[WIP] SPATEM/MAPEM Support

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "doc/doxygen-awesome-css"]
 	path = doc/doxygen-awesome-css
 	url = https://github.com/jothepro/doxygen-awesome-css.git
+[submodule "asn1/raw/is_ts103301"]
+	path = asn1/raw/is_ts103301
+	url = https://forge.etsi.org/rep/ITS/asn1/is_ts103301.git

.vscode/launch.json

@@ -99,6 +99,67 @@
             "console": "integratedTerminal",
             "justMyCode": true
         },
+        {
+            "name": "CPM TS (coding)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/asn1ToC.py",
+            "args": [
+                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
+                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "-t",
+                "cpm_ts",
+                "-o",
+                "etsi_its_coding/etsi_its_cpm_ts_coding"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "CPM TS (msgs)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-rust/asn1ToRosMsg.py",
+            "args": [
+                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
+                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "-o",
+                "etsi_its_msgs/etsi_its_cpm_ts_msgs/msg"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "CPM TS (conversion)",
+            "preLaunchTask": "Patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-rust/asn1ToConversionHeader.py",
+            "args": [
+                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
+                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
+                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "-t",
+                "cpm_ts",
+                "-o",
+                "etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
         {
             "name": "DENM (coding)",
             "preLaunchTask": "Patch ASN.1 files",
@@ -149,62 +210,117 @@
             "justMyCode": true
         },
         {
-            "name": "CPM TS (coding)",
-            "preLaunchTask": "Patch ASN.1 files",
+            "name": "MAPEM TS (coding)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
             "program": "utils/codegen/asn1ToC.py",
             "args": [
-                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
-                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "asn1/raw/is_ts103301/MAPEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
                 "-t",
-                "cpm_ts",
+                "mapem_ts",
                 "-o",
-                "etsi_its_coding/etsi_its_cpm_ts_coding"
+                "etsi_its_coding/etsi_its_mapem_ts_coding"
             ],
             "console": "integratedTerminal",
             "justMyCode": true
         },
         {
-            "name": "CPM TS (msgs)",
-            "preLaunchTask": "Patch ASN.1 files",
+            "name": "MAPEM TS (msgs)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
             "program": "utils/codegen/codegen-rust/asn1ToRosMsg.py",
             "args": [
-                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
-                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "asn1/raw/is_ts103301/MAPEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
                 "-o",
-                "etsi_its_msgs/etsi_its_cpm_ts_msgs/msg"
+                "etsi_its_msgs/etsi_its_mapem_ts_msgs/msg"
             ],
             "console": "integratedTerminal",
             "justMyCode": true
         },
         {
-            "name": "CPM TS (conversion)",
-            "preLaunchTask": "Patch ASN.1 files",
+            "name": "MAPEM TS (conversion)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
             "program": "utils/codegen/codegen-rust/asn1ToConversionHeader.py",
             "args": [
-                "asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn",
-                "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
-                "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+                "asn1/raw/is_ts103301/MAPEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
                 "-t",
-                "cpm_ts",
+                "mapem_ts",
                 "-o",
-                "etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion"
+                "etsi_its_conversion/etsi_its_mapem_ts_conversion/include/etsi_its_mapem_ts_conversion"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "SPATEM TS (coding)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/asn1ToC.py",
+            "args": [
+                "asn1/raw/is_ts103301/SPATEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "-t",
+                "spatem_ts",
+                "-o",
+                "etsi_its_coding/etsi_its_spatem_ts_coding"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "SPATEM TS (msgs)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-rust/asn1ToRosMsg.py",
+            "args": [
+                "asn1/raw/is_ts103301/SPATEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "-o",
+                "etsi_its_msgs/etsi_its_spatem_ts_msgs/msg"
+            ],
+            "console": "integratedTerminal",
+            "justMyCode": true
+        },
+        {
+            "name": "SPATEM TS (conversion)",
+            "preLaunchTask": "Download external dependencies and patch ASN.1 files",
+            "type": "debugpy",
+            "request": "launch",
+            "program": "utils/codegen/codegen-rust/asn1ToConversionHeader.py",
+            "args": [
+                "asn1/raw/is_ts103301/SPATEM-PDU-Descriptions.asn",
+                "asn1/raw/is_ts103301/cdd/ITS-Container.asn",
+                "asn1/raw/is_ts103301/iso-patched/ISO24534-3_ElectronicRegistrationIdentificationVehicleDataModule-patched.asn",
+                "asn1/raw/is_ts103301/build/asn1/ISO-TS-19091-addgrp-C-2018-patched.asn",
+                "asn1/patched/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn",
+                "-t",
+                "spatem_ts",
+                "-o",
+                "etsi_its_conversion/etsi_its_spatem_ts_conversion/include/etsi_its_spatem_ts_conversion"
             ],
             "console": "integratedTerminal",
             "justMyCode": true

.vscode/tasks.json

@@ -1,11 +1,24 @@
 {
     "version": "2.0.0",
     "tasks": [
+        {
+            "label": "Download external dependencies",
+            "type": "shell",
+            "command": "./asn1/external/download.sh",
+            "problemMatcher": []
+        },
         {
             "label": "Patch ASN.1 files",
             "type": "shell",
             "command": "./asn1/patches/patch.sh",
             "problemMatcher": []
+        },
+        {
+            "label": "Download external dependencies and patch ASN.1 files",
+            "dependsOn": [
+                "Download external dependencies",
+                "Patch ASN.1 files"
+            ]
         }
     ]
 }

README.md

@@ -8,7 +8,7 @@
   <a href="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml"><img src="https://github.com/ika-rwth-aachen/etsi_its_messages/actions/workflows/doc.yml/badge.svg"/></a>
   <img src="https://img.shields.io/badge/ROS-noetic-blueviolet"/>
   <img src="https://img.shields.io/badge/ROS 2-humble|iron|jazzy-blueviolet"/>
-  <img src="https://img.shields.io/badge/V2X-CAM|CPM|DENM-aqua"/>
+  <img src="https://img.shields.io/badge/V2X-CAM|CPM|DENM|MAPEM|SPATEM-aqua"/>
 </p>
 
 **ROS / ROS 2 Support for ETSI ITS Messages for V2X Communication**
@@ -55,8 +55,8 @@ During runtime, the `etsi_its_conversion` ROS node converts incoming UDP payload
 | :white_check_mark: | CAM | Cooperative Awareness Message | [EN 302 637-2 V1.4.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2)) | [ETSI TS 103 900 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103900_103999/103900/02.01.01_60/ts_103900v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cam_ts103900)) |
 | :white_check_mark: | DENM | Decentralized Environmental Notification Message | [EN 302 637-3 V1.3.1](https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.03.01_60/en_30263703v010301p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3)) | - |
 | :white_check_mark: | CPM | Collective Perception Message | - | [TS 103 324 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103324/02.01.01_60/ts_103324v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324)) |
-| :soon: | MAPEM | Map Extended Message | - | - | - |
-| :soon: | SPATEM | Signal Phase and Timing Extended Message | - | - | - |
+| :white_check_mark: | MAPEM | Map Extended Message | - | [TS 103 301 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103301/02.01.01_60/ts_103301v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/is_ts103301/-/tree/v2.1.1?ref_type=tags)) |
+| :white_check_mark: | SPATEM | Signal Phase and Timing Extended Message | - | [TS 103 301 V2.1.1](https://www.etsi.org/deliver/etsi_ts/103300_103399/103301/02.01.01_60/ts_103301v020101p.pdf) ([ASN.1](https://forge.etsi.org/rep/ITS/asn1/is_ts103301/-/tree/v2.1.1?ref_type=tags)) |
 
 > [!NOTE]
 > Message types that are standardized as *European Norms (EN)* are available as, e.g., `etsi_its_cam_msgs`. New message types or revisions of existing message types that are only specified in *Technical Specifications (TS)* are available as, e.g., `etsi_its_cpm_ts_msgs`.

asn1/external/download.sh

@@ -0,0 +1,9 @@
+#!/bin/bash
+
+patches_dir="$(dirname "$(readlink -f "$0")")"
+repos_dir="$(dirname "$patches_dir")/raw"
+
+# is_ts103301
+cd "$repos_dir/is_ts103301"
+sed "s/asn1c -D.*/exit 0/g" syntax_check.bash | bash
+cd -

asn1/patches/.gitignore

@@ -0,0 +1 @@
+!is_ts103301/build/

asn1/patches/is_ts103301/build/asn1/ISO14816_AVIAEINumberingAndDataStructures.asn.patch

@@ -0,0 +1,22 @@
+diff --git a/ISO14816_AVIAEINumberingAndDataStructures.asn b/ISO14816_AVIAEINumberingAndDataStructures.asn
+index 88d0ad1..22f2e4c 100644
+--- a/ISO14816_AVIAEINumberingAndDataStructures.asn
++++ b/ISO14816_AVIAEINumberingAndDataStructures.asn
+@@ -79,8 +79,8 @@ ServiceNumber::= BIT STRING (SIZE(32))(CONTAINING INTEGER (0..4294967295))
+ TaxCode::= OCTET STRING
+
+ AlphabetIndicator::= INTEGER {
+-	latinAlphabetNo1		(0), -- encoded as 00 00 00�B
+-	latinAlphabetNo2		(1), -- encoded as 00 00 01�B etc
++	latinAlphabetNo1		(0), -- encoded as 00 00 00 B
++	latinAlphabetNo2		(1), -- encoded as 00 00 01 B etc
+ 	latinAlphabetNo3		(2),
+ 	latinAlphabetNo4		(3),
+ 	latinCyrillicAlphabet	(4),
+@@ -127,4 +127,4 @@ END
+ /*
+    The ASN.1 specification has been checked for conformance to the ASN.1
+    standards by OSS ASN.1 Studio
+-*/
+\ No newline at end of file
++*/

asn1/patches/patch.sh

@@ -8,17 +8,25 @@ echo "Finding .patch files in '$patches_dir' to apply to repositories in '$repos
 # loop over all .patch files in the patches directory
 find "$patches_dir" -type f -name "*.patch" | while read -r patch_file; do
 
-    # find the original repository path and apply the patch
+    # find the original repository path
     relative_path="$(dirname ${patch_file#$patches_dir/})"
     repo_path="$repos_dir/$relative_path"
     file_to_patch="$repo_path/$(basename ${patch_file%.patch})"
-    git -C "$repo_path" apply "$patch_file"
 
-    # copy the file to the patched directory and reverse the patch
+    # copy file to patch to temporary git repository
+    tmp_repo_path="$(mktemp -d)"
+    tmp_file_to_patch="$tmp_repo_path/$(basename ${patch_file%.patch})"
+    cp -r "$repo_path"/* "$tmp_repo_path"
+    git -C "$tmp_repo_path" init --quiet
+
+    # apply the patch
+    git -C "$tmp_repo_path" apply "$patch_file"
+
+    # move patched file to the patched directory
     patched_path="$patched_dir/$relative_path"
     patched_file="$patched_path/$(basename ${patch_file%.patch})"
     mkdir -p "$patched_path"
-    cp "$file_to_patch" "$patched_file"
-    git -C "$repo_path" apply --reverse --whitespace=nowarn "$patch_file"
+    mv "$tmp_file_to_patch" "$patched_file"
+
     echo "  Patched '$file_to_patch' and saved to '$patched_file'"
 done

etsi_its_coding/etsi_its_coding/package.xml

@@ -19,6 +19,8 @@
   <depend>etsi_its_cam_ts_coding</depend>
   <depend>etsi_its_denm_coding</depend>
   <depend>etsi_its_cpm_ts_coding</depend>
+  <depend>etsi_its_mapem_ts_coding</depend>
+  <depend>etsi_its_spatem_ts_coding</depend>
   <depend>ros_environment</depend>
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>