/**
 * Creator: ASNDT (http://www.asnlab.org)
 * Author: WANGYizhi
 * Created: Thu Jul 25 14:58:48 CST 2019
 */
SensorSharing DEFINITIONS AUTOMATIC TAGS ::= BEGIN

-- imports and exports

EXPORTS SensorSharingMsg, AccSet4WayConfidence, Polygon;
IMPORTS MsgCount FROM MsgFrame
		Position3D, PositionConfidenceSet FROM DefPosition
		ParticipantData, SourceType FROM RSM
		RTEList FROM RSI
		DSecond, TimeOffset FROM DefTime
		PathHistory, Confidence FROM VehSafetyExt
		ExteriorLights FROM VehStatus
		HeadingConfidence, Speed, Heading, SpeedConfidence FROM DefMotion
		YawRate, AccelerationSet4Way FROM DefAcceleration
		PositionOffsetLLV FROM DefPositionOffset
		Non-motorData FROM PSM
		DriveBehavior, PathPlanning FROM VIR;
	
	SensorSharingMsg ::= SEQUENCE {
		msgCnt MsgCount,
		id OCTET STRING (SIZE(8)),
		-- temperary vehicle ID / RSU ID
		-- who provides the sensor sharing info.
		equipmentType EquipmentType,
		-- Type of the sender
		secMark DSecond,
		sensorPos Position3D,
		-- Position of the RSU or OBU that sends this message
		-- Used as the reference position within this VSS message
		detectedRegion DetectedRegion OPTIONAL,
		-- detection area description
		--自动驾驶车辆结合目标物的输出做不同的安全策略
		participants DetectedPTCList OPTIONAL,
		-- All or part of the traffic participants 
		obstacles DetectedObstacleList OPTIONAL,
		-- All or part of Obstacles
		rtes RTEList OPTIONAL,
		-- All the rte data packed in this message
		...
	}
	
	DetectedRegion ::= SEQUENCE (SIZE(1.. 8)) OF Polygon
	
	EquipmentType ::= ENUMERATED{
		unknown (0),
		rsu (1),
		obu (2),
		vru (3),
		...
	}
	
	DetectedPTCList ::= SEQUENCE (SIZE(1..512)) OF DetectedPTCData
	-- 一个大路口的目标物可以达到300到500
	-- 实际使用时，需要考虑底层空口资源能力
	
	DetectedPTCData::= SEQUENCE {
		ptc ParticipantData,
		-- Basic information of traffic participant
		objSizeConfidence ObjectSizeConfidence OPTIONAL,
		--大小置信度
		detectedPTCType DetectedPTCType OPTIONAL,
		-- DayI中ParticipantType类型很少，考虑是扩展原有的还是将ParticipantType作为一级分类，新增字段作为二级分类
		typeConfidence Confidence OPTIONAL,
		-- 类型置信度
		acc4WayConfidence AccSet4WayConfidence OPTIONAL,
		--四轴加速度置信度
        statusDuration TimeOffset OPTIONAL,
        -- Time length for which ptc keeps the same situation
        -- Mainly used for stationary vehicle
        pathHistory PathHistory OPTIONAL,
        planningList PlanningList OPTIONAL,
        -- 路侧对被感知对象的预测可以比车端做得更优，协同预测
        tracking INTEGER (1..65535) OPTIONAL,
		-- tracking time of this obstacle
		-- in seconds
        polygon Polygon OPTIONAL,
        -- 3D vertex list
        
        type-relatedExt CHOICE { 
			motorExt MotorDataExtension,
			-- Data Extension for vehicle
	        non-motorExt Non-motorDataExtension,
	        -- Data Extension for vehicle
	        ...
		} OPTIONAL,
        ...
	}
	
	PlanningList::= SEQUENCE(SIZE(1..8)) OF Planning	
	Planning::=SEQUENCE{
		duration PlanningDuration OPTIONAL,
		-- time duration for this plan
		planConfidence Confidence OPTIONAL,
		drivingBehavior DriveBehavior OPTIONAL,
		pathPlanning PathPlanning OPTIONAL,
        ...
	}

	PlanningDuration ::= INTEGER (0..600)
	-- Unit 0.1s
	
	AccSet4WayConfidence ::= SEQUENCE {
		lonAccConfidence AccConfidence,
		latAccConfidence AccConfidence,
		vertAccConfidence AccConfidence,
		yawRateCon AngularVConfidence
	}

	AccConfidence::= ENUMERATED {
		unavailable (0), -- Not Equipped or unavailable
		prec100deg (1), -- 100 m/s2
		prec10deg (2), -- 10 m/s2
		prec5deg (3), -- 5 m/s2
		prec1deg (4), -- 1 m/s2
		prec0-1deg (5), -- 0.1 m/s2
		prec0-05deg (6), -- 0.05 m/s2
		prec0-01deg (7) -- 0.01m/s2
	}-- Encoded as a 3 bit value

	DetectedPTCType::= ENUMERATED {
		unknown (0),
		-- 未知障碍物
		unknown-movable(1),
		-- 未知可移动障碍物
		unknown-unmovable(2),
		-- 未知不可移动障碍物
		car(3),
		-- 轿车
		van(4),
		--面包车
		truck(5),
		--卡车
		bus(6),
		--大巴
		cyclist(7),
		--自行车
		motorcyclist(8),
		--摩托车
		tricyclist(9),
		--三轮车
		pedestrian(10),
		--行人
		...
		--可能会再扩展
}
 
	MotorDataExtension ::= SEQUENCE {
	    lights ExteriorLights OPTIONAL,
		vehAttitude Attitude OPTIONAL,
		vehAttitudeConfidence AttitudeConfidence OPTIONAL,
		vehAngVel AngularVelocity OPTIONAL,
		vehAngVelConfidence AngularVelocityConfidence OPTIONAL,
		...
	}
	
	Polygon ::= SEQUENCE(SIZE(4..32)) OF PositionOffsetLLV
	
	Attitude ::= SEQUENCE {
		pitch Pitch,
		roll Roll,
		yaw Yaw
	}

	Pitch ::= INTEGER (-7200..7200) 
	-- LSB units of 0.0125 degrees (signed)
	-- range of -90 to 90 degrees
	Roll ::= INTEGER (-7200..7200) 
	-- LSB units of 0.0125 degrees (signed)
	-- range of -90 to 90 degrees 
    Yaw ::= INTEGER (-14400..14400)
   	-- LSB units of 0.0125 degrees (signed)
    -- range of -180 to 180 degrees

	AttitudeConfidence ::= SEQUENCE {
		pitchConfidence HeadingConfidence,
		rollRateConfidence HeadingConfidence,
		yawRate HeadingConfidence
	}
		
	AngularVelocity ::= SEQUENCE {
		pitchRate PitchRate,
		rollRate RollRate,
		yawRate YawRate
	}

	PitchRate ::= INTEGER (-32767..32767) 
	-- LSB units of 0.01 degrees per second(signed)

	RollRate ::= INTEGER (-32767..32767) 
	-- LSB units of 0.01 degrees per second(signed)

	AngularVelocityConfidence ::= SEQUENCE {
		pitchRate AngularVConfidence,
		rollRate AngularVConfidence,
		yawRate AngularVConfidence
	}

	AngularVConfidence ::= ENUMERATED {
		unavailable (0), -- Not Equipped or unavailable
		prec100deg (1), -- 100 degree / sec
		prec10deg (2), -- 10 degree / sec
		prec5deg (3), -- 5 degree / sec
		prec1deg (4), -- 1 degree / sec
		prec0-1deg (5), -- 0.1 degree / sec
		prec0-05deg (6), -- 0.05 degree / sec
		prec0-01deg (7) -- 0.01 degree / sec
		}-- Encoded as a 3 bit value

	Non-motorDataExtension ::= SEQUENCE {
		overallRadius INTEGER (0..200),
		-- In units of one decimeter
		-- Radius considering cluster or attachment
		
		-- Type-related Data --
		non-motorData Non-motorData,
		...
	}

	DetectedObstacleList ::= SEQUENCE (SIZE(1..64)) OF DetectedObstacleData
	
	DetectedObstacleData ::= SEQUENCE {
		obsType ObstacleType,
		objTypeConfidence Confidence OPTIONAL,
		obsId INTEGER (0..65535),
		-- temporary ID set by the message sender
		-- 0 is reserved
		-- 1..255 represent different detected obstacles
		-- obsId of different participant needs to be unique locally
		source SourceType,
		secMark DSecond,
		pos PositionOffsetLLV,
		posConfidence PositionConfidenceSet,
		speed Speed,
		speedCfd SpeedConfidence OPTIONAL,
		heading Heading,
		headingCfd HeadingConfidence OPTIONAL,
		verSpeed Speed OPTIONAL,
		verSpeedConfidence SpeedConfidence OPTIONAL,
		accelSet AccelerationSet4Way OPTIONAL,
		size ObjectSize,
		objSizeConfidence ObjectSizeConfidence OPTIONAL,
		tracking INTEGER (1..65535) OPTIONAL,
		-- tracking time of this obstacle
		-- in seconds
		polygon Polygon OPTIONAL,
		-- 3D vertex list
		...
	}
	
	ObstacleType ::= ENUMERATED {
		unknown (0),
		rockfall(1),
		landslide(2),
		animal-intrusion(3),
		liquid-spill(4),
		goods-scattered(5),
		trafficcone(6),
		-- 锥筒
	    safety-triangle(7),
	    -- 三角牌
	    traffic-roadblock(8),
	    inspection-shaft-without-cover(9),
		unknown-fragments(10),
		unknown-hard-object(11),
		unknown-soft-object(12),
		...
	}
	
	ObjectSize ::= SEQUENCE {
		width SizeValue,
		length SizeValue,
		height SizeValue OPTIONAL
	}

	SizeValue ::= INTEGER (0..1023) 
	-- LSB units are 10 cm with a range of >100 meters

	ObjectSizeConfidence ::= SEQUENCE {
		widthConf SizeValueConfidence,
		lengthConf SizeValueConfidence,
		heightConf SizeValueConfidence OPTIONAL
	}
	
	SizeValueConfidence ::= ENUMERATED {
		unavailable (0),
		size-100-00 (1), -- (100 m)
		size-050-00 (2), -- (50 m)
		size-020-00 (3), -- (20 m)
		size-010-00 (4), -- (10 m)
		size-005-00 (5), -- (5 m)
		size-002-00 (6), -- (2 m)
		size-001-00 (7), -- (1 m)
		size-000-50 (8), -- (50 cm)
		size-000-20 (9), -- (20 cm)
		size-000-10 (10), -- (10 cm)
		size-000-05 (11), -- (5 cm)
		size-000-02 (12), -- (2 cm)
		size-000-01 (13) -- (1 cm)
	}

END