Java: CPM v1.2.1 refactoring and new CPM v2.1.1

[mathieu1fb]

What's new

• CPM v2.1.1 support has been added
• CPM v1.2.1 has been refactored completely for compatibility, so that both versions can be handled in parallel

Close #492
Close #493

---

What to do

After reviewing code changes:

1. Clone the its-client project on your IDE.
2. Ensure that you have Gradle to be able to build the java/iot3 modules (core, mobility and examples).
3. Find the Iot3MobilityExample class in the examples module, and set appropriate values for the following fields:

private static final String EXAMPLE_UUID = "uuid";
private static final String EXAMPLE_CONTEXT = "context";
// MQTT parameters
private static final String EXAMPLE_MQTT_HOST = "mqtt_host";
private static final int EXAMPLE_MQTT_PORT = 1883;
private static final String EXAMPLE_MQTT_USERNAME = "mqtt_username";
private static final String EXAMPLE_MQTT_PASSWORD = "mqtt_password";
private static final boolean EXAMPLE_MQTT_USE_TLS = true; // set to true

4. In the same class, remove the telemetry and LwM2M parameters from the IoT3Mobility builder as they won't be used:

.telemetryParams(EXAMPLE_OTL_SCHEME,
                        EXAMPLE_OTL_HOST,
                        EXAMPLE_OTL_PORT,
                        EXAMPLE_OTL_ENDPOINT,
                        EXAMPLE_OTL_USERNAME,
                        EXAMPLE_OTL_PASSWORD)
.lwm2mParams(
                        EXAMPLE_LWM2M_CONFIG,
                        EXAMPLE_LWM2M_DEVICE,
                        lwm2mConnectivityStatistics)

5. Run Iot3MobilityExample for a few seconds.
6. Stop it.
7. Modify the CpmVersion.V1_2_1 parameter in the sendTestCpm(...) method by CpmVersion.V2_1_1.
8. Run Iot3MobilityExample for a few seconds.
9. Stop it.

---

Expected results

1. During the first run, you should see CPMs v1.2.1 being sent, received and processed (i.e. turned into RoadSensor and SensorObjects).

Sending CPM v1.2.1: CpmEnvelope121[type=cpm, origin=self, version=1.2.1, sourceUuid=ora_test_123, timestamp=1774262922794, message=CpmMessage121[protocolVersion=2, stationId=123456, generationDeltaTime=63018, managementContainer=ManagementContainer[stationType=15, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, altitude=0], confidence=ManagementConfidence[positionConfidenceEllipse=PositionConfidenceEllipse[semiMajorConfidence=4095, semiMinorConfidence=4095, semiMajorOrientation=3601], altitude=15]], stationDataContainer=StationDataContainer[originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[region=123, intersectionReferenceId=123, roadSegmentReferenceId=123]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, type=4, detectionArea=DetectionArea[vehicleSensor=null, stationarySensorRadial=null, stationarySensorPolygon=null, stationarySensorCircular=AreaCircular[nodeCenterPoint=Offset[x=0, y=0, z=0], radius=200], stationarySensorEllipse=null, stationarySensorRectangle=null]]]], perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[objectId=15, timeOfMeasurement=0, xDistance=-1807, yDistance=206, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=10, planarObjectDimension2=10, verticalObjectDimension=20, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=1, bicyclist=null, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null], PerceivedObject[objectId=34, timeOfMeasurement=0, xDistance=1505, yDistance=93, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=20, planarObjectDimension2=20, verticalObjectDimension=15, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=null, bicyclist=1, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null]]], freeSpaceAddendumContainer=null]]

// JSON messages received
Raw message received: {"type":"cpm","origin":"self","version":"1.2.1","source_uuid":"ora_test_123","timestamp":1774262922794,"message":{"protocol_version":2,"station_id":123456,"generation_delta_time":63018,"management_container":{"station_type":15,"reference_position":{"latitude":486251520,"longitude":22403490,"altitude":0},"confidence":{"position_confidence_ellipse":{"semi_major_confidence":4095,"semi_minor_confidence":4095,"semi_major_orientation":3601},"altitude":15}},"station_data_container":{"originating_rsu_container":{"region":123,"intersection_reference_id":123,"road_segment_reference_id":123}},"sensor_information_container":[{"sensor_id":123,"type":4,"detection_area":{"stationary_sensor_circular":{"node_center_point":{"x":0,"y":0,"z":0},"radius":200}}}],"perceived_object_container":[{"object_id":15,"time_of_measurement":0,"x_distance":-1807,"y_distance":206,"x_speed":0,"y_speed":0,"planar_object_dimension_1":10,"planar_object_dimension_2":10,"vertical_object_dimension":20,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"single_vru":{"pedestrian":1}},"confidence":100}],"confidence":{"x_distance":4095,"y_distance":4095,"x_speed":0,"y_speed":0,"object":15}},{"object_id":34,"time_of_measurement":0,"x_distance":1505,"y_distance":93,"x_speed":0,"y_speed":0,"planar_object_dimension_1":20,"planar_object_dimension_2":20,"vertical_object_dimension":15,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"single_vru":{"bicyclist":1}},"confidence":100}],"confidence":{"x_distance":4095,"y_distance":4095,"x_speed":0,"y_speed":0,"object":15}}]}}

// CPM version detected
Raw CPM v1.2.1: CpmEnvelope121[type=cpm, origin=self, version=1.2.1, sourceUuid=ora_test_123, timestamp=1774262922794, message=CpmMessage121[protocolVersion=2, stationId=123456, generationDeltaTime=63018, managementContainer=ManagementContainer[stationType=15, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, altitude=0], confidence=ManagementConfidence[positionConfidenceEllipse=PositionConfidenceEllipse[semiMajorConfidence=4095, semiMinorConfidence=4095, semiMajorOrientation=3601], altitude=15]], stationDataContainer=StationDataContainer[originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[region=123, intersectionReferenceId=123, roadSegmentReferenceId=123]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, type=4, detectionArea=DetectionArea[vehicleSensor=null, stationarySensorRadial=null, stationarySensorPolygon=null, stationarySensorCircular=AreaCircular[nodeCenterPoint=Offset[x=0, y=0, z=0], radius=200], stationarySensorEllipse=null, stationarySensorRectangle=null]]]], perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[objectId=15, timeOfMeasurement=0, xDistance=-1807, yDistance=206, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=10, planarObjectDimension2=10, verticalObjectDimension=20, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=1, bicyclist=null, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null], PerceivedObject[objectId=34, timeOfMeasurement=0, xDistance=1505, yDistance=93, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=20, planarObjectDimension2=20, verticalObjectDimension=15, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=null, bicyclist=1, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null]]], freeSpaceAddendumContainer=null]]

// processed objects
Sensor Object update: ora_test_123_123456_15
Sensor Object update: ora_test_123_123456_34
Road Sensor update: ora_test_123_123456

2. During the second run, you should see the exact same with CPMs v2.1.1.

Sending CPM v2.1.1: CpmEnvelope211[messageType=cpm, sourceUuid=ora_test_123, timestamp=1774262970264, version=2.1.1, objectIdRotationCount=null, message=CpmMessage211[protocolVersion=2, stationId=123456, managementContainer=ManagementContainer[referenceTime=701347770264, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, positionConfidenceEllipse=PositionConfidenceEllipse[semiMajor=4095, semiMinor=4095, semiMajorOrientation=3601], altitude=Altitude[value=0, confidence=15]], segmentationInfo=null, messageRateRange=null], originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[mapReferences=[MapReference[roadSegment=RoadSegment[id=123, region=123], intersection=null]]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, sensorType=4, perceptionRegionShape=Shape[rectangular=null, circular=Circular[radius=200, shapeReferencePoint=CartesianPosition3d[xCoordinate=0, yCoordinate=0, zCoordinate=null], height=null], polygonal=null, elliptical=null, radial=null, radialShapes=null], perceptionRegionConfidence=100, shadowingApplies=true]]], perceptionRegionContainer=null, perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=-1797, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=208, confidence=100], zCoordinate=null], objectId=15, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=1, bicyclistAndLightVruVehicle=null, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null], PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=1504, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=110, confidence=100], zCoordinate=null], objectId=34, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=null, bicyclistAndLightVruVehicle=1, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null]]]]]

// JSON message received
Raw message received: {"message_type":"cpm","source_uuid":"ora_test_123","timestamp":1774262970264,"version":"2.1.1","message":{"protocol_version":2,"station_id":123456,"management_container":{"reference_time":701347770264,"reference_position":{"latitude":486251520,"longitude":22403490,"position_confidence_ellipse":{"semi_major":4095,"semi_minor":4095,"semi_major_orientation":3601},"altitude":{"value":0,"confidence":15}}},"originating_rsu_container":[{"road_segment":{"id":123,"region":123}}],"sensor_information_container":[{"sensor_id":123,"sensor_type":4,"perception_region_shape":{"circular":{"radius":200,"shape_reference_point":{"x_coordinate":0,"y_coordinate":0}}},"perception_region_confidence":100,"shadowing_applies":true}],"perceived_object_container":[{"measurement_delta_time":0,"position":{"x_coordinate":{"value":-1797,"confidence":100},"y_coordinate":{"value":208,"confidence":100}},"object_id":15,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"vru":{"pedestrian":1}},"confidence":100}]},{"measurement_delta_time":0,"position":{"x_coordinate":{"value":1504,"confidence":100},"y_coordinate":{"value":110,"confidence":100}},"object_id":34,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"vru":{"bicyclist_and_light_vru_vehicle":1}},"confidence":100}]}]}}

// CPM version detected
Raw CPM v2.1.1: CpmEnvelope211[messageType=cpm, sourceUuid=ora_test_123, timestamp=1774262970264, version=2.1.1, objectIdRotationCount=null, message=CpmMessage211[protocolVersion=2, stationId=123456, managementContainer=ManagementContainer[referenceTime=701347770264, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, positionConfidenceEllipse=PositionConfidenceEllipse[semiMajor=4095, semiMinor=4095, semiMajorOrientation=3601], altitude=Altitude[value=0, confidence=15]], segmentationInfo=null, messageRateRange=null], originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[mapReferences=[MapReference[roadSegment=RoadSegment[id=123, region=123], intersection=null]]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, sensorType=4, perceptionRegionShape=Shape[rectangular=null, circular=Circular[radius=200, shapeReferencePoint=CartesianPosition3d[xCoordinate=0, yCoordinate=0, zCoordinate=null], height=null], polygonal=null, elliptical=null, radial=null, radialShapes=null], perceptionRegionConfidence=100, shadowingApplies=true]]], perceptionRegionContainer=null, perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=-1797, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=208, confidence=100], zCoordinate=null], objectId=15, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=1, bicyclistAndLightVruVehicle=null, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null], PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=1504, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=110, confidence=100], zCoordinate=null], objectId=34, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=null, bicyclistAndLightVruVehicle=1, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null]]]]]

// processed objects
Sensor Object update: ora_test_123_123456_15
Sensor Object update: ora_test_123_123456_34
Road Sensor update: ora_test_123_123456

Note: it is normal if source_uuid, station_id and timestamps differ in your test.

[fredOG-2A1]

As I'm always a newbie with english, I'm not comfortable with this sentence:
Throws if the version is not 1.2.1.
Maybe add the name of the exception? (Throws CpmException if the version is not 1.2.1.)

[mathieu1fb]

I'm not sure which line you are referring to, but when using a parser for a specific CPM version, we indeed want to throw an error if a different version was provided to the parser.

[fredOG-2A1]

A few remarks about cosmetics:

I found a lot a //TODO, if you plan to not fill them, maybe remove them?
Maybe give a name to what is thrown in comments?

Another remark:

I read the word 'cam' in this cpm refactoring.

Starting tests.

[mathieu1fb]

A few remarks about cosmetics:

I found a lot a //TODO, if you plan to not fill them, maybe remove them?
Maybe give a name to what is thrown in comments?

Another remark:

I read the word 'cam' in this cpm refactoring.

Starting tests.

Thanks for the code review! However I'm pretty sure that you're not looking at the latest commit of the PR, so I doubt that the tests will succeed ;)

[fredOG-2A1]

Got it.
I rewieved here:
[mathieu1fb] added 3 commits [2 weeks ago]

A lot of job must have be done...

I'm going to read more recent code.

[fredOG-2A1]

OK, right track now.
We can forget all my previous comments.
About to do the tests.

[fredOG-2A1]

Tests done:

With 2.1.1 version:
`Sending CPM v2.1.1: CpmEnvelope211[messageType=cpm, sourceUuid=uuid, timestamp=1774337732961, version=2.1.1, objectIdRotationCount=null, message=CpmMessage211[protocolVersion=2, stationId=123456, managementContainer=ManagementContainer[referenceTime=701422532962, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, positionConfidenceEllipse=PositionConfidenceEllipse[semiMajor=4095, semiMinor=4095, semiMajorOrientation=3601], altitude=Altitude[value=0, confidence=15]], segmentationInfo=null, messageRateRange=null], originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[mapReferences=[MapReference[roadSegment=RoadSegment[id=123, region=123], intersection=null]]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, sensorType=4, perceptionRegionShape=Shape[rectangular=null, circular=Circular[radius=200, shapeReferencePoint=CartesianPosition3d[xCoordinate=0, yCoordinate=0, zCoordinate=null], height=null], polygonal=null, elliptical=null, radial=null, radialShapes=null], perceptionRegionConfidence=100, shadowingApplies=true]]], perceptionRegionContainer=null, perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=-1807, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=195, confidence=100], zCoordinate=null], objectId=15, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=1, bicyclistAndLightVruVehicle=null, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null], PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=1502, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=107, confidence=100], zCoordinate=null], objectId=34, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=null, bicyclistAndLightVruVehicle=1, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null]]]]]
Raw message received: {"message_type":"cpm","source_uuid":"uuid","timestamp":1774337732961,"version":"2.1.1","message":{"protocol_version":2,"station_id":123456,"management_container":{"reference_time":701422532962,"reference_position":{"latitude":486251520,"longitude":22403490,"position_confidence_ellipse":{"semi_major":4095,"semi_minor":4095,"semi_major_orientation":3601},"altitude":{"value":0,"confidence":15}}},"originating_rsu_container":[{"road_segment":{"id":123,"region":123}}],"sensor_information_container":[{"sensor_id":123,"sensor_type":4,"perception_region_shape":{"circular":{"radius":200,"shape_reference_point":{"x_coordinate":0,"y_coordinate":0}}},"perception_region_confidence":100,"shadowing_applies":true}],"perceived_object_container":[{"measurement_delta_time":0,"position":{"x_coordinate":{"value":-1807,"confidence":100},"y_coordinate":{"value":195,"confidence":100}},"object_id":15,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"vru":{"pedestrian":1}},"confidence":100}]},{"measurement_delta_time":0,"position":{"x_coordinate":{"value":1502,"confidence":100},"y_coordinate":{"value":107,"confidence":100}},"object_id":34,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"vru":{"bicyclist_and_light_vru_vehicle":1}},"confidence":100}]}]}}

Raw CPM v2.1.1: CpmEnvelope211[messageType=cpm, sourceUuid=uuid, timestamp=1774337732961, version=2.1.1, objectIdRotationCount=null, message=CpmMessage211[protocolVersion=2, stationId=123456, managementContainer=ManagementContainer[referenceTime=701422532962, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, positionConfidenceEllipse=PositionConfidenceEllipse[semiMajor=4095, semiMinor=4095, semiMajorOrientation=3601], altitude=Altitude[value=0, confidence=15]], segmentationInfo=null, messageRateRange=null], originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[mapReferences=[MapReference[roadSegment=RoadSegment[id=123, region=123], intersection=null]]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, sensorType=4, perceptionRegionShape=Shape[rectangular=null, circular=Circular[radius=200, shapeReferencePoint=CartesianPosition3d[xCoordinate=0, yCoordinate=0, zCoordinate=null], height=null], polygonal=null, elliptical=null, radial=null, radialShapes=null], perceptionRegionConfidence=100, shadowingApplies=true]]], perceptionRegionContainer=null, perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=-1807, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=195, confidence=100], zCoordinate=null], objectId=15, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=1, bicyclistAndLightVruVehicle=null, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null], PerceivedObject[measurementDeltaTime=0, position=CartesianPosition3dWithConfidence[xCoordinate=CartesianCoordinateWithConfidence[value=1502, confidence=100], yCoordinate=CartesianCoordinateWithConfidence[value=107, confidence=100], zCoordinate=null], objectId=34, velocity=null, acceleration=null, angles=null, zAngularVelocity=null, lowerTriangularCorrelationMatrices=null, objectDimensionZ=null, objectDimensionY=null, objectDimensionX=null, objectAge=1500, objectPerceptionQuality=null, sensorIdList=[123], classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, vru=ObjectClassVru[pedestrian=null, bicyclistAndLightVruVehicle=1, motorcylist=null, animal=null], group=null, other=null], confidence=100]], mapPosition=null]]]]]
New Sensor object: uuid_123456_15
New Sensor object: uuid_123456_34
New Road Sensor: uuid_123456
Road Sensor has expired: uuid_123456`

With 1.2.1 version:
Sending CPM v1.2.1: CpmEnvelope121[type=cpm, origin=self, version=1.2.1, sourceUuid=uuid, timestamp=1774338728507, message=CpmMessage121[protocolVersion=2, stationId=123456, generationDeltaTime=43580, managementContainer=ManagementContainer[stationType=15, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, altitude=0], confidence=ManagementConfidence[positionConfidenceEllipse=PositionConfidenceEllipse[semiMajorConfidence=4095, semiMinorConfidence=4095, semiMajorOrientation=3601], altitude=15]], stationDataContainer=StationDataContainer[originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[region=123, intersectionReferenceId=123, roadSegmentReferenceId=123]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, type=4, detectionArea=DetectionArea[vehicleSensor=null, stationarySensorRadial=null, stationarySensorPolygon=null, stationarySensorCircular=AreaCircular[nodeCenterPoint=Offset[x=0, y=0, z=0], radius=200], stationarySensorEllipse=null, stationarySensorRectangle=null]]]], perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[objectId=15, timeOfMeasurement=0, xDistance=-1793, yDistance=192, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=10, planarObjectDimension2=10, verticalObjectDimension=20, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=1, bicyclist=null, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null], PerceivedObject[objectId=34, timeOfMeasurement=0, xDistance=1503, yDistance=97, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=20, planarObjectDimension2=20, verticalObjectDimension=15, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=null, bicyclist=1, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null]]], freeSpaceAddendumContainer=null]]
Raw message received: {"type":"cpm","origin":"self","version":"1.2.1","source_uuid":"uuid","timestamp":1774338728507,"message":{"protocol_version":2,"station_id":123456,"generation_delta_time":43580,"management_container":{"station_type":15,"reference_position":{"latitude":486251520,"longitude":22403490,"altitude":0},"confidence":{"position_confidence_ellipse":{"semi_major_confidence":4095,"semi_minor_confidence":4095,"semi_major_orientation":3601},"altitude":15}},"station_data_container":{"originating_rsu_container":{"region":123,"intersection_reference_id":123,"road_segment_reference_id":123}},"sensor_information_container":[{"sensor_id":123,"type":4,"detection_area":{"stationary_sensor_circular":{"node_center_point":{"x":0,"y":0,"z":0},"radius":200}}}],"perceived_object_container":[{"object_id":15,"time_of_measurement":0,"x_distance":-1793,"y_distance":192,"x_speed":0,"y_speed":0,"planar_object_dimension_1":10,"planar_object_dimension_2":10,"vertical_object_dimension":20,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"single_vru":{"pedestrian":1}},"confidence":100}],"confidence":{"x_distance":4095,"y_distance":4095,"x_speed":0,"y_speed":0,"object":15}},{"object_id":34,"time_of_measurement":0,"x_distance":1503,"y_distance":97,"x_speed":0,"y_speed":0,"planar_object_dimension_1":20,"planar_object_dimension_2":20,"vertical_object_dimension":15,"object_age":1500,"sensor_id_list":[123],"classification":[{"object_class":{"single_vru":{"bicyclist":1}},"confidence":100}],"confidence":{"x_distance":4095,"y_distance":4095,"x_speed":0,"y_speed":0,"object":15}}]}}

Raw CPM v1.2.1: CpmEnvelope121[type=cpm, origin=self, version=1.2.1, sourceUuid=uuid, timestamp=1774338728507, message=CpmMessage121[protocolVersion=2, stationId=123456, generationDeltaTime=43580, managementContainer=ManagementContainer[stationType=15, referencePosition=ReferencePosition[latitude=486251520, longitude=22403490, altitude=0], confidence=ManagementConfidence[positionConfidenceEllipse=PositionConfidenceEllipse[semiMajorConfidence=4095, semiMinorConfidence=4095, semiMajorOrientation=3601], altitude=15]], stationDataContainer=StationDataContainer[originatingVehicleContainer=null, originatingRsuContainer=OriginatingRsuContainer[region=123, intersectionReferenceId=123, roadSegmentReferenceId=123]], sensorInformationContainer=SensorInformationContainer[sensorInformation=[SensorInformation[sensorId=123, type=4, detectionArea=DetectionArea[vehicleSensor=null, stationarySensorRadial=null, stationarySensorPolygon=null, stationarySensorCircular=AreaCircular[nodeCenterPoint=Offset[x=0, y=0, z=0], radius=200], stationarySensorEllipse=null, stationarySensorRectangle=null]]]], perceivedObjectContainer=PerceivedObjectContainer[perceivedObjects=[PerceivedObject[objectId=15, timeOfMeasurement=0, xDistance=-1793, yDistance=192, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=10, planarObjectDimension2=10, verticalObjectDimension=20, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=1, bicyclist=null, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null], PerceivedObject[objectId=34, timeOfMeasurement=0, xDistance=1503, yDistance=97, xSpeed=0, ySpeed=0, objectAge=1500, confidence=PerceivedObjectConfidence[xDistance=4095, yDistance=4095, xSpeed=0, ySpeed=0, object=15, zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, planarObjectDimension1=null, planarObjectDimension2=null, verticalObjectDimension=null, longitudinalLanePosition=null], zDistance=null, zSpeed=null, xAcceleration=null, yAcceleration=null, zAcceleration=null, rollAngle=null, pitchAngle=null, yawAngle=null, rollRate=null, pitchRate=null, yawRate=null, rollAcceleration=null, pitchAcceleration=null, yawAcceleration=null, lowerTriangularCorrelationMatrixColumns=null, planarObjectDimension1=20, planarObjectDimension2=20, verticalObjectDimension=15, objectRefPoint=null, sensorIdList=[123], dynamicStatus=null, classification=[ObjectClassification[objectClass=ObjectClass[vehicle=null, singleVru=ObjectClassVru[pedestrian=null, bicyclist=1, motorcylist=null, animal=null], vruGroup=null, other=null], confidence=100]], matchedPosition=null]]], freeSpaceAddendumContainer=null]]
New Sensor object: uuid_123456_15
New Sensor object: uuid_123456_34
New Road Sensor: uuid_123456
Road Sensor has expired: uuid_123456

Seems good to me.

[mathieu1fb]

Tests done:

With 2.1.1 version: ...

With 1.2.1 version: ...

Seems good to me.

Thanks for the tests and review, it all looks as expected :) Can you approve the PR if everything is OK on your side?

[mathieu1fb]

Tests done:

With 2.1.1 version: ...
With 1.2.1 version: ...
Seems good to me.

Thanks for the tests and review, it all looks as expected :) Can you approve the PR if everything is OK on your side?

Actually one question: I see the additional "road sensor has expired" that I didn't have in my tests - did you maybe change the CPM sending rate? At 1 Hz it should in principle not expire between each publish.

[fredOG-2A1]

Yes, one CPM was emitted every ten seconds.
I also commented out the emission of CAM and DENM.
Should I run another test with one CPM per second?

[mathieu1fb]

Yes, one CPM was emitted every ten seconds. I also commented out the emission of CAM and DENM. Should I run another test with one CPM per second?

OK it makes perfect sense then, no need to run the test again!

[fredOG-2A1]

Pffffff, difficult it was to fonf the right button to approve....