CAM/DENM C# Sample Code Using OSS ASN.1 Tools

///////////////////////////////////////////////////////////////////////////////
// Copyright (C) ###RELEASE_YEAR### OSS Nokalva, Inc. All rights reserved.                 //
//                                                                           //
// THIS FILE IS PROPRIETARY MATERIAL OF OSS NOKALVA, INC.                    //
// AND MAY BE USED ONLY BY DIRECT LICENSEES OF OSS NOKALVA, INC.             //
// THIS FILE MAY NOT BE DISTRIBUTED.                                         //
// THIS COPYRIGHT STATEMENT MAY NOT BE REMOVED.                              //
///////////////////////////////////////////////////////////////////////////////
// THIS SAMPLE PROGRAM IS PROVIDED AS IS. THE SAMPLE PROGRAM AND ANY RESULTS //
// OBTAINED FROM IT ARE PROVIDED WITHOUT ANY WARRANTIES OR REPRESENTATIONS,  //
// EXPRESS, IMPLIED OR STATUTORY.                                            //
///////////////////////////////////////////////////////////////////////////////

//
// Demonstrates part of the CAM & DENM protocols.
//


// Classes generated from ASN.1 specification.
using Cam;
using Cam.CAMPDUDescriptions;
using Cam.ITSContainer;
using Cam.DENMPDUDescriptions;

// Classes from the OSS runtime library.
using Oss.Asn1;

// C# system classes.
using System;
using System.Collections.Generic;
using System.IO;


public class Program
{
    public static int Main(string[] args)
    {
	try
	{
	    Tcamdenm camdenm = new Tcamdenm();
	    Console.WriteLine("Creating a CAM PDU...");
	    CAMType unencoded_cam = camdenm.CreateCam();
	    byte[] encoded_cam = camdenm.Encode(unencoded_cam, null);
	    Console.WriteLine();
	    CAMType decoded_cam = camdenm.DecodeCAM(encoded_cam);
	    Console.WriteLine("\nComparing the decoded CAM PDU with the original one...");
	    if (decoded_cam.Equals(unencoded_cam))
		Console.WriteLine("Comparison succeeded.");
	    else
		Console.WriteLine("Comparison failed.");
	    Console.WriteLine("\nCreating a DEMN PDU...");
	    DENMContainer unencoded_denm = camdenm.CreateDenm();
	    byte[] encoded_denm = camdenm.Encode(null, unencoded_denm);
	    Console.WriteLine();
	    DENMContainer decoded_denm = camdenm.DecodeDENM(encoded_denm);
	    Console.WriteLine();
	    Console.WriteLine("Decoded & Encoded successfully.");
	    return 0;
	}
	catch (Exception e)
	{
	    // Print complete exception information.
	    Console.WriteLine(e);
	    return 1;
	}
    }
}

/// <summary>
/// Creates a CAM message, prints it, then encodes and
/// decodes it.
/// </summary>
public class Tcamdenm
{
    PerUnalignedCodec codec = new PerUnalignedCodec();

    /// <summary>
    /// UPER-decodes, prints and compares CAM messages.
    /// </summary>
    public CAMType DecodeCAM(byte[] encoded)
    {
	try
	{
	    CAMType decoded = new CAMType();
	    codec.Decode(encoded, decoded);
	    Console.WriteLine("\nPrinting the UPER-Decoded PDU...\n");
	    ValueNotationFormatter.Print(decoded, Console.Out);
	    return decoded;
	}
	catch (Exception e)
	{
	    Console.WriteLine("ERROR: " + e.Message + "\n");
	    return null;
	}
    }

    /// <summary>
    /// UPER-decodes, prints and compares CAM messages.
    /// </summary>
    public DENMContainer DecodeDENM(byte[] encoded)
    {
	try
	{
	    DENMContainer decoded = new DENMContainer();
	    codec.Decode(encoded, decoded);
	    Console.WriteLine("\nPrinting the UPER-Decoded PDU...\n");
	    ValueNotationFormatter.Print(decoded, Console.Out);
	    return decoded;
	}
	catch (Exception e)
	{
	    Console.WriteLine("ERROR: " + e.Message + "\n");
	    return null;
	}
    }

    /// <summary>
    /// Creates and then UPER-encodes a CAM PDU.
    /// </summary>
    public byte [] Encode(CAMType unencoded_cam, DENMContainer unencoded_denm)
    {
	string pdu = unencoded_cam == null? "DENM": "CAM";
	byte[] encoded;

	try
	{
	    Console.WriteLine("Created successfully.\n");
	    Console.WriteLine("Printing the created " + pdu + " PDU...\n");
	    if (unencoded_denm == null)
		ValueNotationFormatter.Print(unencoded_cam, Console.Out);
	    else
		ValueNotationFormatter.Print(unencoded_denm, Console.Out);
	    Console.WriteLine("\nEncoding the " + pdu + " PDU...");
	    if (unencoded_denm == null)
		encoded = codec.Encode(unencoded_cam);
	    else
		encoded = codec.Encode(unencoded_denm);
	    Console.WriteLine("Encoded successfully.\n");
	    Console.WriteLine("Printing the UPER-Encoded " + pdu + " PDU...\n");
	    ValueNotationFormatter.Print(encoded, encoded.Length, Console.Out);
	    return encoded;
	}
	catch (Exception e)
	{
	    throw new Exception("ERROR: " + e.Message + "\n");
	}
    }

    /// <summary>
    /// Creates a CAM PDU.
    /// </summary>
    public CAMType CreateCam()
    {

	CAMType cam = new CAMType() {
	    Header = new ItsPduHeader() {
		ProtocolVersion = 1,
		MessageID = 2,
		StationID = 1234567
	    },
	    CamField = new CoopAwareness() {
		GenerationDeltaTime = 11409,
		CamParameters = new CamParameters() {
		    BasicContainer = new BasicContainer() {
			StationType = 5,
			ReferencePosition = new ReferencePosition() {
			    Latitude = 40487111,
			    Longitude = 79494789,
			    PositionConfidenceEllipse = new PosConfidenceEllipse() {
				SemiMajorConfidence = 500,
				SemiMinorConfidence = 400,
				SemiMajorOrientation = 0
			    },
			    Altitude = new Altitude() {
				AltitudeValue = 2000,
				AltitudeConfidence = AltitudeConfidence.Alt00002
			    }
			}
		    },
		    HighFrequencyContainer = new HighFrequencyContainer() {
			BasicVehicleContainerHighFrequency = new BasicVehicleContainerHighFrequency() {
			    Heading = new Heading() {
				HeadingValue = 0,
				HeadingConfidence = 1
			    },
			    Speed = new Speed() {
				SpeedValue = 2000,
				SpeedConfidence = 1
			    },
			    DriveDirection = DriveDirection.Forward,
			    VehicleLength = new VehicleLength() {
				VehicleLengthValue = 35,
				VehicleLengthConfidenceIndication = VehicleLengthConfidenceIndication.NoTrailerPresent
			    },
			    VehicleWidth = 20,
			    LongitudinalAcceleration = new LongitudinalAcceleration() {
				LongitudinalAccelerationValue = 10,
				LongitudinalAccelerationConfidence = 1
			    },
			    Curvature = new Curvature() {
				CurvatureValue = 0,
				CurvatureConfidence = CurvatureConfidence.OnePerMeter000002
			    },
			    CurvatureCalculationMode = CurvatureCalculationMode.YawRateUsed,
			    YawRate = new YawRate() {
				YawRateValue = 0,
				YawRateConfidence = YawRateConfidence.DegSec00001
			    },
			    AccelerationControl = new Oss.Asn1.BitStringWithNamedBits (
				new byte[] {
				    0x40
				}, 2
			    ),
			    SteeringWheelAngle = new SteeringWheelAngle() {
				SteeringWheelAngleValue = 30,
				SteeringWheelAngleConfidence = 1
			    },
			    LateralAcceleration = new LateralAcceleration() {
				LateralAccelerationValue = -2,
				LateralAccelerationConfidence = 1
			    },
			    VerticalAcceleration = new VerticalAcceleration() {
				VerticalAccelerationValue = 1,
				VerticalAccelerationConfidence = 1
			    }
			}
		    },
		    LowFrequencyContainer = new LowFrequencyContainer() {
			BasicVehicleContainerLowFrequency = new BasicVehicleContainerLowFrequency() {
			    VehicleRole = VehicleRole.Default,
			    ExteriorLights = new Oss.Asn1.BitStringWithNamedBits (
				new byte[] {
				    0xA8
				}, 5
			    ),
			    PathHistory = new PathHistory() {
				new PathPoint() {
				    PathPosition = new DeltaReferencePosition() {
					DeltaLatitude = 10000,
					DeltaLongitude = 5000,
					DeltaAltitude = 12800
				    },
				    PathDeltaTime = 1000
				}
			    }
			}
		    },
		    SpecialVehicleContainer = new SpecialVehicleContainer() {
			PublicTransportContainer = new PublicTransportContainer() {
			    EmbarkationStatus = false,
			    PtActivation = new PtActivation() {
				PtActivationType = 0,
				PtActivationData = new byte[] {
				    0x00, 0x11, 0x22, 0x33, 0x44, 0x55
				}
			    }
			}
		    }
		}
	    }
	};
	return cam;
    }

    /// <summary>
    /// Creates a DENM PDU.
    /// </summary>
    public DENMContainer CreateDenm()
    {

	DENMContainer denm = new DENMContainer() {
	    Header = new ItsPduHeader() {
		ProtocolVersion = 1,
		MessageID = 1,
		StationID = 1234567
	    },
	    Denm = new DecentralizedEnvironmentalNotificationMessage() {
		Management = new ManagementContainer() {
		    ActionID = new ActionID() {
			OriginatingStationID = 20,
			SequenceNumber = 30
		    },
		    DetectionTime = 45000000000,
		    ReferenceTime = 1,
		    Termination = Termination.IsCancellation,
		    EventPosition = new ReferencePosition() {
			Latitude = 40487111,
			Longitude = -79494789,
			PositionConfidenceEllipse = new PosConfidenceEllipse() {
			    SemiMajorConfidence = 500,
			    SemiMinorConfidence = 400,
			    SemiMajorOrientation = 10
			},
			Altitude = new Altitude() {
			    AltitudeValue = 2000,
			    AltitudeConfidence = AltitudeConfidence.Alt00002
			}
		    },
		    RelevanceDistance = RelevanceDistance.LessThan100m,
		    RelevanceTrafficDirection = RelevanceTrafficDirection.UpstreamTraffic,
		    ValidityDuration = 600,
		    TransmissionInterval = 1,
		    StationType = 5
		},
		Situation = new SituationContainer() {
		    InformationQuality = 1,
		    EventType = new CauseCodeContainer() {
			CauseCode = 3,
			SubCauseCode = 0
		    }
		},
		Location = new LocationContainer() {
		    EventSpeed = new Speed() {
			SpeedValue = 0,
			SpeedConfidence = 1
		    },
		    EventPositionHeading = new Heading() {
			HeadingValue = 0,
			HeadingConfidence = 10
		    },
		    Traces = new Traces() {
			new PathHistory() {
			    new PathPoint() {
				PathPosition = new DeltaReferencePosition() {
				    DeltaLatitude = 20,
				    DeltaLongitude = 20,
				    DeltaAltitude = 12800
				},
				PathDeltaTime = 1
			    },
			    new PathPoint() {
				PathPosition = new DeltaReferencePosition() {
				    DeltaLatitude = 22,
				    DeltaLongitude = 22,
				    DeltaAltitude = 12800
				}
			    }
			}
		    },
		    RoadType = RoadType.UrbanNoStructuralSeparationToOppositeLanes
		},
		Alacarte = new AlacarteContainer() {
		    ImpactReduction = new ImpactReductionContainer() {
			HeightLonCarrLeft = 1,
			HeightLonCarrRight = 1,
			PosLonCarrLeft = 1,
			PosLonCarrRight = 1,
			PositionOfPillars = new PositionOfPillars() {
			    1
			},
			PosCentMass = 63,
			WheelBaseVehicle = 1,
			TurningRadius = 1,
			PosFrontAx = 1,
			PositionOfOccupants = new Oss.Asn1.BitStringWithNamedBits (
			    new byte[] {
				0xFE ,0x02 ,0x10
			    }, 20
			),
			VehicleMass = 20,
			RequestResponseIndication = RequestResponseIndication.Response
		    },
		    ExternalTemperature = 1,
		    RoadWorks = new RoadWorksContainerExtended() {
			LightBarSirenInUse = new Oss.Asn1.BitStringWithNamedBits (
			    new byte[] {
				0xC0
			    }, 2
			),
			ClosedLanes = new ClosedLanes() {
                            OuterhardShoulderStatus = HardShoulderStatus.AvailableForStopping,
			    DrivingLaneStatus = new Oss.Asn1.BitStringWithNamedBits (
				new byte[] {
				    0x60
				}, 3
			    )
			},
			Restriction = new RestrictedTypes() {
			    0
			},
			SpeedLimit = 20,
			IncidentIndication = new CauseCodeContainer() {
			    CauseCode = 0,
			    SubCauseCode = 0
			},
			RecommendedPath = new ItineraryPath() {
			    new ReferencePosition() {
				Latitude = 20,
				Longitude = 20,
				PositionConfidenceEllipse = new PosConfidenceEllipse() {
				    SemiMajorConfidence = 1,
				    SemiMinorConfidence = 1,
				    SemiMajorOrientation = 0
				},
				Altitude = new Altitude() {
				    AltitudeValue = 200,
				    AltitudeConfidence = AltitudeConfidence.Alt00002
				}
			    }
			}
		    },
		    PositioningSolution = PositioningSolutionType.NoPositioningSolution,
		    StationaryVehicle = new StationaryVehicleContainer() {
			StationarySince = StationarySince.EqualOrGreater15Minutes,
			StationaryCause = new CauseCodeContainer() {
			    CauseCode = 3,
			    SubCauseCode = 0
			},
			NumberOfOccupants = 30,
			VehicleIdentification = new VehicleIdentification() {
			    WMInumber = "WVW",
			    VDS = "ZZZ1JZ"
			},
			EnergyStorageType = new Oss.Asn1.BitStringWithNamedBits (
			    new byte[] {
				0x04
			    }, 6
			)
		    }
		}
	    }
	};
	return denm;
    }
}