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Merged
ymorin-orange merged 31 commits into from
Aug 10, 2026
Merged

python: implement CAM 2.4.0 and use SDK in its-vehicle #581

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1378dc4
github: fix pythopn MR template
ymorin-orange Aug 7, 2026
df2c65c
python: fix a few typoes
ymorin-orange Aug 7, 2026
15b157e
python/iot3/mobility: forget the sock_fd on disconnect()
ymorin-orange Aug 4, 2026
fcc1f8f
python/iot3/mobility: trigger disconnect when stopping gpsd client
ymorin-orange Aug 5, 2026
ad7be24
python/iot3/mobility: fix parsing gpsd's attitude messages
ymorin-orange Aug 4, 2026
ef20231
python/iot3/mobility: rename attribute with data for current epoch
ymorin-orange Aug 4, 2026
e688e7d
python/iot3/mobility: better heuristic to build a GNSS measurement
ymorin-orange Aug 4, 2026
8aadc77
python/iot3/mobility: simplify GNSSReport's post-init
ymorin-orange Aug 4, 2026
c3ac934
python/iot3/mobility: add error ellipse to GNSSReposrt object
ymorin-orange Aug 4, 2026
8d70a15
python/iot3/mobility: store the GST message from gpsd
ymorin-orange Aug 4, 2026
d71bb01
python/iot3/mobility: create GNSSReport with error ellipse from GST
ymorin-orange Aug 4, 2026
2f191a3
python/iot3/mobility: allow caller to specify age of valid GNSSReport()
ymorin-orange Aug 4, 2026
24a35ed
python/iot3/mobility: add method to get position confidence ellipse
ymorin-orange Aug 4, 2026
c757e3d
python/iot3/mobility: use new position confidence ellipse method
ymorin-orange Aug 4, 2026
a707109
python/iot3/mobility: compliance with python 3.12
tigroo Jul 31, 2026
1fd9134
python/iot3/mobility: add method to get altitude confidence
ymorin-orange Aug 4, 2026
ce28f01
python/iot3/mobility: use new altitude confidence method
ymorin-orange Aug 4, 2026
782b223
python/iot3/mobility: add method to get full reference position
ymorin-orange Aug 4, 2026
4a6b7bb
python/iot3/mobility: simplify CPM with new reference position method
ymorin-orange Aug 4, 2026
338bc7f
python/iot3/mobility: implement CAM 2.4.0
tigroo Aug 4, 2026
6e4c0e7
python: bump iot3 SDK requirement for apps
ymorin-orange Aug 7, 2026
db767c9
python/its-vehicle: drop never-used timestamp-based gpsd heuristic
ymorin-orange Aug 5, 2026
859c86d
python/its-vehicle: swith to iot3.mobility.gnss
ymorin-orange Aug 5, 2026
e73e9f1
python/its-vehicle: swith to iot3.mobility.cam
ymorin-orange Aug 5, 2026
ada832e
python/its-vehicle: accept lat/lon to get RoI
ymorin-orange Aug 5, 2026
ca128a2
python/its-vehicle: do not create a quadkey just to get the RoI
ymorin-orange Aug 5, 2026
327c8b0
python/iot3/tests: use non-standard port for gpsfake
ymorin-orange Aug 7, 2026
e171964
python/iot3/tests: tweaks and fixes in comments
ymorin-orange Aug 7, 2026
d0d7bd0
python/iot3/tests; check faster when connecting to gpsd
ymorin-orange Aug 7, 2026
3ae4a6a
python/iot3/tests; add tests for GST and error ellipse in GNSReport
ymorin-orange Aug 7, 2026
0cb1108
python/iot3/tests: extend CAM tests for CAM 2.4.0 and error ellipse
ymorin-orange Aug 7, 2026
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4 changes: 2 additions & 2 deletions .github/PULL_REQUEST_TEMPLATE/python.md
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Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ in the python venv._
4. in another terminal, start a fake _gpsd_ process
(no need for an actual GNSS device):
```sh
$ TMPDIR=/tmp gpsfake -q -P 2947 -u -n -c 0.1 tests/data/NMEA.log
$ TMPDIR=/tmp gpsfake -q -P 2948 -u -n -c 0.1 tests/data/NMEA.log
```
5. in another terminal, start a container with Python 3.11
and the necessary packages:
Expand All @@ -69,7 +69,7 @@ in the python venv._
--user $(id -u):$(id -u) \
--mount type=bind,source=$(pwd),destination=$(pwd) \
--workdir $(pwd) \
python:3.11.17-slim-trixie \
python:3.11.15-slim-trixie \

@tigroo tigroo Aug 10, 2026 •
edited
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curious to use an older version...

@ymorin-orange ymorin-orange Aug 10, 2026

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3.11.17 was never released. The last 3.11 was 3.11.15. But at the time I wrote the MR template, the latest was 3.11.14. And if you look at your numpad, the '4' and the '7' are next to each other, so my guess is that I fat-fingered the 7 for the 4... :-/

/bin/bash -il

$ docker container exec -u 0:0 iot3 apt update
Expand Down
2 changes: 1 addition & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -97,7 +97,7 @@ they are using the following versions:
| Schema | Rust | Python | Java | Swift |
|:-----------------:|:-----------------------------------------------------------------------------------:|:---------------------------------------------------------:|:-----------------------------------------------------------------------------------------------------------------------------------:|:-------------------------------------------:|
| **Bootstrap** | | | | |
| **CAM** | [2.4.0](schema/cam/cam_schema_2-4-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [2.4.0](schema/cam/cam_schema_2-4-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CAM** | [2.4.0](schema/cam/cam_schema_2-4-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [2.4.0](schema/cam/cam_schema_2-4-0.json) | [2.4.0](schema/cam/cam_schema_2-4-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CPM** | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) | [2.1.1](schema/cpm/cpm_schema_2-1-1.json) [1.2.1](schema/cpm/cpm_schema_1-2-1.json) | |
| **DENM** | [2.2.0](schema/denm/denm_schema_2-2-0.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) | [2.3.0](schema/denm/denm_schema_2-3-0.json) [2.2.0](schema/denm/denm_schema_2-2-0.json) [1.1.3](schema/denm/denm_schema_1-1-3.json) | [1.1.3](schema/denm/denm_schema_1-1-3.json) |
| **Information** | [2.1.0](schema/information/information_schema_2-1-0.json) | [1.2.0](schema/information/information_schema_1-2-0.json) | | |
Expand Down
107 changes: 45 additions & 62 deletions python/iot3/src/iot3/mobility/cam.py
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Original file line number Diff line number Diff line change
Expand Up @@ -36,9 +36,8 @@ def __init__(

self._message = dict(
{
"type": "cam",
"origin": "self",
"version": "1.1.3",
"message_type": "cam",
"message_format": "json/raw",
"source_uuid": uuid,
"timestamp": (
etsi.ETSI.si2etsi(
Expand All @@ -47,6 +46,7 @@ def __init__(
0,
)
),
"version": "2.4.0",
"message": {
"protocol_version": 1,
"station_id": self.station_id(uuid),
Expand All @@ -55,68 +55,51 @@ def __init__(
),
"basic_container": {
"station_type": station_type,
"reference_position": {
"latitude": etsi.ETSI.si2etsi(
gnss_report.latitude,
etsi.ETSI.DECI_MICRO_DEGREE,
900000001,
),
"longitude": etsi.ETSI.si2etsi(
gnss_report.longitude,
etsi.ETSI.DECI_MICRO_DEGREE,
1800000001,
),
"altitude": etsi.ETSI.si2etsi(
gnss_report.altitude,
etsi.ETSI.CENTI_METER,
800001,
),
},
"confidence": {
"position_confidence_ellipse": {
# We treat the 2D error as a circle, so semi-major
# and semi-minor are eqal, and thus the orientation
# of the elipse does not matter.
"semi_major_confidence": etsi.ETSI.si2etsi(
gnss_report.horizontal_error,
etsi.ETSI.CENTI_METER,
4095,
{"min": 0, "max": 4093},
4094,
),
"semi_minor_confidence": etsi.ETSI.si2etsi(
gnss_report.horizontal_error,
etsi.ETSI.CENTI_METER,
4095,
{"min": 0, "max": 4093},
4094,
),
# Any orientation is valid for a circle, just use 0.
"semi_major_orientation": etsi.ETSI.si2etsi(
0,
"reference_position": self.reference_position(gnss_report),
},
"high_frequency_container": {
"basic_vehicle_container_high_frequency": {
"heading": {
"value": etsi.ETSI.si2etsi(
gnss_report.track,
etsi.ETSI.DECI_DEGREE,
3601,
),
"confidence": 127,
},
"speed": {
"value": etsi.ETSI.si2etsi(
gnss_report.speed,
etsi.ETSI.CENTI_METER_PER_SECOND,
16383,
),
"confidence": 127,
},
"drive_direction": 2,
"vehicle_length": {
"value": 1023,
"confidence": 4,
},
"vehicle_width": 62,
"longitudinal_acceleration": {
"value": etsi.ETSI.si2etsi(
gnss_report.acceleration,
etsi.ETSI.DECI_METER_PER_SECOND_SECOND,
161,
),
"confidence": 102,
},
"curvature": {
"value": 1023,
"confidence": 7,
},
"curvature_calculation_mode": 2,
"yaw_rate": {
"value": 32767,
"confidence": 8,
},
},
},
"high_frequency_container": {
"heading": etsi.ETSI.si2etsi(
gnss_report.track,
etsi.ETSI.DECI_DEGREE,
3601,
),
"speed": etsi.ETSI.si2etsi(
gnss_report.speed,
etsi.ETSI.CENTI_METER_PER_SECOND,
16383,
),
"longitudinal_acceleration": etsi.ETSI.si2etsi(
gnss_report.acceleration,
etsi.ETSI.DECI_METER_PER_SECOND_SECOND,
161,
),
},
},
},
)
Expand Down Expand Up @@ -166,15 +149,15 @@ def altitude(self):
return etsi.ETSI.etsi2si(
self._message["message"]["basic_container"]["reference_position"][
"altitude"
],
]["value"],
etsi.ETSI.CENTI_METER,
800001,
)

@altitude.setter
def altitude(self, altitude):
self._message["message"]["basic_container"]["reference_position"][
"altitude"
self._message["message"]["basic_container"]["reference_position"]["altitude"][
"value"
] = etsi.ETSI.si2etsi(
altitude,
etsi.ETSI.CENTI_METER,
Expand Down
52 changes: 1 addition & 51 deletions python/iot3/src/iot3/mobility/cpm.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -155,57 +155,7 @@ def __init__(
"management_container": {
"station_type": station_type,
"reference_time": etsi.ETSI.unix2etsi_time(self._timestamp),
"reference_position": {
"latitude": etsi.ETSI.si2etsi(
gnss_report.latitude,
etsi.ETSI.DECI_MICRO_DEGREE,
900000001,
),
"longitude": etsi.ETSI.si2etsi(
gnss_report.longitude,
etsi.ETSI.DECI_MICRO_DEGREE,
1800000001,
),
"altitude": {
"value": etsi.ETSI.si2etsi(
gnss_report.altitude,
etsi.ETSI.CENTI_METER,
800001,
),
# Encoding the altitude error is a non-linear search in
# an array... Let's consider it unavailable for now.
"confidence": etsi.ETSI.si2etsi(
None,
etsi.ETSI.CENTI_METER,
15,
),
},
"position_confidence_ellipse": {
# We treat the 2D error as a circle, so semi-major
# and semi-minor are eqal, and thus the orientation
# of the elipse does not matter.
"semi_major": etsi.ETSI.si2etsi(
gnss_report.horizontal_error,
etsi.ETSI.CENTI_METER,
4095,
{"min": 0, "max": 4093},
4094,
),
"semi_minor": etsi.ETSI.si2etsi(
gnss_report.horizontal_error,
etsi.ETSI.CENTI_METER,
4095,
{"min": 0, "max": 4093},
4094,
),
# Any orientation is valid for a circle, just use 0.
"semi_major_orientation": etsi.ETSI.si2etsi(
0,
etsi.ETSI.DECI_DEGREE,
3601,
),
},
},
"reference_position": self.reference_position(gnss_report),
},
"perceived_object_container": [],
},
Expand Down
82 changes: 80 additions & 2 deletions python/iot3/src/iot3/mobility/etsi.py
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
import json
from typing import Optional
from . import leapseconds
from .gnss import GNSSReport


class ETSI(abc.ABC):
Expand Down Expand Up @@ -191,7 +192,9 @@ def unix2etsi_time(
94694401000
"""
tai_time = leapseconds.utc_to_tai(
datetime.datetime.utcfromtimestamp(unix_time)
datetime.datetime.fromtimestamp(unix_time, datetime.timezone.utc).replace(
tzinfo=None
)
).timestamp()
return ETSI.si2etsi(tai_time - ETSI.EPOCH, ETSI.MILLI_SECOND, 0)

Expand All @@ -218,7 +221,9 @@ def etsi2unix_time(
"""
tai_time = ETSI.etsi2si(etsi_time, ETSI.MILLI_SECOND, 0) + ETSI.EPOCH
return leapseconds.tai_to_utc(
datetime.datetime.utcfromtimestamp(tai_time)
datetime.datetime.fromtimestamp(tai_time, datetime.timezone.utc).replace(
tzinfo=None
)
).timestamp()

@staticmethod
Expand Down Expand Up @@ -337,3 +342,76 @@ def topic(
def to_json(self) -> str:
# Return the densest-possible JSON sentence
return json.dumps(self._message, separators=(",", ":"))

@staticmethod
def reference_position(
gnss_report: GNSSReport,
) -> dict:
return {
"latitude": ETSI.si2etsi(
gnss_report.latitude,
ETSI.DECI_MICRO_DEGREE,
900000001,
),
"longitude": ETSI.si2etsi(
gnss_report.longitude,
ETSI.DECI_MICRO_DEGREE,
1800000001,
),
"altitude": {
"value": ETSI.si2etsi(
gnss_report.altitude,
ETSI.CENTI_METER,
800001,
),
"confidence": Message.altitude_confidence(gnss_report),
},
"position_confidence_ellipse": (
Message.position_confidence_ellipse(gnss_report)
),
}

@staticmethod
def position_confidence_ellipse(
gnss_report: GNSSReport,
) -> dict:
return {
"semi_major": ETSI.si2etsi(
gnss_report.ellipse_semi_major,
ETSI.CENTI_METER,
4095,
{"min": 1, "max": 4093},
4094,
),
"semi_minor": ETSI.si2etsi(
gnss_report.ellipse_semi_minor,
ETSI.CENTI_METER,
4095,
{"min": 1, "max": 4093},
4094,
),
"semi_major_orientation": ETSI.si2etsi(
(
None
if gnss_report.ellipse_orient is None
else gnss_report.ellipse_orient % 360.0
),
ETSI.DECI_DEGREE,
3601,
{"min": 0, "max": 3599},
),
}

@staticmethod
def altitude_confidence(
gnss_report: GNSSReport,
) -> int:
"""Return the altitude confidence value."""
if gnss_report.altitude_error is None:
return 15
steps = [1, 2, 5]
for confidence in range(14):
threshold = steps[confidence % 3] * (10 ** (int(confidence / 3) - 2))
if gnss_report.altitude_error <= threshold:
return confidence
return 14
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