Merge pull request #22 from ika-rwth-aachen/improvement/package-naming

Enable parallel handling for TS and EN versions of the same message type
ika-rwth-aachen · Jul 9, 2024 · 06eefef · 06eefef
2 parents 9372249 + 46c2ca8
commit 06eefef
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diff --git a/.github/workflows/codegen.yml b/.github/workflows/codegen.yml
@@ -48,8 +48,8 @@ jobs:
             script: ./utils/codegen/asn1ToC.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -t cam -o etsi_its_coding/etsi_its_cam_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
           - message: denm
             script: ./utils/codegen/asn1ToC.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_coding/etsi_its_denm_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
-          - message: cpm
-            script: ./utils/codegen/asn1ToC.py 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 -o etsi_its_coding/etsi_its_cpm_coding -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/asn1ToC.py 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 -di ghcr.io/${{ github.repository }}:asn1c_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code
@@ -90,8 +90,8 @@ jobs:
             script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -o etsi_its_msgs/etsi_its_cam_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
           - message: denm
             script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -o etsi_its_msgs/etsi_its_denm_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
-          - message: cpm
-            script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py 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_msgs/msg -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/codegen-rust/asn1ToRosMsg.py 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 -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code
@@ -124,8 +124,8 @@ jobs:
             script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py asn1/raw/cam_en302637_2/CAM-PDU-Descriptions.asn asn1/raw/cam_en302637_2/cdd/ITS-Container.asn -t cam -o etsi_its_conversion/etsi_its_cam_conversion/include/etsi_its_cam_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
           - message: denm
             script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py asn1/raw/denm_en302637_3/DENM-PDU-Descriptions.asn asn1/raw/denm_en302637_3/cdd/ITS-Container.asn -t denm -o etsi_its_conversion/etsi_its_denm_conversion/include/etsi_its_denm_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
-          - message: cpm
-            script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py 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 -o etsi_its_conversion/etsi_its_cpm_conversion/include/etsi_its_cpm_conversion -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
+          - message: cpm_ts
+            script: ./utils/codegen/codegen-rust/asn1ToConversionHeader.py 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 -di ghcr.io/${{ github.repository }}:rgen_${{ github.sha }}_ci
 
     steps:
     - name: Checkout code

diff --git a/.github/workflows/docker-ros.yml b/.github/workflows/docker-ros.yml
@@ -9,7 +9,7 @@ jobs:
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: dev,run
           image-tag: ros
           base-image: rwthika/ros:noetic
@@ -22,20 +22,20 @@ jobs:
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: dev,run
           image-tag: ros2
           base-image: rwthika/ros2:humble
           command: ros2 launch etsi_its_conversion converter.launch.py
           enable-industrial-ci: 'true'
           enable-recursive-vcs-import: 'false'
-  
+
   ros2-iron:
     runs-on: ubuntu-latest
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: dev,run
           image-tag: ros2-iron
           base-image: rwthika/ros2:iron
@@ -48,7 +48,7 @@ jobs:
     steps:
       - uses: ika-rwth-aachen/docker-ros@main
         with:
-          platform: amd64,arm64
+          platform: amd64
           target: dev,run
           image-tag: ros2-jazzy
           base-image: ubuntu:24.04

diff --git a/.gitlab-ci.codegen.yml b/.gitlab-ci.codegen.yml
@@ -81,7 +81,7 @@ etsi_its_denm_coding:
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
-etsi_its_cpm_coding:
+etsi_its_cpm_ts_coding:
   stage: asn1c
   needs: ["asn1c-docker"]
   script:
@@ -93,8 +93,8 @@ etsi_its_cpm_coding:
       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
-      -o etsi_its_coding/etsi_its_cpm_coding
+      -t cpm_ts
+      -o etsi_its_coding/etsi_its_cpm_ts_coding
       -td /builds/$CI_PROJECT_PATH/tmp
       -di ${_ASN1C_CI_IMAGE}
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
@@ -128,7 +128,7 @@ etsi_its_denm_msgs:
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
-etsi_its_cpm_msgs:
+etsi_its_cpm_ts_msgs:
   stage: ROS Messages
   needs: ["rgen-docker"]
   script:
@@ -140,7 +140,7 @@ etsi_its_cpm_msgs:
       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_msgs/msg
+      -o etsi_its_msgs/etsi_its_cpm_ts_msgs/msg
       -td /builds/$CI_PROJECT_PATH/tmp
       -di ${_RGEN_CI_IMAGE}
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
@@ -176,7 +176,7 @@ etsi_its_denm_conversion:
     - rm -rf /builds/$CI_PROJECT_PATH/tmp
     - if [[ ! -z "$(git status --porcelain)" ]]; then echo "Code generation script resulted in changes to the repository" && git diff; exit 1; fi
 
-etsi_its_cpm_conversion:
+etsi_its_cpm_ts_conversion:
   stage: Conversion Headers
   needs: ["rgen-docker"]
   script:
@@ -188,8 +188,8 @@ etsi_its_cpm_conversion:
       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
-      -o etsi_its_conversion/etsi_its_cpm_conversion/include/etsi_its_cpm_conversion
+      -t cpm_ts
+      -o etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion
       -td /builds/$CI_PROJECT_PATH/tmp
       -di ${_RGEN_CI_IMAGE}
     - rm -rf /builds/$CI_PROJECT_PATH/tmp

diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -100,7 +100,7 @@
             "justMyCode": true
         },
         {
-            "name": "CPM (coding)",
+            "name": "CPM TS (coding)",
             "preLaunchTask": "Patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
@@ -113,15 +113,15 @@
                 "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
                 "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
                 "-t",
-                "cpm",
+                "cpm_ts",
                 "-o",
-                "etsi_its_coding/etsi_its_cpm_coding"
+                "etsi_its_coding/etsi_its_cpm_ts_coding"
             ],
             "console": "integratedTerminal",
             "justMyCode": true
         },
         {
-            "name": "CPM (msgs)",
+            "name": "CPM TS (msgs)",
             "preLaunchTask": "Patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
@@ -134,13 +134,13 @@
                 "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_msgs/msg"
+                "etsi_its_msgs/etsi_its_cpm_ts_msgs/msg"
             ],
             "console": "integratedTerminal",
             "justMyCode": true
         },
         {
-            "name": "CPM (conversion)",
+            "name": "CPM TS (conversion)",
             "preLaunchTask": "Patch ASN.1 files",
             "type": "debugpy",
             "request": "launch",
@@ -153,9 +153,9 @@
                 "asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn",
                 "asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
                 "-t",
-                "cpm",
+                "cpm_ts",
                 "-o",
-                "etsi_its_conversion/etsi_its_cpm_conversion/include/etsi_its_cpm_conversion"
+                "etsi_its_conversion/etsi_its_cpm_ts_conversion/include/etsi_its_cpm_ts_conversion"
             ],
             "console": "integratedTerminal",
             "justMyCode": true

diff --git a/README.md b/README.md
@@ -50,14 +50,17 @@ During runtime, the `etsi_its_conversion` ROS node converts incoming UDP payload
 
 ## Supported ETSI ITS Messages
 
-| Status | Acronym | Name | Version | Definition | Repository |
-| --- | --- | --- | --- | --- | --- |
-| :white_check_mark: | CAM | Cooperative Awareness Message | 1.4.1 | [Link](https://www.etsi.org/deliver/etsi_en/302600_302699/30263702/01.04.01_60/en_30263702v010401p.pdf) | [Link](https://forge.etsi.org/rep/ITS/asn1/cam_en302637_2) |
-| :white_check_mark: | DENM | Decentralized Environmental Notification Message | 1.3.1 | [Link](https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.03.01_60/en_30263703v010301p.pdf) | [Link](https://forge.etsi.org/rep/ITS/asn1/denm_en302637_3) |
-| :white_check_mark: | CPM | Collective Perception Message | 2.1.1 | [Link](https://www.etsi.org/deliver/etsi_ts/103300_103399/103324/02.01.01_60/ts_103324v020101p.pdf) | [Link](https://forge.etsi.org/rep/ITS/asn1/cpm_ts103324) |
+| Status | Acronym | Name | EN Specification | TS Specification |
+| --- | --- | --- | --- | --- |
+| :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)) | - |
+| :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 | - | - | - |
 
+> [!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`.
+
 
 ## Packages
 
@@ -66,19 +69,19 @@ etsi_its_messages
 ├── etsi_its_coding
 │   ├── etsi_its_coding         # metapackage including all coding packages
 │   ├── etsi_its_cam_coding
-│   ├── etsi_its_cpm_coding
+│   ├── etsi_its_cpm_ts_coding
 │   └── etsi_its_denm_coding
 ├── etsi_its_conversion
 │   ├── etsi_its_conversion     # conversion node depending on all conversion packages
 │   ├── etsi_its_cam_conversion
-│   ├── etsi_its_cpm_conversion
+│   ├── etsi_its_cpm_ts_conversion
 │   ├── etsi_its_denm_conversion
 │   └── etsi_its_primitives_conversion
 ├── etsi_its_messages           # metapackage including all others
 ├── etsi_its_msgs
 │   ├── etsi_its_msgs           # metapackage including all msg packages
 │   ├── etsi_its_cam_msgs
-│   ├── etsi_its_cpm_msgs
+│   ├── etsi_its_cpm_ts_msgs
 │   └── etsi_its_denm_msgs
 ├── etsi_its_msgs_utils
 └── etsi_its_rviz_plugins
@@ -138,12 +141,12 @@ The conversion node bridges all ETSI ITS message types at the same time in both
 # ROS 2
 ros2 launch etsi_its_conversion converter.launch.py
 # or
-ros2 run etsi_its_conversion etsi_its_conversion_node --ros-args -p etsi_types:=[cam,cpm,denm] -p has_btp_destination_port:=true -p btp_destination_port_offset:=8 -p etsi_message_payload_offset:=78
+ros2 run etsi_its_conversion etsi_its_conversion_node --ros-args -p etsi_types:=[cam,cpm_ts,denm] -p has_btp_destination_port:=true -p btp_destination_port_offset:=8 -p etsi_message_payload_offset:=78
 
 # ROS
 roslaunch etsi_its_conversion converter.ros1.launch
 # or
-rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[cam,cpm,denm] _has_btp_destination_port:=true _btp_destination_port_offset:=8 _etsi_message_payload_offset:=78
+rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[cam,cpm_ts,denm] _has_btp_destination_port:=true _btp_destination_port_offset:=8 _etsi_message_payload_offset:=78
 ```
 
 #### Subscribed Topics
@@ -152,7 +155,7 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | --- | --- | --- |
 | `~/udp/in` | `udp_msgs/msg/UdpPacket` | UDP payload for conversion to ROS |
 | `~/cam/in` | `etsi_its_cam_msgs/msg/CAM` | CAM for conversion to UDP |
-| `~/cpm/in` | `etsi_its_cpm_msgs/msg/CollectivePerceptionMessage` | CPM for conversion to UDP |
+| `~/cpm_ts/in` | `etsi_its_cpm_ts_msgs/msg/CollectivePerceptionMessage` | CPM for conversion to UDP |
 | `~/denm/in` | `etsi_its_denm_msgs/msg/DENM` | DENM for conversion to UDP |
 
 #### Published Topics
@@ -161,7 +164,7 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | --- | --- | --- |
 | `~/udp/out` | `udp_msgs/msg/UdpPacket` | UDP payload converted from ROS message |
 | `~/cam/out` | `etsi_its_cam_msgs/msg/CAM` | CAM converted from UDP payload |
-| `~/cpm/out` | `etsi_its_cpm_msgs/msg/CollectivePerceptionMessage` | CPM converted from UDP payload |
+| `~/cpm_ts/out` | `etsi_its_cpm_ts_msgs/msg/CollectivePerceptionMessage` | CPM converted from UDP payload |
 | `~/denm/out` | `etsi_its_denm_msgs/msg/DENM` | DENM converted from UDP payload |
 
 #### Parameters
@@ -171,7 +174,7 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
 | `has_btp_destination_port` | `bool` | whether incoming/outgoing UDP messages include a [2-byte BTP destination port](https://www.etsi.org/deliver/etsi_en/302600_302699/3026360501/02.01.00_20/en_3026360501v020100a.pdf) |
 | `btp_destination_port_offset` | `int` | number of bytes before an optional 2-byte BTP destination port, see `has_btp_destination_port` |
 | `etsi_message_payload_offset` | `int` | number of bytes before actual ETSI message payload |
-| `etsi_types` | `string[]` | list of ETSI types to convert | `cam`, `cpm`, `denm` |
+| `etsi_types` | `string[]` | list of ETSI types to convert | `cam`, `cpm_ts`, `denm` |
 
 
 ## Access Functions

diff --git a/etsi_its_coding/etsi_its_coding/package.xml b/etsi_its_coding/etsi_its_coding/package.xml
@@ -17,7 +17,7 @@
 
   <depend>etsi_its_cam_coding</depend>
   <depend>etsi_its_denm_coding</depend>
-  <depend>etsi_its_cpm_coding</depend>
+  <depend>etsi_its_cpm_ts_coding</depend>
   <depend>ros_environment</depend>
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>

diff --git a/etsi_its_coding/etsi_its_cpm_coding/CMakeLists.txt b/etsi_its_coding/etsi_its_cpm_coding/CMakeLists.txt