); // Send data to BLE thread #[cfg(all(feature = "ble", feature = "cam"))] - critical_section::with(|cs| { - let ble_update_ref = ble::TX_DATA.borrow(cs); - ble_update_ref.replace(Some(ble::BleSendable::Cam(etsi.into()))); - }); + { + ble::update(ble::BleSendable::Cam(etsi.into())); + + // raw data only when it's a full CAM + if etsi.cam.cam_parameters.low_frequency_container.is_some() { + match io::msg::RawMsgRx::try_from(&msg) { + Ok(data) => { + ble::update(ble::BleSendable::CamRaw(data)); + } + Err(err) => warn!("Failed to create RawMsgRx: {err}"), + } + } + } } #[cfg(feature = "denm")] ItsMessage::DenmV2 { geonetworking: _, transport: _, - etsi, + ref etsi, } => { - applogic::denm::handle_denm(&etsi); + applogic::denm::handle_denm(etsi); // Send data to BLE thread #[cfg(feature = "ble")] - critical_section::with(|cs| { - let ble_update_ref = ble::TX_DATA.borrow(cs); - ble_update_ref.replace(Some(ble::BleSendable::Denm(etsi.into()))); - }); + { + ble::update(ble::BleSendable::Denm(etsi.into())); + + match io::msg::RawMsgRx::try_from(&msg) { + Ok(data) => { + ble::update(ble::BleSendable::DenmRaw(data)); + } + Err(err) => warn!("Failed to create RawMsgRx: {err}"), + } + } } #[cfg(feature = "denm")] ItsMessage::DenmV1 { From 729f18ee40c96fb75c718ccf8a0e9b8b1cd65138 Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Tue, 18 Aug 2026 17:11:31 +0200 Subject: [PATCH 3/4] BLE: Add "service change attribute", advertise service --- Cargo.toml | 2 +- Readme.md | 4 +-- src/ble.rs | 83 +++++++++++++++++++++++++++++++++++++++++++++++------- 3 files changed, 75 insertions(+), 14 deletions(-) diff --git a/Cargo.toml b/Cargo.toml index 0136b8e..01fa77b 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -57,7 +57,7 @@ screen = ["dep:mipidsi", "dep:embedded-graphics", "dep:embedded-hal-bus", "dep:p # enable I/O via UART uart = ["_uart", "_gnss"] # enable I/O via BLE -ble = ["_gnss", "denm"] +ble = ["_gnss"] # internal feature, that any UART I/O is enabled _uart = [] diff --git a/Readme.md b/Readme.md index 5fb34e6..16453c6 100644 --- a/Readme.md +++ b/Readme.md @@ -57,9 +57,7 @@ Enable UART I/O protocol according to [docs/uart-protocol.md](./docs/uart-protoc ### BLE Enable BLE I/O protocol according to [docs/ble-protocol.md](./docs/ble-protocol.md). -Will enable `denm` feature, but also enabling `cam` is recommended for full functionality. - -Note: Raw message reception is currently not implemented! +Enabling `denm` feature or `cam` feature is recommended, otherwise no data will be received. ## Usage diff --git a/src/ble.rs b/src/ble.rs index 64b175d..c480d46 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -39,11 +39,69 @@ pub enum BleSendable { SpatemRaw(io::msg::RawMsgRx), } -#[gatt_server] -struct Server { +// GAP + 4 GATT attributes + our service(s) +const _ATTRIBUTE_TABLE_SIZE: usize = GAP_SERVICE_ATTRIBUTE_COUNT + 4 + CITSEvents::ATTRIBUTE_COUNT; + +pub struct Server<'values> { + server: AttributeServer< + 'values, + embassy_sync::blocking_mutex::raw::NoopRawMutex, + DefaultPacketPool, + _ATTRIBUTE_TABLE_SIZE, + 1, + CONNECTIONS_MAX, + >, c_its_events: CITSEvents, } +impl<'values> Server<'values> { + // we implement this ourselves to add the "SERVICE_CHANGED" GATT characteristic, + // otherwise client devices won't update the service's characteristics when they change. + fn new_with_config(config: PeripheralConfig<'values>) -> Result { + let mut table: AttributeTable< + '_, + embassy_sync::blocking_mutex::raw::NoopRawMutex, + _ATTRIBUTE_TABLE_SIZE, + > = AttributeTable::new(); + + // manual implementation of: gap.build(&mut table)?; + if !config.name.is_ascii() || config.name.len() > 22 { + return Err("Device name is too long. Max length is 22 bytes"); + } + + let mut gap_builder = table.add_service(Service::new(service::GAP)); + gap_builder.add_characteristic_ro(characteristic::DEVICE_NAME, config.name.as_bytes()); + gap_builder.add_characteristic_ro(characteristic::APPEARANCE, config.appearance); + gap_builder.build(); + + // add custom GATT service + let mut gatt_builder = table.add_service(Service::new(service::GATT)); + gatt_builder.add_characteristic_ro(characteristic::SERVICE_CHANGED, &[1, 0, 255, 255]); // [0x0001, 0xFFFF] in little-endian + gatt_builder.build(); + + let c_its_events = CITSEvents::new(&mut table); + + Ok(Self { + server: AttributeServer::new(table), + c_its_events, + }) + } +} + +impl<'values> core::ops::Deref for Server<'values> { + type Target = AttributeServer< + 'values, + embassy_sync::blocking_mutex::raw::NoopRawMutex, + DefaultPacketPool, + _ATTRIBUTE_TABLE_SIZE, + 1, + CONNECTIONS_MAX, + >; + fn deref(&self) -> &Self::Target { + &self.server + } +} + #[gatt_service(uuid = "c0b70000-d4f4-4000-ada8-f99a02ee315c")] struct CITSEvents { #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "Position", read, value = "PositionState proto msg", type = &'static str)] @@ -56,7 +114,7 @@ struct CITSEvents { raw_notify: [u8; io::msg::RawNotify::PROTO_SIZE], #[cfg(feature = "cam")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)] + // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)] #[characteristic(uuid = "c0b70001-d4f4-4003-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] cam_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], #[cfg(feature = "cam")] @@ -65,7 +123,7 @@ struct CITSEvents { cam_event: [u8; io::msg::CamEvent::PROTO_SIZE], #[cfg(feature = "denm")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM", read, value = "RawMsgRx proto msg", type = &'static str)] + // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "DENM", read, value = "RawMsgRx proto msg", type = &'static str)] #[characteristic(uuid = "c0b70001-d4f4-4005-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] denm_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], #[cfg(feature = "denm")] @@ -74,11 +132,11 @@ struct CITSEvents { denm_event: [u8; io::msg::DenmEvent::PROTO_SIZE], #[cfg(feature = "spat")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "MAPEM", read, value = "RawMsgRx proto msg", type = &'static str)] + // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "MAPEM", read, value = "RawMsgRx proto msg", type = &'static str)] #[characteristic(uuid = "c0b70001-d4f4-4007-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] mapem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], #[cfg(feature = "spat")] - #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "SPATEM", read, value = "RawMsgRx proto msg", type = &'static str)] + // #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "SPATEM", read, value = "RawMsgRx proto msg", type = &'static str)] #[characteristic(uuid = "c0b70001-d4f4-4008-ada8-f99a02ee315c", read, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])] spatem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE], } @@ -142,8 +200,10 @@ pub async fn run( let _ = embassy_futures::join::join(ble_task(runner), async { loop { - match advertise("ESP32 C-ITS", &mut peripheral, &server).await { + match advertise(&mut peripheral, &server).await { Ok(conn) => { + info!("BLE: New client connected"); + // set up tasks when the connection is established to a central, so they don't run when no one is connected. let a = gatt_events_task(&server, &conn); let b = publishing_task(&server, &conn); @@ -157,7 +217,7 @@ pub async fn run( }); } Err(e) => { - panic!("BLE ADV: fatal error {e:?}"); + panic!("BLE ADV: fatal error: {e:?}"); } } } @@ -182,15 +242,18 @@ pub fn update(payload: BleSendable) { /// Create an advertiser to use to connect to a BLE Central, and wait for it to connect. async fn advertise<'values, 'server, C: Controller>( - name: &'values str, peripheral: &mut Peripheral<'values, C, DefaultPacketPool>, server: &'server Server<'values>, ) -> Result, BleHostError> { let mut advertiser_data = [0; 35]; + let service_uuid = Uuid::from(0xc0b7_0000_d4f4_4000_ada8_f99a_02ee_315c_u128) + .as_raw() + .try_into() + .unwrap(); let len = AdStructure::encode_slice( &[ AdStructure::Flags(LE_GENERAL_DISCOVERABLE | BR_EDR_NOT_SUPPORTED), - AdStructure::CompleteLocalName(name.as_bytes()), + AdStructure::ServiceUuids128(&[service_uuid]), ], &mut advertiser_data[..], )?; From 6eff349894d81c0e06ceeac7c714d2644d1f08e5 Mon Sep 17 00:00:00 2001 From: Jannik Beyerstedt Date: Wed, 19 Aug 2026 14:37:49 +0200 Subject: [PATCH 4/4] BLE: Use unique name --- src/ble.rs | 9 +++++---- src/main.rs | 9 ++++++++- 2 files changed, 13 insertions(+), 5 deletions(-) diff --git a/src/ble.rs b/src/ble.rs index c480d46..b5a11fc 100644 --- a/src/ble.rs +++ b/src/ble.rs @@ -167,6 +167,7 @@ pub async fn run( esp_radio::ble::controller::BleConnector<'static>, CONTROLLER_SLOTS, >, + name: alloc::string::String, ) { let mut resources: HostResources = HostResources::new(); @@ -192,10 +193,10 @@ pub async fn run( "Starting advertising and GATT service for {}", features.join(",") ); - let server = Server::new_with_config(GapConfig::Peripheral(PeripheralConfig { - name: "ESP32 C-ITS", - appearance: &appearance::UNKNOWN, - })) + let server = Server::new_with_config(PeripheralConfig { + name: &name, + appearance: &appearance::UNKNOWN, // maybe appearance::outdoor_sports_activity::LOCATION_AND_NAVIGATION_DISPLAY ? + }) .unwrap(); let _ = embassy_futures::join::join(ble_task(runner), async { diff --git a/src/main.rs b/src/main.rs index d69a9ba..9ed637c 100644 --- a/src/main.rs +++ b/src/main.rs @@ -219,7 +219,14 @@ async fn main(spawner: Spawner) -> ! { #[cfg(feature = "ble")] { let controller = ble::make_controller(peripherals.BT); - spawner.spawn(ble::run(controller).expect("Failed to spawn BLE task")); + let serial = &mac.as_bytes()[4..7]; + let name = alloc::format!( + "ESP32 C-ITS {:02x}{:02x}{:02x}", + serial[0], + serial[1], + serial[2] + ); + spawner.spawn(ble::run(controller, name).expect("Failed to spawn BLE task")); } // Setup GNSS: