BLE: Add raw messages

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
 
@@ -101,3 +101,11 @@ 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

src/applogic/mod.rs

@@ -118,6 +118,7 @@ pub struct TimingData {
     pub max_end_sec: Option<i16>,
 }
 
+#[cfg(feature = "spat")]
 impl TimingData {
     pub fn new(value: &map::SignalGroup, now: chrono::DateTime<chrono::Utc>) -> Option<Self> {
         let min = value

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<RefCell<Option<BleSendable>>> = Mutex::new(RefCell::new(None));
+pub static CLIENT_CONNECTED: Mutex<RefCell<bool>> = Mutex::new(RefCell::new(false));
+pub static TX_DATA: Mutex<RefCell<Option<ArrayQueue<BleSendable>>>> =
+    Mutex::new(RefCell::new(None));
 pub static RX_DATA: Mutex<RefCell<Option<io::msg::PositionState>>> = 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 +44,38 @@ 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(feature = "cam")]
+    #[descriptor(uuid = descriptors::MEASUREMENT_DESCRIPTION, name = "CAM", read, value = "RawMsgRx proto msg", type = &'static str)]
+    #[characteristic(uuid = "c0b70001-d4f4-4002-ada8-f99a02ee315c", read, notify, 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-d4f4-4002-ada8-f99a02ee315c", read, notify, value = [0u8; CAM_EVENT_SIZE])]
-    cam_event: [u8; CAM_EVENT_SIZE],
+    #[characteristic(uuid = "c0b70001-d4f4-4003-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-d4f4-4004-ada8-f99a02ee315c", read, notify, 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-d4f4-4004-ada8-f99a02ee315c", read, notify, value = [0u8; DENM_EVENT_SIZE])]
-    denm_event: [u8; DENM_EVENT_SIZE],
+    #[characteristic(uuid = "c0b70001-d4f4-4005-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-d4f4-4006-ada8-f99a02ee315c", read, notify, 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-d4f4-4007-ada8-f99a02ee315c", read, notify, value = [0u8; io::msg::RawMsgRx::PROTO_SIZE])]
+    spatem_raw: [u8; io::msg::RawMsgRx::PROTO_SIZE],
 }
 
 /// Creates the BLE controller
@@ -60,6 +85,10 @@ 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(),
@@ -98,10 +127,15 @@ 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 +146,21 @@ 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,
@@ -201,62 +250,83 @@ async fn gatt_events_task<P: PacketPool>(
     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<P: PacketPool>(server: &Server<'_>, conn: &GattConnection<'_, '_, P>) {
+async fn publishing_task<P: PacketPool>(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.notify(conn, &value).await {
+                        warn!("BLE: failed notifying connection of new raw CAM: {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.notify(conn, &value).await {
+                        warn!("BLE: failed notifying connection of new raw DENM: {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.notify(conn, &value).await {
+                        warn!("BLE: failed notifying connection of new raw MAPEM: {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.notify(conn, &value).await {
+                        warn!("BLE: failed notifying connection of new raw SPATEM: {err:?}");
+                    }
+                }
+                Err(err) => warn!("BLE: Raw SPATEM {err}"),
+            },
             None => {}
         }
     }

src/io.rs

@@ -40,20 +40,60 @@ impl msg::RawMsgRx {
 #[cfg(feature = "denm")]
 impl msg::DenmEvent {
     #[cfg(feature = "ble")]
-    pub fn serialize_ble_proto(&self) -> alloc::vec::Vec<u8> {
+    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_length_delimited(&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<u8> {
+    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_length_delimited(&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_length_delimited(&mut mut_buf) {
+            Err(alloc::format!("Buffer too small: {err:?}"))
+        } else {
+            Ok(data)
+        }
     }
 }
 
@@ -414,11 +454,11 @@ impl msg::RawMsgTx {
 }
 
 #[cfg(feature = "cam")]
-impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>>
+impl From<&alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>>
     for msg::CamEvent
 {
     fn from(
-        value: alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>,
+        value: &alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::CAM>,
     ) -> Self {
         use c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions;
 
@@ -429,12 +469,14 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
             .cam_parameters
             .basic_container
             .reference_position
+            .clone()
             .into();
 
         let vehicle_role = value
             .cam
             .cam_parameters
             .low_frequency_container
+            .as_ref()
             .and_then(|v| match v {
                 cam_pdu_descriptions::LowFrequencyContainer::basicVehicleContainerLowFrequency(
                     basic_vehicle_container_low_frequency,
@@ -442,7 +484,7 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
                 _ => 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 +502,8 @@ impl From<alloc::boxed::Box<c_its_parser::standards::cam_1_4_1::cam_pdu_descript
 }
 
 #[cfg(feature = "cam")]
-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 {
+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 +531,11 @@ impl From<c_its_parser::standards::cam_1_4_1::cam_pdu_descriptions::BasicVehicle
 }
 
 #[cfg(feature = "denm")]
-impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>>
+impl From<&alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>>
     for msg::DenmEvent
 {
     fn from(
-        value: alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>,
+        value: &alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_description::DENM>,
     ) -> Self {
         let denm_mgmt = &value.denm.management;
 
@@ -512,7 +554,8 @@ impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_descri
         let event_heading_deg = value
             .denm
             .location
-            .and_then(|v| v.event_position_heading)
+            .as_ref()
+            .and_then(|v| v.event_position_heading.clone())
             .map(|v| {
                 #[allow(clippy::cast_possible_truncation, clippy::cast_sign_loss)]
                 let conv = v.value.as_deg() as u32;
@@ -524,6 +567,7 @@ impl From<alloc::boxed::Box<c_its_parser::standards::denm_2_2_1::denm_pdu_descri
         let cc_tuple = value
             .denm
             .situation
+            .as_ref()
             .map(|v| v.event_type.cc_and_scc.to_u8_tuple());
         let cause_code = cc_tuple.map(|v| v.0.into());
         let sub_cause_code = cc_tuple.map(|v| v.1.into());
@@ -592,6 +636,53 @@ impl From<c_its_parser::standards::cdd_2_2_1::etsi_its_cdd::TrafficDirection> 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<Self, Self::Error> {
+        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 {
 

src/main.rs

@@ -68,9 +68,9 @@ const GN_IS_MOBILE: bool = true;
 #[cfg(feature = "cam_tx")]
 const OWN_STATION_TYPE: ItsStationType = ItsStationType::Cyclist;
 #[cfg(feature = "cam_tx")]
-const OWN_VEHICLE_WIDTH: u8 = 5; // in 10cm steps!
+const OWN_VEHICLE_WIDTH: u8 = 7; // in 10cm steps!
 #[cfg(feature = "cam_tx")]
-const OWN_VEHICLE_LENGTH: u16 = 20; // in 10cm steps!
+const OWN_VEHICLE_LENGTH: u16 = 18; // in 10cm steps!
 #[cfg(feature = "_uart")]
 const SERIAL_FIFO_SIZE_THLD: u8 = 100; // hardware has max. 128 byte
 
@@ -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 {