add c-code for CPM

.vscode/launch.json

@@ -30,6 +30,24 @@
       "justMyCode": true
     },
 
+    {
+      "name": "CPM asn1ToC",
+      "type": "python",
+      "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/raw/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn",
+        "-o", "etsi_its_coding/etsi_its_cpm_coding"
+      ],
+      "console": "integratedTerminal",
+      "justMyCode": true
+    },
+
     {
       "name": "CAM asn1ToRosMsg",
       "type": "python",

etsi_its_coding/etsi_its_cpm_coding/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(etsi_its_cpm_coding)
+
+find_package(ros_environment REQUIRED QUIET)
+set(ROS_VERSION $ENV{ROS_VERSION})
+
+AUX_SOURCE_DIRECTORY(src SRC_FILES)
+
+# === ROS 2 (AMENT) ============================================================
+if(${ROS_VERSION} EQUAL 2)
+
+  find_package(ament_cmake REQUIRED)
+
+  add_library(${PROJECT_NAME} SHARED
+    ${SRC_FILES}
+  )
+
+  target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
+  )
+
+  ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
+
+  install(DIRECTORY include/
+    DESTINATION include
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}Targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib
+    INCLUDES DESTINATION include
+  )
+
+  ament_package()
+
+# === ROS (CATKIN) =============================================================
+elseif(${ROS_VERSION} EQUAL 1)
+
+  find_package(catkin REQUIRED)
+
+  catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ${PROJECT_NAME}
+  )
+
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
+  )
+
+  add_library(${PROJECT_NAME} SHARED
+    ${SRC_FILES}
+  )
+
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  )
+
+  install(DIRECTORY include/${PROJECT_NAME}/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+  )
+
+endif()

etsi_its_coding/etsi_its_cpm_coding/include/etsi_its_cpm_coding/ANY.h

@@ -0,0 +1,84 @@
+/*-
+ * Copyright (c) 2004-2017 Lev Walkin <[email protected]>. All rights reserved.
+ * Redistribution and modifications are permitted subject to BSD license.
+ */
+#ifndef ASN_TYPE_ANY_H
+#define ASN_TYPE_ANY_H
+
+#include <etsi_its_cpm_coding/OCTET_STRING.h>	/* Implemented via OCTET STRING type */
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct ANY {
+	uint8_t *buf;	/* BER-encoded ANY contents */
+	int size;	/* Size of the above buffer */
+
+	asn_struct_ctx_t _asn_ctx;	/* Parsing across buffer boundaries */
+} ANY_t;
+
+extern asn_TYPE_descriptor_t asn_DEF_ANY;
+extern asn_TYPE_operation_t asn_OP_ANY;
+extern asn_OCTET_STRING_specifics_t asn_SPC_ANY_specs;
+
+#define ANY_free OCTET_STRING_free
+
+#if !defined(ASN_DISABLE_PRINT_SUPPORT)
+#define ANY_print OCTET_STRING_print
+#endif  /* !defined(ASN_DISABLE_PRINT_SUPPORT) */
+
+#define ANY_compare OCTET_STRING_compare
+
+#define ANY_constraint asn_generic_no_constraint
+
+#if !defined(ASN_DISABLE_BER_SUPPORT)
+#define ANY_decode_ber OCTET_STRING_decode_ber
+#define ANY_encode_der OCTET_STRING_encode_der
+#endif  /* !defined(ASN_DISABLE_BER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_XER_SUPPORT)
+#define ANY_decode_xer OCTET_STRING_decode_xer_hex
+xer_type_encoder_f ANY_encode_xer;
+#endif  /* !defined(ASN_DISABLE_XER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_JER_SUPPORT)
+jer_type_encoder_f ANY_encode_jer;
+#endif  /* !defined(ASN_DISABLE_JER_SUPPORT) */
+
+#if !defined(ASN_DISABLE_UPER_SUPPORT)
+per_type_decoder_f ANY_decode_uper;
+per_type_encoder_f ANY_encode_uper;
+#endif  /* !defined(ASN_DISABLE_UPER_SUPPORT) */
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+per_type_decoder_f ANY_decode_aper;
+per_type_encoder_f ANY_encode_aper;
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+/******************************
+ * Handy conversion routines. *
+ ******************************/
+
+/* Convert another ASN.1 type into the ANY. This implies DER encoding. */
+int ANY_fromType(ANY_t *, asn_TYPE_descriptor_t *td, void *struct_ptr);
+ANY_t *ANY_new_fromType(asn_TYPE_descriptor_t *td, void *struct_ptr);
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+int ANY_fromType_aper(ANY_t *st, asn_TYPE_descriptor_t *td, void *sptr);
+ANY_t *ANY_new_fromType_aper(asn_TYPE_descriptor_t *td, void *sptr);
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+/* Convert the contents of the ANY type into the specified type. */
+int ANY_to_type(ANY_t *, asn_TYPE_descriptor_t *td, void **struct_ptr);
+#if !defined(ASN_DISABLE_APER_SUPPORT)
+int ANY_to_type_aper(ANY_t *, asn_TYPE_descriptor_t *td, void **struct_ptr);
+#endif  /* !defined(ASN_DISABLE_APER_SUPPORT) */
+
+#define	ANY_fromBuf(s, buf, size)	OCTET_STRING_fromBuf((s), (buf), (size))
+#define	ANY_new_fromBuf(buf, size)	OCTET_STRING_new_fromBuf(	\
+						&asn_DEF_ANY, (buf), (size))
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* ASN_TYPE_ANY_H */

etsi_its_coding/etsi_its_cpm_coding/include/etsi_its_cpm_coding/Acceleration3dWithConfidence.h

@@ -0,0 +1,53 @@
+/*
+ * Generated by asn1c-0.9.29-DF (http://lionet.info/asn1c)
+ * From ASN.1 module "ETSI-ITS-CDD"
+ * 	found in "/input/ETSI-ITS-CDD.asn"
+ * 	`asn1c -fcompound-names -no-gen-example -gen-UPER`
+ */
+
+
+/* Including external dependencies */
+#include "etsi_its_cpm_coding/AccelerationPolarWithZ.h"
+#include "etsi_its_cpm_coding/AccelerationCartesian.h"
+#include <etsi_its_cpm_coding/constr_CHOICE.h>
+#ifndef	_Acceleration3dWithConfidence_H_
+#define	_Acceleration3dWithConfidence_H_
+
+
+#include <etsi_its_cpm_coding/asn_application.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Dependencies */
+typedef enum Acceleration3dWithConfidence_PR {
+	Acceleration3dWithConfidence_PR_NOTHING,	/* No components present */
+	Acceleration3dWithConfidence_PR_polarAcceleration,
+	Acceleration3dWithConfidence_PR_cartesianAcceleration
+} Acceleration3dWithConfidence_PR;
+
+/* Acceleration3dWithConfidence */
+typedef struct Acceleration3dWithConfidence {
+	Acceleration3dWithConfidence_PR present;
+	union Acceleration3dWithConfidence_u {
+		AccelerationPolarWithZ_t	 polarAcceleration;
+		AccelerationCartesian_t	 cartesianAcceleration;
+	} choice;
+
+	/* Context for parsing across buffer boundaries */
+	asn_struct_ctx_t _asn_ctx;
+} Acceleration3dWithConfidence_t;
+
+/* Implementation */
+extern asn_TYPE_descriptor_t asn_DEF_Acceleration3dWithConfidence;
+extern asn_CHOICE_specifics_t asn_SPC_Acceleration3dWithConfidence_specs_1;
+extern asn_TYPE_member_t asn_MBR_Acceleration3dWithConfidence_1[2];
+extern asn_per_constraints_t asn_PER_type_Acceleration3dWithConfidence_constr_1;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _Acceleration3dWithConfidence_H_ */
+#include <etsi_its_cpm_coding/asn_internal.h>

etsi_its_coding/etsi_its_cpm_coding/include/etsi_its_cpm_coding/AccelerationCartesian.h

@@ -0,0 +1,48 @@
+/*
+ * Generated by asn1c-0.9.29-DF (http://lionet.info/asn1c)
+ * From ASN.1 module "ETSI-ITS-CDD"
+ * 	found in "/input/ETSI-ITS-CDD.asn"
+ * 	`asn1c -fcompound-names -no-gen-example -gen-UPER`
+ */
+
+
+/* Including external dependencies */
+#include "etsi_its_cpm_coding/AccelerationComponent.h"
+#include <etsi_its_cpm_coding/constr_SEQUENCE.h>
+#ifndef	_AccelerationCartesian_H_
+#define	_AccelerationCartesian_H_
+
+
+#include <etsi_its_cpm_coding/asn_application.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Forward declarations */
+struct AccelerationComponent;
+
+/* AccelerationCartesian */
+typedef struct AccelerationCartesian {
+	AccelerationComponent_t	 xAcceleration;
+	AccelerationComponent_t	 yAcceleration;
+	struct AccelerationComponent	*zAcceleration;	/* OPTIONAL */
+
+	/* Context for parsing across buffer boundaries */
+	asn_struct_ctx_t _asn_ctx;
+} AccelerationCartesian_t;
+
+/* Implementation */
+extern asn_TYPE_descriptor_t asn_DEF_AccelerationCartesian;
+extern asn_SEQUENCE_specifics_t asn_SPC_AccelerationCartesian_specs_1;
+extern asn_TYPE_member_t asn_MBR_AccelerationCartesian_1[3];
+
+#ifdef __cplusplus
+}
+#endif
+
+/* Referred external types */
+#include "etsi_its_cpm_coding/AccelerationComponent.h"
+
+#endif	/* _AccelerationCartesian_H_ */
+#include <etsi_its_cpm_coding/asn_internal.h>

etsi_its_coding/etsi_its_cpm_coding/include/etsi_its_cpm_coding/AccelerationChange.h

@@ -0,0 +1,54 @@
+/*
+ * Generated by asn1c-0.9.29-DF (http://lionet.info/asn1c)
+ * From ASN.1 module "ETSI-ITS-CDD"
+ * 	found in "/input/ETSI-ITS-CDD.asn"
+ * 	`asn1c -fcompound-names -no-gen-example -gen-UPER`
+ */
+
+
+/* Including external dependencies */
+#include <etsi_its_cpm_coding/NativeEnumerated.h>
+#ifndef	_AccelerationChange_H_
+#define	_AccelerationChange_H_
+
+
+#include <etsi_its_cpm_coding/asn_application.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Dependencies */
+typedef enum AccelerationChange {
+	AccelerationChange_accelerate	= 0,
+	AccelerationChange_decelerate	= 1
+} e_AccelerationChange;
+
+/* AccelerationChange */
+typedef long	 AccelerationChange_t;
+
+/* Implementation */
+extern asn_per_constraints_t asn_PER_type_AccelerationChange_constr_1;
+extern asn_TYPE_descriptor_t asn_DEF_AccelerationChange;
+extern const asn_INTEGER_specifics_t asn_SPC_AccelerationChange_specs_1;
+asn_struct_free_f AccelerationChange_free;
+asn_struct_print_f AccelerationChange_print;
+asn_constr_check_f AccelerationChange_constraint;
+ber_type_decoder_f AccelerationChange_decode_ber;
+der_type_encoder_f AccelerationChange_encode_der;
+xer_type_decoder_f AccelerationChange_decode_xer;
+xer_type_encoder_f AccelerationChange_encode_xer;
+jer_type_encoder_f AccelerationChange_encode_jer;
+oer_type_decoder_f AccelerationChange_decode_oer;
+oer_type_encoder_f AccelerationChange_encode_oer;
+per_type_decoder_f AccelerationChange_decode_uper;
+per_type_encoder_f AccelerationChange_encode_uper;
+per_type_decoder_f AccelerationChange_decode_aper;
+per_type_encoder_f AccelerationChange_encode_aper;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _AccelerationChange_H_ */
+#include <etsi_its_cpm_coding/asn_internal.h>

etsi_its_coding/etsi_its_cpm_coding/include/etsi_its_cpm_coding/AccelerationChangeIndication.h

@@ -0,0 +1,44 @@
+/*
+ * Generated by asn1c-0.9.29-DF (http://lionet.info/asn1c)
+ * From ASN.1 module "ETSI-ITS-CDD"
+ * 	found in "/input/ETSI-ITS-CDD.asn"
+ * 	`asn1c -fcompound-names -no-gen-example -gen-UPER`
+ */
+
+
+/* Including external dependencies */
+#include "etsi_its_cpm_coding/AccelerationChange.h"
+#include "etsi_its_cpm_coding/DeltaTimeTenthOfSecond.h"
+#include <etsi_its_cpm_coding/constr_SEQUENCE.h>
+#ifndef	_AccelerationChangeIndication_H_
+#define	_AccelerationChangeIndication_H_
+
+
+#include <etsi_its_cpm_coding/asn_application.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* AccelerationChangeIndication */
+typedef struct AccelerationChangeIndication {
+	AccelerationChange_t	 accelOrDecel;
+	DeltaTimeTenthOfSecond_t	 actionDeltaTime;
+	/*
+	 * This type is extensible,
+	 * possible extensions are below.
+	 */
+
+	/* Context for parsing across buffer boundaries */
+	asn_struct_ctx_t _asn_ctx;
+} AccelerationChangeIndication_t;
+
+/* Implementation */
+extern asn_TYPE_descriptor_t asn_DEF_AccelerationChangeIndication;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif	/* _AccelerationChangeIndication_H_ */
+#include <etsi_its_cpm_coding/asn_internal.h>