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it2s-itss-facilities
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Merge branch 'edm'

This commit is contained in:
emanuel 2023-05-22 15:36:02 +01:00
parent c9dc1df277 c2c2d15cf1
commit fee1c9b65a
11 changed files with 218 additions and 52 deletions
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4
.gitlab-ci.yml
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@ -30,11 +30,11 @@ stages:
deploy release:
stage: deploy release
script:
- curl -fs http://192.168.94.221:3000/arch/it2s-itss-facilities-git
- curl -fs http://192.168.94.221:3000/arch/it2s-itss-vfacilities-git
# - curl -fs http://192.168.94.221:3000/ubuntu_arm64/it2s-itss-facilities-git
deploy debug:
stage: deploy debug
script:
- curl -fs http://192.168.94.221:3000/arch/it2s-itss-facilities-debug-git
- curl -fs http://192.168.94.221:3000/arch/it2s-itss-vfacilities-debug-git
# - curl -fs http://192.168.94.221:3000/ubuntu_arm64/it2s-itss-facilities-debug-git

2
src/CMakeLists.txt
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@ -11,6 +11,7 @@ ADD_EXECUTABLE(it2s-itss-facilities
tpm.c
vcm.c
evm.c
edm.c
)
TARGET_LINK_LIBRARIES(it2s-itss-facilities
@ -31,7 +32,6 @@ TARGET_LINK_LIBRARIES(it2s-itss-facilities
-lit2s-asn-vcm
-lit2s-asn-evcsnm
-lit2s-asn-evrsrm
-lit2s-asn-verco
-lit2s-tender
-lit2s-obd
-lm

26
src/cam.c
View File

@ -157,7 +157,7 @@ static void path_history_update(pos_point_t* pn) {
}
}
static int mk_cam(uint8_t *cam_oer, uint32_t *cam_len) {
static int mk_cam(uint8_t *cam_oer, uint16_t *cam_len) {
int rv = 0;
int shm_fd, shm_valid = 0;
it2s_obd_data* shared_message;
@ -824,7 +824,16 @@ void* ca_service() {
bpr->gn.trafficClass = 2;
bpr->data.buf = malloc(512);
if (facilities.edm.enabled) {
bpr->destinationPortInfo = calloc(1, sizeof(OCTET_STRING_t));
bpr->destinationPortInfo->size = 2;
bpr->destinationPortInfo->buf = malloc(2);
*(uint16_t*)bpr->destinationPortInfo->buf = 0xed;
}
const int buf_len = 1024;
bpr->data.buf = malloc(buf_len);
// Fill header for FacilitiesIndication and FacilitiesMessageIndication structs
@ -834,20 +843,25 @@ void* ca_service() {
fi->present = FacilitiesIndication_PR_message;
FacilitiesMessageIndication_t* fmi = &fi->choice.message;
fmi->itsMessageType = ItsMessageType_cam;
fmi->data.buf = malloc(512);
fmi->data.buf = malloc(buf_len);
uint8_t tr_oer[1024];
uint8_t fi_oer[1024];
uint8_t tr_oer[buf_len];
uint8_t fi_oer[buf_len];
tr_oer[0] = 4; // Facilities
fi_oer[0] = 4;
while (!facilities.exit) {
usleep(1000*50);
if (lightship_check() && facilities.lightship.active) {
rv = mk_cam(bpr->data.buf, (uint32_t *) &bpr->data.size);
rv = mk_cam(bpr->data.buf, (uint16_t*) &bpr->data.size);
if (rv) {
continue;
}
if (facilities.edm.enabled) {
edm_encap(bpr->data.buf, (uint16_t*) &bpr->data.size, buf_len, Port_cam);
}
memcpy(fmi->data.buf, bpr->data.buf, bpr->data.size);
fmi->data.size = bpr->data.size;

2
src/config.c
View File

@ -498,6 +498,8 @@ int facilities_config() {
itss_epv_init();
facilities.edm.enabled = config->applications.extensions.enabled;
ManagementRequest_t* mreq = calloc(1, sizeof(ManagementRequest_t));
mreq->present = ManagementRequest_PR_attributes;
mreq->choice.attributes.present = ManagementRequestAttributes_PR_get;

71
src/edm.c Normal file
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@ -0,0 +1,71 @@
#include "edm.h"
#include "facilities.h"
#include <it2s-asn/itss-facilities/FacilitiesIndication.h>
#include <it2s-asn/itss-facilities/FacilitiesResponse.h>
#include <it2s-tender/packet.h>
int edm_encap(uint8_t* msg, uint16_t* msg_len, uint16_t msg_buf_len, int its_msg_type) {
edm_t* edm = &facilities.edm;
int rv = 0;
FacilitiesIndication_t* fi = NULL;
FacilitiesResponse_t* fr = NULL;
uint16_t b_len = 1380;
uint8_t b1[b_len], b2[b_len];
fi = calloc(1, sizeof(FacilitiesIndication_t));
fi->present = FacilitiesIndication_PR_extension;
fi->choice.extension.data.size = *msg_len;
fi->choice.extension.data.buf = malloc(*msg_len);
memcpy(fi->choice.extension.data.buf, msg, *msg_len);
fi->choice.extension.itsMessageType = its_msg_type;
b1[0] = ITSS_FACILITIES;
asn_enc_rval_t enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, b1+1, b_len-1);
if (enc.encoded == -1) {
return 1;
}
pthread_mutex_lock(&edm->lock); // TODO do not use single apps socket
itss_0send(edm->app_socket, b1, enc.encoded+1);
int rl = itss_0recv_rt(&edm->app_socket, b2, b_len, b1, enc.encoded+1, 400);
if (rl == -1) {
rv = 1;
log_error("[edm] request extension <TIMEOUT>");
pthread_mutex_unlock(&edm->lock);
goto cleanup;
}
pthread_mutex_unlock(&edm->lock);
asn_dec_rval_t dec = asn_decode(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesResponse, (void**) &fr, b2, rl);
if (dec.code != 0) {
rv = 1;
goto cleanup;
}
if (fr->present != FacilitiesResponse_PR_extension ||
fr->choice.extension.returnCode != 0) {
rv = 1;
goto cleanup;
}
if (fr->choice.extension.extendedMsg.size > msg_buf_len) {
rv = 1;
goto cleanup;
}
*msg_len = fr->choice.extension.extendedMsg.size;
memcpy(msg, fr->choice.extension.extendedMsg.buf, fr->choice.extension.extendedMsg.size);
cleanup:
ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
ASN_STRUCT_FREE(asn_DEF_FacilitiesResponse, fr);
return rv;
}
void edm_init() {
facilities.edm.app_socket = itss_0connect(facilities.zmq.applications_address, ZMQ_REQ);
pthread_mutex_init(&facilities.edm.lock, NULL);
}

15
src/edm.h Normal file
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@ -0,0 +1,15 @@
#pragma once
#include <stdint.h>
#include <pthread.h>
#include <stdbool.h>
typedef struct edm {
bool enabled;
pthread_mutex_t lock;
void* app_socket;
} edm_t;
int edm_encap(uint8_t* msg, uint16_t* msg_len, uint16_t msg_buf_len, int its_msg_type);
void edm_init();

9
src/facilities.c
View File

@ -17,7 +17,6 @@
#include <it2s-asn/itss-transport/TransportRequest.h>
#include <it2s-asn/ivim/IVIM.h>
#include <it2s-asn/saem/SAEM.h>
#include <it2s-asn/verco/VERCOe.h>
#include <it2s-tender/packet.h>
#include <it2s-tender/recorder.h>
#include <it2s-tender/space.h>
@ -497,6 +496,11 @@ int main() {
if (facilities.evm_args.activate)
pthread_create(&facilities.evcsn_service, NULL, evcsn_service, NULL);
// EDM
if (facilities.edm.enabled) {
edm_init();
}
security_socket = itss_0connect(facilities.zmq.security_address, ZMQ_REQ);
uint8_t buffer[ITSS_SDU_MAX_LEN];
@ -596,6 +600,9 @@ cleanup:
pthread_join(facilities.transmitting, NULL);
if (facilities.coordination.active)
pthread_join(facilities.vc_service, NULL);
if (facilities.edm.enabled) {
itss_0close(facilities.edm.app_socket);
}
itss_0close(security_socket);
for (int i = 0; i < facilities.zmq.n_responders; ++i) {

4
src/facilities.h
View File

@ -13,6 +13,7 @@
#include "tpm.h"
#include "vcm.h"
#include "evm.h"
#include "edm.h"
#include <it2s-tender/epv.h>
#include <it2s-tender/database.h>
@ -75,6 +76,9 @@ typedef struct facilities {
// EVCSN
evm_args_t evm_args;
// EDM
edm_t edm;
// Logging
struct {
bool recorder;

62
src/requests.c
View File

@ -1,12 +1,12 @@
#include "requests.h"
#include <it2s-asn/camv2/asn_application.h>
#include <it2s-asn/cpm/CPM.h>
#include <it2s-asn/itss-facilities/FacilitiesReply.h>
#include <it2s-asn/itss-transport/TransportRequest.h>
#include <it2s-asn/itss-facilities/FacilitiesIndication.h>
#include <it2s-asn/itss-security/SecurityRequest.h>
#include <it2s-asn/itss-security/SecurityReply.h>
#include <it2s-asn/verco/VERCOe.h>
#include <it2s-tender/packet.h>
#include <it2s-tender/recorder.h>
#include <it2s-tender/space.h>
@ -20,6 +20,28 @@
#include "facilities.h"
#include "infrastructure.h"
static void fwd_to_apps(uint8_t* msg, uint16_t msg_len, int its_msg_type, uint32_t iid) {
FacilitiesIndication_t* fi = NULL;
fi = calloc(1, sizeof(FacilitiesIndication_t));
fi->present = FacilitiesIndication_PR_message;
FacilitiesMessageIndication_t *fmi = &fi->choice.message;
fmi->id = iid;
fmi->itsMessageType = its_msg_type;
fmi->data.size = msg_len;
fmi->data.buf = malloc(msg_len);
memcpy(fmi->data.buf, msg, msg_len);
uint8_t buffer[ITSS_SDU_MAX_LEN];
buffer[0] = 4; // Facilities
asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_FacilitiesIndication, NULL, fi, buffer + 1, ITSS_SDU_MAX_LEN - 1);
itss_queue_send(facilities.tx_queue, buffer, enc.encoded + 1, ITSS_APPLICATIONS, iid, "FI.message");
}
int facilities_request_result_accepted(void *responder) {
int rv = 0;
@ -98,15 +120,6 @@ int facilities_request_single_message(void *responder, FacilitiesMessageRequest_
bpr->destinationPort = Port_cpm;
bpr->gn.packetTransportType = PacketTransportType_shb;
bpr->gn.trafficClass = 2;
break;
case 2044: // VERCOe
its_msg_def = &asn_DEF_VERCOe;
its_msg = calloc(1, sizeof(VERCOe_t));
bpr->destinationPort = 2044;
bpr->gn.packetTransportType = PacketTransportType_shb;
bpr->gn.trafficClass = 2;
break;
case ItsMessageType_evrsr:
@ -605,7 +618,6 @@ cleanup:
return rv;
}
int transport_indication_btp(BTPPacketIndication_t* bpi, void** security_socket) {
int rv = 0;
@ -667,13 +679,6 @@ int transport_indication_btp(BTPPacketIndication_t* bpi, void** security_socket)
its_msg_type = 43;
break;
case 2044: /* VERCOe */
its_msg_descriptor = &asn_DEF_VERCOe;
its_msg = calloc(1, sizeof(VERCOe_t));
its_msg_type = 44;
fwd = true;
break;
case Port_poi: /* EVCSNM */
its_msg_descriptor = &asn_DEF_EvcsnPdu;
its_msg = calloc(1, sizeof(EvcsnPdu_t));
@ -784,10 +789,11 @@ int transport_indication_btp(BTPPacketIndication_t* bpi, void** security_socket)
break;
case 2043:
fwd_to_apps(bpi->data.buf, bpi->data.size, bpi->destinationPort, bpi->id);
fwd = false;
if (facilities.coordination.active) {
vcm_check(its_msg);
}
fwd = true;
break;
case Port_poi:
@ -812,23 +818,7 @@ int transport_indication_btp(BTPPacketIndication_t* bpi, void** security_socket)
// Forward to [applications]
if (fwd) {
fi = calloc(1, sizeof(FacilitiesIndication_t));
fi->present = FacilitiesIndication_PR_message;
FacilitiesMessageIndication_t *fmi = &fi->choice.message;
fmi->id = bpi->id;
fmi->itsMessageType = bpi->destinationPort;
fmi->data.size = bpi->data.size;
fmi->data.buf = malloc(bpi->data.size);
memcpy(fmi->data.buf, bpi->data.buf, bpi->data.size);
uint8_t buffer[ITSS_SDU_MAX_LEN];
buffer[0] = 4; // Facilities
asn_enc_rval_t enc = oer_encode_to_buffer(&asn_DEF_FacilitiesIndication, NULL, fi, buffer + 1, ITSS_SDU_MAX_LEN - 1);
itss_queue_send(facilities.tx_queue, buffer, enc.encoded + 1, ITSS_APPLICATIONS, bpi->id, "FI.message");
fwd_to_apps(bpi->data.buf, bpi->data.size, bpi->destinationPort, bpi->id);
}
// Logging

74
src/vcm.c
View File

@ -12,6 +12,10 @@
#include <it2s-asn/itss-management/ManagementRequest.h>
#include <it2s-asn/vcm/VCM.h>
#include <tgmath.h>
#define TRAJECTORY_C_TH 1.0
static int do_paths_intersect(
itss_st_t* tA, int tA_len, uint16_t vA_length, uint16_t vA_width,
itss_st_t* tB, int tB_len, uint16_t vB_length, uint16_t vB_width,
@ -79,14 +83,26 @@ static void tx_vcm(VCM_t* vcm) {
log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
goto cleanup;
}
ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
uint16_t vcm_len = (enc.encoded + 7) / 8;
tr = calloc(1, sizeof(TransportRequest_t));
tr->present = TransportRequest_PR_packet;
tr->choice.packet.present = TransportPacketRequest_PR_btp;
BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
bpr->btpType = BTPType_btpB;
bpr->id = itss_id(buf, vcm_rep_len);
if (facilities.edm.enabled &&
vcm->vcm.maneuverContainer.present == ManeuverContainer_PR_vehicle &&
vcm->vcm.maneuverContainer.choice.vehicle.negotiation
) {
edm_encap(buf, &vcm_len, buf_len, 2043);
bpr->destinationPortInfo = calloc(1, sizeof(OCTET_STRING_t));
bpr->destinationPortInfo->size = 2;
bpr->destinationPortInfo->buf = malloc(2);
*(uint16_t*)bpr->destinationPortInfo->buf = 0xed;
}
bpr->id = itss_id(buf, vcm_len);
bpr->gn.destinationAddress.buf = malloc(6);
for (int i = 0; i < 6; ++i) {
bpr->gn.destinationAddress.buf[i] = 0xff;
@ -95,9 +111,9 @@ static void tx_vcm(VCM_t* vcm) {
bpr->gn.packetTransportType = PacketTransportType_shb;
bpr->destinationPort = 2043;
bpr->gn.trafficClass = 2;
bpr->data.buf = malloc(vcm_rep_len);
memcpy(bpr->data.buf, buf, vcm_rep_len);
bpr->data.size = vcm_rep_len;
bpr->data.buf = malloc(vcm_len);
memcpy(bpr->data.buf, buf, vcm_len);
bpr->data.size = vcm_len;
buf[0] = 4;
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf+1, buf_len-1);
if (enc.encoded == -1) {
@ -183,6 +199,7 @@ static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_rep->vcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
/*
if (coordination->chain.enabled && coordination->chain.id) {
vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
vcm_rep->vcm.chain->id = coordination->chain.id;
@ -199,6 +216,7 @@ static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_rep->vcm.chain->area->trees.list.array[q]->size = 4;
}
}
*/
vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
@ -348,6 +366,7 @@ static bool commit() {
mvc->negotiation->choice.commit.qp.choice.requesterId = coordination->session.requester->station_id;
}
/*
if (coordination->chain.enabled && coordination->chain.id) {
vcm_com->vcm.chain = calloc(1, sizeof(ChainInformation_t));
vcm_com->vcm.chain->id = coordination->chain.id;
@ -364,6 +383,7 @@ static bool commit() {
vcm_com->vcm.chain->area->trees.list.array[q]->size = 4;
}
}
*/
tx_vcm(vcm_com);
ASN_STRUCT_FREE(asn_DEF_VCM, vcm_com);
@ -495,6 +515,7 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_rep->vcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
/*
if (coordination->chain.enabled && coordination->chain.id && vcm->vcm.chain) {
vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
vcm_rep->vcm.chain->id = coordination->chain.id;
@ -520,6 +541,7 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_rep->vcm.chain->area->trees.list.array[q]->size = 4;
}
}
*/
vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
@ -743,6 +765,7 @@ static int intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_req->vcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&vcm_req->vcm.currentPosition.timestamp, now);
/*
if (coordination->chain.enabled && coordination->chain.id) {
vcm_req->vcm.chain = calloc(1, sizeof(ChainInformation_t));
vcm_req->vcm.chain->id = coordination->chain.id;
@ -759,6 +782,7 @@ static int intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour) {
vcm_req->vcm.chain->area->trees.list.array[q]->size = 4;
}
}
*/
vcm_req->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
ManeuverVehicleContainer_t* mvc = &vcm_req->vcm.maneuverContainer.choice.vehicle;
@ -1052,6 +1076,7 @@ static int mk_vcm() {
vcm->vcm.currentPosition.longitude = lon;
asn_ulong2INTEGER(&vcm->vcm.currentPosition.timestamp, now);
/*
if (coordination->chain.enabled && coordination->chain.id) {
vcm->vcm.chain = calloc(1, sizeof(ChainInformation_t));
vcm->vcm.chain->id = coordination->chain.id;
@ -1068,6 +1093,7 @@ static int mk_vcm() {
vcm->vcm.chain->area->trees.list.array[q]->size = 4;
}
}
*/
if (facilities.station_type == StationType_roadSideUnit) {
vcm->vcm.maneuverContainer.present = ManeuverContainer_PR_rsu;
@ -1109,7 +1135,43 @@ static bool vcm_timer_check(coordination_t* coordination, uint64_t now) {
bool send = false;
if (now > coordination->t_last_send_vcm + coordination->vcm_period_max) {
send = true;
return true;
}
if (now < coordination->t_last_send_vcm + coordination->vcm_period_min) {
return false;
}
if (facilities.station_type != StationType_roadSideUnit) { // Vehicle
itss_trajectory_lock();
if (epv.trajectory.len > 2) {
double c_sum = 0;
for (int i = 0; i < epv.trajectory.len - 2; ++i) {
double d1 = itss_haversine(
epv.trajectory.path[i+1].latitude / 1.0e7,
epv.trajectory.path[i+1].longitude / 1.0e7,
epv.trajectory.path[i].latitude / 1.0e7,
epv.trajectory.path[i].longitude / 1.0e7);
double t1 = atan2(
epv.trajectory.path[i+1].latitude - epv.trajectory.path[i].latitude ,
epv.trajectory.path[i+1].longitude - epv.trajectory.path[i].longitude);
double t2 = atan2(
epv.trajectory.path[i+2].latitude - epv.trajectory.path[i].latitude ,
epv.trajectory.path[i+2].longitude - epv.trajectory.path[i].longitude);
c_sum += fabs(sin(t2-t1)*d1);
}
if (fabs(c_sum - coordination->previous_c) > TRAJECTORY_C_TH) {
send = true;
coordination->previous_c = c_sum;
}
}
itss_trajectory_unlock(epv);
}
return send;

1
src/vcm.h
View File

@ -50,6 +50,7 @@ typedef struct coordination {
uint64_t t_last_send_vcm; /* timestamp of last sent (basic) VCM */
uint64_t vcm_period_min;
uint64_t vcm_period_max;
double previous_c;
struct {
VCM_t* own_req; /* last VCM.request sent */