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jjshoots.RemoteIDSpoofer/RemoteIDSpoofer/opendroneid.h
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/*
Copyright (C) 2019 Intel Corporation
SPDX-License-Identifier: Apache-2.0
Open Drone ID C Library
Maintainer:
Gabriel Cox
gabriel.c.cox@intel.com
*/
#ifndef _OPENDRONEID_H_
#define _OPENDRONEID_H_
#include <stdint.h>
#include <string.h>
#ifdef __cplusplus
extern "C" {
#endif
#define ODID_MESSAGE_SIZE 25
#define ODID_ID_SIZE 20
#define ODID_STR_SIZE 23
/*
* This implementation is compliant with the:
* - ASTM F3411 Specification for Remote ID and Tracking
* - ASD-STAN prEN 4709-002 Direct Remote Identification
*
* Since the strategy of the standardization for drone ID has been to not break
* backwards compatibility when adding new functionality, no attempt in this
* implementation is made to verify the version number when decoding messages.
* It is assumed that newer versions can be decoded but some data elements
* might be missing in the output.
*
* The following protocol versions have been in use:
* 0: ASTM F3411-19. Published Feb 14, 2020. https://www.astm.org/f3411-19.html
* 1: ASD-STAN prEN 4709-002 P1. Published 31-Oct-2021. http://asd-stan.org/downloads/asd-stan-pren-4709-002-p1/
* ASTM F3411 v1.1 draft sent for first ballot round autumn 2021
* 2: ASTM F3411-v1.1 draft sent for second ballot round Q1 2022. (ASTM F3411-22 ?)
* The delta to protocol version 1 is small:
* - New enum values ODID_STATUS_REMOTE_ID_SYSTEM_FAILURE, ODID_DESC_TYPE_EMERGENCY and ODID_DESC_TYPE_EXTENDED_STATUS
* - New Timestamp field in the System message
*/
#define ODID_PROTOCOL_VERSION 2
/*
* To save memory on implementations that do not need support for 16 pages of
* authentication data, define ODID_AUTH_MAX_PAGES to the desired value before
* including opendroneid.h. E.g. "-DODID_AUTH_MAX_PAGES=5" when calling cmake.
*/
#ifndef ODID_AUTH_MAX_PAGES
#define ODID_AUTH_MAX_PAGES 16
#endif
#if (ODID_AUTH_MAX_PAGES < 1) || (ODID_AUTH_MAX_PAGES > 16)
#error "ODID_AUTH_MAX_PAGES must be between 1 and 16."
#endif
#define ODID_AUTH_PAGE_ZERO_DATA_SIZE 17
#define ODID_AUTH_PAGE_NONZERO_DATA_SIZE 23
#define MAX_AUTH_LENGTH (ODID_AUTH_PAGE_ZERO_DATA_SIZE + \
ODID_AUTH_PAGE_NONZERO_DATA_SIZE * (ODID_AUTH_MAX_PAGES - 1))
#ifndef ODID_BASIC_ID_MAX_MESSAGES
#define ODID_BASIC_ID_MAX_MESSAGES 2
#endif
#if (ODID_BASIC_ID_MAX_MESSAGES < 1) || (ODID_BASIC_ID_MAX_MESSAGES > 5)
#error "ODID_BASIC_ID_MAX_MESSAGES must be between 1 and 5."
#endif
#define ODID_PACK_MAX_MESSAGES 9
#define ODID_SUCCESS 0
#define ODID_FAIL 1
#define MIN_DIR 0 // Minimum direction
#define MAX_DIR 360 // Maximum direction
#define INV_DIR 361 // Invalid direction
#define MIN_SPEED_H 0 // Minimum speed horizontal
#define MAX_SPEED_H 254.25f // Maximum speed horizontal
#define INV_SPEED_H 255 // Invalid speed horizontal
#define MIN_SPEED_V (-62) // Minimum speed vertical
#define MAX_SPEED_V 62 // Maximum speed vertical
#define INV_SPEED_V 63 // Invalid speed vertical
#define MIN_LAT (-90) // Minimum latitude
#define MAX_LAT 90 // Maximum latitude
#define MIN_LON (-180) // Minimum longitude
#define MAX_LON 180 // Maximum longitude
#define MIN_ALT (-1000) // Minimum altitude
#define MAX_ALT 31767.5f// Maximum altitude
#define INV_ALT MIN_ALT // Invalid altitude
#define MAX_TIMESTAMP (60 * 60)
#define INV_TIMESTAMP 0xFFFF // Invalid, No Value or Unknown Timestamp
#define MAX_AREA_RADIUS 2550
typedef enum ODID_messagetype {
ODID_MESSAGETYPE_BASIC_ID = 0,
ODID_MESSAGETYPE_LOCATION = 1,
ODID_MESSAGETYPE_AUTH = 2,
ODID_MESSAGETYPE_SELF_ID = 3,
ODID_MESSAGETYPE_SYSTEM = 4,
ODID_MESSAGETYPE_OPERATOR_ID = 5,
ODID_MESSAGETYPE_PACKED = 0xF,
ODID_MESSAGETYPE_INVALID = 0xFF,
} ODID_messagetype_t;
// Each message type must maintain it's own message uint8_t counter, which must
// be incremented if the message content changes. For repeated transmission of
// the same message content, incrementing the counter is optional.
typedef enum ODID_msg_counter {
ODID_MSG_COUNTER_BASIC_ID = 0,
ODID_MSG_COUNTER_LOCATION = 1,
ODID_MSG_COUNTER_AUTH = 2,
ODID_MSG_COUNTER_SELF_ID = 3,
ODID_MSG_COUNTER_SYSTEM = 4,
ODID_MSG_COUNTER_OPERATOR_ID = 5,
ODID_MSG_COUNTER_PACKED = 6,
ODID_MSG_COUNTER_AMOUNT = 7,
} ODID_msg_counter_t;
typedef enum ODID_idtype {
ODID_IDTYPE_NONE = 0,
ODID_IDTYPE_SERIAL_NUMBER = 1,
ODID_IDTYPE_CAA_REGISTRATION_ID = 2, // Civil Aviation Authority
ODID_IDTYPE_UTM_ASSIGNED_UUID = 3, // UAS (Unmanned Aircraft System) Traffic Management
ODID_IDTYPE_SPECIFIC_SESSION_ID = 4, // The exact id type is specified by the first byte of UASID and these type
// values are managed by ICAO. 0 is reserved. 1 - 224 are managed by ICAO.
// 225 - 255 are available for private experimental usage only
// 5 to 15 reserved
} ODID_idtype_t;
typedef enum ODID_uatype {
ODID_UATYPE_NONE = 0,
ODID_UATYPE_AEROPLANE = 1, // Fixed wing
ODID_UATYPE_HELICOPTER_OR_MULTIROTOR = 2,
ODID_UATYPE_GYROPLANE = 3,
ODID_UATYPE_HYBRID_LIFT = 4, // Fixed wing aircraft that can take off vertically
ODID_UATYPE_ORNITHOPTER = 5,
ODID_UATYPE_GLIDER = 6,
ODID_UATYPE_KITE = 7,
ODID_UATYPE_FREE_BALLOON = 8,
ODID_UATYPE_CAPTIVE_BALLOON = 9,
ODID_UATYPE_AIRSHIP = 10, // Such as a blimp
ODID_UATYPE_FREE_FALL_PARACHUTE = 11, // Unpowered
ODID_UATYPE_ROCKET = 12,
ODID_UATYPE_TETHERED_POWERED_AIRCRAFT = 13,
ODID_UATYPE_GROUND_OBSTACLE = 14,
ODID_UATYPE_OTHER = 15,
} ODID_uatype_t;
typedef enum ODID_status {
ODID_STATUS_UNDECLARED = 0,
ODID_STATUS_GROUND = 1,
ODID_STATUS_AIRBORNE = 2,
ODID_STATUS_EMERGENCY = 3,
ODID_STATUS_REMOTE_ID_SYSTEM_FAILURE = 4,
// 3 to 15 reserved
} ODID_status_t;
typedef enum ODID_Height_reference {
ODID_HEIGHT_REF_OVER_TAKEOFF = 0,
ODID_HEIGHT_REF_OVER_GROUND = 1,
} ODID_Height_reference_t;
typedef enum ODID_Horizontal_accuracy {
ODID_HOR_ACC_UNKNOWN = 0,
ODID_HOR_ACC_10NM = 1, // Nautical Miles. 18.52 km
ODID_HOR_ACC_4NM = 2, // 7.408 km
ODID_HOR_ACC_2NM = 3, // 3.704 km
ODID_HOR_ACC_1NM = 4, // 1.852 km
ODID_HOR_ACC_0_5NM = 5, // 926 m
ODID_HOR_ACC_0_3NM = 6, // 555.6 m
ODID_HOR_ACC_0_1NM = 7, // 185.2 m
ODID_HOR_ACC_0_05NM = 8, // 92.6 m
ODID_HOR_ACC_30_METER = 9,
ODID_HOR_ACC_10_METER = 10,
ODID_HOR_ACC_3_METER = 11,
ODID_HOR_ACC_1_METER = 12,
// 13 to 15 reserved
} ODID_Horizontal_accuracy_t;
typedef enum ODID_Vertical_accuracy {
ODID_VER_ACC_UNKNOWN = 0,
ODID_VER_ACC_150_METER = 1,
ODID_VER_ACC_45_METER = 2,
ODID_VER_ACC_25_METER = 3,
ODID_VER_ACC_10_METER = 4,
ODID_VER_ACC_3_METER = 5,
ODID_VER_ACC_1_METER = 6,
// 7 to 15 reserved
} ODID_Vertical_accuracy_t;
typedef enum ODID_Speed_accuracy {
ODID_SPEED_ACC_UNKNOWN = 0,
ODID_SPEED_ACC_10_METERS_PER_SECOND = 1,
ODID_SPEED_ACC_3_METERS_PER_SECOND = 2,
ODID_SPEED_ACC_1_METERS_PER_SECOND = 3,
ODID_SPEED_ACC_0_3_METERS_PER_SECOND = 4,
// 5 to 15 reserved
} ODID_Speed_accuracy_t;
typedef enum ODID_Timestamp_accuracy {
ODID_TIME_ACC_UNKNOWN = 0,
ODID_TIME_ACC_0_1_SECOND = 1,
ODID_TIME_ACC_0_2_SECOND = 2,
ODID_TIME_ACC_0_3_SECOND = 3,
ODID_TIME_ACC_0_4_SECOND = 4,
ODID_TIME_ACC_0_5_SECOND = 5,
ODID_TIME_ACC_0_6_SECOND = 6,
ODID_TIME_ACC_0_7_SECOND = 7,
ODID_TIME_ACC_0_8_SECOND = 8,
ODID_TIME_ACC_0_9_SECOND = 9,
ODID_TIME_ACC_1_0_SECOND = 10,
ODID_TIME_ACC_1_1_SECOND = 11,
ODID_TIME_ACC_1_2_SECOND = 12,
ODID_TIME_ACC_1_3_SECOND = 13,
ODID_TIME_ACC_1_4_SECOND = 14,
ODID_TIME_ACC_1_5_SECOND = 15,
} ODID_Timestamp_accuracy_t;
typedef enum ODID_authtype {
ODID_AUTH_NONE = 0,
ODID_AUTH_UAS_ID_SIGNATURE = 1, // Unmanned Aircraft System
ODID_AUTH_OPERATOR_ID_SIGNATURE = 2,
ODID_AUTH_MESSAGE_SET_SIGNATURE = 3,
ODID_AUTH_NETWORK_REMOTE_ID = 4, // Authentication provided by Network Remote ID
ODID_AUTH_SPECIFIC_AUTHENTICATION = 5, // Specific auth method. The exact authentication type is indicated by the
// first byte of AuthData and these type values are managed by ICAO.
// 0 is reserved. 1 - 224 are managed by ICAO. 225 - 255 are available for
// private experimental usage only
// 6 to 9 reserved for the specification. 0xA to 0xF reserved for private use
} ODID_authtype_t;
typedef enum ODID_desctype {
ODID_DESC_TYPE_TEXT = 0, // General free-form information text
ODID_DESC_TYPE_EMERGENCY = 1, // Additional clarification when ODID_status == EMERGENCY
ODID_DESC_TYPE_EXTENDED_STATUS = 2, // Additional clarification when ODID_status != EMERGENCY
// 3 to 200 reserved
// 201 to 255 available for private use
} ODID_desctype_t;
typedef enum ODID_operatorIdType {
ODID_OPERATOR_ID = 0,
// 1 to 200 reserved
// 201 to 255 available for private use
} ODID_operatorIdType_t;
typedef enum ODID_operator_location_type {
ODID_OPERATOR_LOCATION_TYPE_TAKEOFF = 0, // Takeoff location and altitude
ODID_OPERATOR_LOCATION_TYPE_LIVE_GNSS = 1, // Dynamic/Live location and altitude
ODID_OPERATOR_LOCATION_TYPE_FIXED = 2, // Fixed location and altitude
// 3 to 255 reserved
} ODID_operator_location_type_t;
typedef enum ODID_classification_type {
ODID_CLASSIFICATION_TYPE_UNDECLARED = 0,
ODID_CLASSIFICATION_TYPE_EU = 1, // European Union
// 2 to 7 reserved
} ODID_classification_type_t;
typedef enum ODID_category_EU {
ODID_CATEGORY_EU_UNDECLARED = 0,
ODID_CATEGORY_EU_OPEN = 1,
ODID_CATEGORY_EU_SPECIFIC = 2,
ODID_CATEGORY_EU_CERTIFIED = 3,
// 4 to 15 reserved
} ODID_category_EU_t;
typedef enum ODID_class_EU {
ODID_CLASS_EU_UNDECLARED = 0,
ODID_CLASS_EU_CLASS_0 = 1,
ODID_CLASS_EU_CLASS_1 = 2,
ODID_CLASS_EU_CLASS_2 = 3,
ODID_CLASS_EU_CLASS_3 = 4,
ODID_CLASS_EU_CLASS_4 = 5,
ODID_CLASS_EU_CLASS_5 = 6,
ODID_CLASS_EU_CLASS_6 = 7,
// 8 to 15 reserved
} ODID_class_EU_t;
/*
* @name ODID_DataStructs
* ODID Data Structures in their normative (non-packed) form.
* This is the structure that any input adapters should form to
* let the encoders put the data into encoded form.
*/
typedef struct ODID_BasicID_data {
ODID_uatype_t UAType;
ODID_idtype_t IDType;
char UASID[ODID_ID_SIZE+1]; // Additional byte to allow for null term in normative form. Fill unused space with NULL
} ODID_BasicID_data;
typedef struct ODID_Location_data {
ODID_status_t Status;
float Direction; // Degrees. 0 <= x < 360. Route course based on true North. Invalid, No Value, or Unknown: 361deg
float SpeedHorizontal; // m/s. Positive only. Invalid, No Value, or Unknown: 255m/s. If speed is >= 254.25 m/s: 254.25m/s
float SpeedVertical; // m/s. Invalid, No Value, or Unknown: 63m/s. If speed is >= 62m/s: 62m/s
double Latitude; // Invalid, No Value, or Unknown: 0 deg (both Lat/Lon)
double Longitude; // Invalid, No Value, or Unknown: 0 deg (both Lat/Lon)
float AltitudeBaro; // meter (Ref 29.92 inHg, 1013.24 mb). Invalid, No Value, or Unknown: -1000m
float AltitudeGeo; // meter (WGS84-HAE). Invalid, No Value, or Unknown: -1000m
ODID_Height_reference_t HeightType;
float Height; // meter. Invalid, No Value, or Unknown: -1000m
ODID_Horizontal_accuracy_t HorizAccuracy;
ODID_Vertical_accuracy_t VertAccuracy;
ODID_Vertical_accuracy_t BaroAccuracy;
ODID_Speed_accuracy_t SpeedAccuracy;
ODID_Timestamp_accuracy_t TSAccuracy;
float TimeStamp; // seconds after the full hour relative to UTC. Invalid, No Value, or Unknown: 0xFFFF
} ODID_Location_data;
/*
* The Authentication message can have two different formats:
* - For data page 0, the fields LastPageIndex, Length and TimeStamp are present.
* The size of AuthData is maximum 17 bytes (ODID_AUTH_PAGE_ZERO_DATA_SIZE).
* - For data page 1 through (ODID_AUTH_MAX_PAGES - 1), LastPageIndex, Length and
* TimeStamp are not present.
* For pages 1 to LastPageIndex, the size of AuthData is maximum
* 23 bytes (ODID_AUTH_PAGE_NONZERO_DATA_SIZE).
*
* Unused bytes in the AuthData field must be filled with NULLs (i.e. 0x00).
*
* Since the Length field is uint8_t, the precise amount of data bytes
* transmitted over multiple pages of AuthData can only be specified up to 255.
* I.e. the maximum is one page 0, then 10 full pages and finally a page with
* 255 - (10*23 + 17) = 8 bytes of data.
*
* The payload data consisting of actual authentication data can never be
* larger than 255 bytes. However, it is possible to transmit additional
* support data, such as Forward Error Correction (FEC) data beyond that.
* This is e.g. useful when transmitting on Bluetooth 4, which does not have
* built-in FEC in the transmission protocol. The presence of this additional
* data is indicated by a combination of LastPageIndex and the value of the
* AuthData byte right after the last data byte indicated by Length. If this
* additional byte is non-zero/non-NULL, the value of the byte indicates the
* amount of additional (e.g. FEC) data bytes. The value of LastPageIndex must
* always be large enough to include all pages containing normal authentication
* and additional data. Some examples are given below. The value in the
* "FEC data" column must be stored in the "(Length - 1) + 1" position in the
* transmitted AuthData[] array. The total size of valid data in the AuthData
* array will be = Length + 1 + "FEC data".
* Unused bytes
* Authentication data FEC data LastPageIndex Length on last page
* 17 + 1*23 + 23 = 63 bytes 0 bytes 2 63 0
* 17 + 1*23 + 23 = 63 bytes 22 bytes 3 63 0
* 17 + 2*23 + 1 = 64 bytes 0 bytes 3 64 22
* 17 + 2*23 + 1 = 64 bytes 21 bytes 3 64 0
* 17 + 2*23 + 1 = 64 bytes 22 bytes 4 64 22
* ...
* 17 + 4*23 + 19 = 128 bytes 0 bytes 5 128 4
* 17 + 4*23 + 19 = 128 bytes 3 bytes 5 128 0
* 17 + 4*23 + 20 = 128 bytes 16 bytes 6 128 10
* 17 + 4*23 + 20 = 128 bytes 26 bytes 6 128 0
* ...
* 17 + 9*23 + 23 = 247 bytes 0 bytes 10 247 0
* 17 + 9*23 + 23 = 247 bytes 22 bytes 11 247 0
* 17 + 10*23 + 1 = 248 bytes 0 bytes 11 248 22
* 17 + 10*23 + 1 = 248 bytes 44 bytes 12 248 0
* ...
* 17 + 10*23 + 8 = 255 bytes 0 bytes 11 255 15
* 17 + 10*23 + 8 = 255 bytes 14 bytes 11 255 0
* 17 + 10*23 + 8 = 255 bytes 37 bytes 12 255 0
* 17 + 10*23 + 8 = 255 bytes 60 bytes 13 255 0
*/
typedef struct ODID_Auth_data {
uint8_t DataPage; // 0 - (ODID_AUTH_MAX_PAGES - 1)
ODID_authtype_t AuthType;
uint8_t LastPageIndex; // Page 0 only. Maximum (ODID_AUTH_MAX_PAGES - 1)
uint8_t Length; // Page 0 only. Bytes. See description above.
uint32_t Timestamp; // Page 0 only. Relative to 00:00:00 01/01/2019 UTC/Unix Time
uint8_t AuthData[ODID_AUTH_PAGE_NONZERO_DATA_SIZE+1]; // Additional byte to allow for null term in normative form
} ODID_Auth_data;
typedef struct ODID_SelfID_data {
ODID_desctype_t DescType;
char Desc[ODID_STR_SIZE+1]; // Additional byte to allow for null term in normative form. Fill unused space with NULL
} ODID_SelfID_data;
typedef struct ODID_System_data {
ODID_operator_location_type_t OperatorLocationType;
ODID_classification_type_t ClassificationType;
double OperatorLatitude; // Invalid, No Value, or Unknown: 0 deg (both Lat/Lon)
double OperatorLongitude; // Invalid, No Value, or Unknown: 0 deg (both Lat/Lon)
uint16_t AreaCount; // Default 1
uint16_t AreaRadius; // meter. Default 0
float AreaCeiling; // meter. Invalid, No Value, or Unknown: -1000m
float AreaFloor; // meter. Invalid, No Value, or Unknown: -1000m
ODID_category_EU_t CategoryEU; // Only filled if ClassificationType = ODID_CLASSIFICATION_TYPE_EU
ODID_class_EU_t ClassEU; // Only filled if ClassificationType = ODID_CLASSIFICATION_TYPE_EU
float OperatorAltitudeGeo;// meter (WGS84-HAE). Invalid, No Value, or Unknown: -1000m
uint32_t Timestamp; // Relative to 00:00:00 01/01/2019 UTC/Unix Time
} ODID_System_data;
typedef struct ODID_OperatorID_data {
ODID_operatorIdType_t OperatorIdType;
char OperatorId[ODID_ID_SIZE+1]; // Additional byte to allow for null term in normative form. Fill unused space with NULL
} ODID_OperatorID_data;
typedef struct ODID_UAS_Data {
ODID_BasicID_data BasicID[ODID_BASIC_ID_MAX_MESSAGES];
ODID_Location_data Location;
ODID_Auth_data Auth[ODID_AUTH_MAX_PAGES];
ODID_SelfID_data SelfID;
ODID_System_data System;
ODID_OperatorID_data OperatorID;
uint8_t BasicIDValid[ODID_BASIC_ID_MAX_MESSAGES];
uint8_t LocationValid;
uint8_t AuthValid[ODID_AUTH_MAX_PAGES];
uint8_t SelfIDValid;
uint8_t SystemValid;
uint8_t OperatorIDValid;
} ODID_UAS_Data;
/**
* @Name ODID_PackedStructs
* Packed Data Structures prepared for broadcast
* It's best not directly access these. Use the encoders/decoders.
*/
typedef struct __attribute__((__packed__)) ODID_BasicID_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 [IDType][UAType] -- must define LSb first
uint8_t UAType: 4;
uint8_t IDType: 4;
// Bytes 2-21
char UASID[ODID_ID_SIZE];
// 22-24
char Reserved[3];
} ODID_BasicID_encoded;
typedef struct __attribute__((__packed__)) ODID_Location_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 [Status][Reserved][NSMult][EWMult] -- must define LSb first
uint8_t SpeedMult: 1;
uint8_t EWDirection: 1;
uint8_t HeightType: 1;
uint8_t Reserved: 1;
uint8_t Status: 4;
// Bytes 2-18
uint8_t Direction;
uint8_t SpeedHorizontal;
int8_t SpeedVertical;
int32_t Latitude;
int32_t Longitude;
uint16_t AltitudeBaro;
uint16_t AltitudeGeo;
uint16_t Height;
// Byte 19 [VertAccuracy][HorizAccuracy] -- must define LSb first
uint8_t HorizAccuracy:4;
uint8_t VertAccuracy:4;
// Byte 20 [BaroAccuracy][SpeedAccuracy] -- must define LSb first
uint8_t SpeedAccuracy:4;
uint8_t BaroAccuracy:4;
// Byte 21-22
uint16_t TimeStamp;
// Byte 23 [Reserved2][TSAccuracy] -- must define LSb first
uint8_t TSAccuracy:4;
uint8_t Reserved2:4;
// Byte 24
char Reserved3;
} ODID_Location_encoded;
typedef struct __attribute__((__packed__)) ODID_Auth_encoded_page_zero {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 [AuthType][DataPage]
uint8_t DataPage: 4;
uint8_t AuthType: 4;
// Bytes 2-7
uint8_t LastPageIndex;
uint8_t Length;
uint32_t Timestamp;
// Byte 8-24
uint8_t AuthData[ODID_AUTH_PAGE_ZERO_DATA_SIZE];
} ODID_Auth_encoded_page_zero;
typedef struct __attribute__((__packed__)) ODID_Auth_encoded_page_non_zero {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 [AuthType][DataPage]
uint8_t DataPage: 4;
uint8_t AuthType: 4;
// Byte 2-24
uint8_t AuthData[ODID_AUTH_PAGE_NONZERO_DATA_SIZE];
} ODID_Auth_encoded_page_non_zero;
/*
* It is safe to access the first four fields (i.e. ProtoVersion, MessageType,
* DataPage and AuthType) from either of the union members, since the declarations
* for these fields are identical and the first parts of the structures.
* The ISO/IEC 9899:1999 Chapter 6.5.2.3 part 5 and related Example 3 documents this.
* https://www.iso.org/standard/29237.html
*/
typedef union ODID_Auth_encoded{
ODID_Auth_encoded_page_zero page_zero;
ODID_Auth_encoded_page_non_zero page_non_zero;
} ODID_Auth_encoded;
typedef struct __attribute__((__packed__)) ODID_SelfID_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1
uint8_t DescType;
// Byte 2-24
char Desc[ODID_STR_SIZE];
} ODID_SelfID_encoded;
typedef struct __attribute__((__packed__)) ODID_System_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 [Reserved][ClassificationType][OperatorLocationType] -- must define LSb first
uint8_t OperatorLocationType: 2;
uint8_t ClassificationType: 3;
uint8_t Reserved: 3;
// Byte 2-9
int32_t OperatorLatitude;
int32_t OperatorLongitude;
// Byte 10-16
uint16_t AreaCount;
uint8_t AreaRadius;
uint16_t AreaCeiling;
uint16_t AreaFloor;
// Byte 17 [CategoryEU][ClassEU] -- must define LSb first
uint8_t ClassEU: 4;
uint8_t CategoryEU: 4;
// Byte 18-23
uint16_t OperatorAltitudeGeo;
uint32_t Timestamp;
// Byte 24
char Reserved2;
} ODID_System_encoded;
typedef struct __attribute__((__packed__)) ODID_OperatorID_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1
uint8_t OperatorIdType;
// Bytes 2-21
char OperatorId[ODID_ID_SIZE];
// 22-24
char Reserved[3];
} ODID_OperatorID_encoded;
/*
* It is safe to access the first two fields (i.e. ProtoVersion and MessageType)
* from any of the structure parts of the union members, since the declarations
* for these fields are identical and the first parts of the structures.
* The ISO/IEC 9899:1999 Chapter 6.5.2.3 part 5 and related Example 3 documents this.
* https://www.iso.org/standard/29237.html
*/
typedef union ODID_Message_encoded {
uint8_t rawData[ODID_MESSAGE_SIZE];
ODID_BasicID_encoded basicId;
ODID_Location_encoded location;
ODID_Auth_encoded auth;
ODID_SelfID_encoded selfId;
ODID_System_encoded system;
ODID_OperatorID_encoded operatorId;
} ODID_Message_encoded;
typedef struct __attribute__((__packed__)) ODID_MessagePack_encoded {
// Byte 0 [MessageType][ProtoVersion] -- must define LSb first
uint8_t ProtoVersion: 4;
uint8_t MessageType : 4;
// Byte 1 - 2
uint8_t SingleMessageSize;
uint8_t MsgPackSize;
// Byte 3 - 227
ODID_Message_encoded Messages[ODID_PACK_MAX_MESSAGES];
} ODID_MessagePack_encoded;
typedef struct ODID_MessagePack_data {
uint8_t SingleMessageSize; // Must always be ODID_MESSAGE_SIZE
uint8_t MsgPackSize; // Number of messages in pack (NOT number of bytes)
ODID_Message_encoded Messages[ODID_PACK_MAX_MESSAGES];
} ODID_MessagePack_data;
// API Calls
void odid_initBasicIDData(ODID_BasicID_data *data);
void odid_initLocationData(ODID_Location_data *data);
void odid_initAuthData(ODID_Auth_data *data);
void odid_initSelfIDData(ODID_SelfID_data *data);
void odid_initSystemData(ODID_System_data *data);
void odid_initOperatorIDData(ODID_OperatorID_data *data);
void odid_initMessagePackData(ODID_MessagePack_data *data);
void odid_initUasData(ODID_UAS_Data *data);
int encodeBasicIDMessage(ODID_BasicID_encoded *outEncoded, ODID_BasicID_data *inData);
int encodeLocationMessage(ODID_Location_encoded *outEncoded, ODID_Location_data *inData);
int encodeAuthMessage(ODID_Auth_encoded *outEncoded, ODID_Auth_data *inData);
int encodeSelfIDMessage(ODID_SelfID_encoded *outEncoded, ODID_SelfID_data *inData);
int encodeSystemMessage(ODID_System_encoded *outEncoded, ODID_System_data *inData);
int encodeOperatorIDMessage(ODID_OperatorID_encoded *outEncoded, ODID_OperatorID_data *inData);
int encodeMessagePack(ODID_MessagePack_encoded *outEncoded, ODID_MessagePack_data *inData);
int decodeBasicIDMessage(ODID_BasicID_data *outData, ODID_BasicID_encoded *inEncoded);
int decodeLocationMessage(ODID_Location_data *outData, ODID_Location_encoded *inEncoded);
int decodeAuthMessage(ODID_Auth_data *outData, ODID_Auth_encoded *inEncoded);
int decodeSelfIDMessage(ODID_SelfID_data *outData, ODID_SelfID_encoded *inEncoded);
int decodeSystemMessage(ODID_System_data *outData, ODID_System_encoded *inEncoded);
int decodeOperatorIDMessage(ODID_OperatorID_data *outData, ODID_OperatorID_encoded *inEncoded);
int decodeMessagePack(ODID_UAS_Data *uasData, ODID_MessagePack_encoded *pack);
int getBasicIDType(ODID_BasicID_encoded *inEncoded, enum ODID_idtype *idType);
int getAuthPageNum(ODID_Auth_encoded *inEncoded, int *pageNum);
ODID_messagetype_t decodeMessageType(uint8_t byte);
ODID_messagetype_t decodeOpenDroneID(ODID_UAS_Data *uas_data, uint8_t *msg_data);
// Helper Functions
ODID_Horizontal_accuracy_t createEnumHorizontalAccuracy(float Accuracy);
ODID_Vertical_accuracy_t createEnumVerticalAccuracy(float Accuracy);
ODID_Speed_accuracy_t createEnumSpeedAccuracy(float Accuracy);
ODID_Timestamp_accuracy_t createEnumTimestampAccuracy(float Accuracy);
float decodeHorizontalAccuracy(ODID_Horizontal_accuracy_t Accuracy);
float decodeVerticalAccuracy(ODID_Vertical_accuracy_t Accuracy);
float decodeSpeedAccuracy(ODID_Speed_accuracy_t Accuracy);
float decodeTimestampAccuracy(ODID_Timestamp_accuracy_t Accuracy);
// OpenDroneID WiFi functions
/**
* drone_export_gps_data - prints drone information to json style string,
* according to odid message specification
* @UAS_Data: general drone status information
* @buf: buffer for the json style string
* @buf_size: size of the string buffer
*
* Returns pointer to gps_data string on success, otherwise returns NULL
*/
void drone_export_gps_data(ODID_UAS_Data *UAS_Data, char *buf, size_t buf_size);
/**
* odid_message_build_pack - combines the messages and encodes the odid pack
* @UAS_Data: general drone status information
* @pack: buffer space to write to
* @buflen: maximum length of buffer space
*
* Returns length on success, < 0 on failure. @buf only contains a valid message
* if the return code is >0
*/
int odid_message_build_pack(ODID_UAS_Data *UAS_Data, void *pack, size_t buflen);
/* odid_wifi_build_nan_sync_beacon_frame - creates a NAN sync beacon frame
* that shall be send just before the NAN action frame.
* @mac: mac address of the wifi adapter where the NAN frame will be sent
* @buf: pointer to buffer space where the NAN will be written to
* @buf_size: maximum size of the buffer
*
* Returns the packet length on success, or < 0 on error.
*/
int odid_wifi_build_nan_sync_beacon_frame(char *mac, uint8_t *buf, size_t buf_size);
/* odid_wifi_build_message_pack_nan_action_frame - creates a message pack
* with each type of message from the drone information into an NAN action frame.
* @UAS_Data: general drone status information
* @mac: mac address of the wifi adapter where the NAN frame will be sent
* @send_counter: sequence number, to be increased for each call of this function
* @buf: pointer to buffer space where the NAN will be written to
* @buf_size: maximum size of the buffer
*
* Returns the packet length on success, or < 0 on error.
*/
int odid_wifi_build_message_pack_nan_action_frame(ODID_UAS_Data *UAS_Data, char *mac,
uint8_t send_counter,
uint8_t *buf, size_t buf_size);
/* odid_wifi_build_message_pack_beacon_frame - creates a message pack
* with each type of message from the drone information into an Beacon frame.
* @UAS_Data: general drone status information
* @mac: mac address of the wifi adapter where the Beacon frame will be sent
* @SSID: SSID of the wifi network to be sent
* @SSID_len: length in bytes of the SSID string
* @interval_tu: beacon interval in wifi Time Units
* @send_counter: sequence number, to be increased for each call of this function
* @buf: pointer to buffer space where the Beacon will be written to
* @buf_size: maximum size of the buffer
*
* Returns the packet length on success, or < 0 on error.
*/
int odid_wifi_build_message_pack_beacon_frame(ODID_UAS_Data *UAS_Data, char *mac,
const char *SSID, size_t SSID_len,
uint16_t interval_tu, uint8_t send_counter,
uint8_t *buf, size_t buf_size);
/* odid_message_process_pack - decodes the messages from the odid message pack
* @UAS_Data: general drone status information
* @pack: buffer space to read from
* @buflen: length of buffer space
*
* Returns 0 on success
*/
int odid_message_process_pack(ODID_UAS_Data *UAS_Data, uint8_t *pack, size_t buflen);
/* odid_wifi_receive_message_pack_nan_action_frame - processes a received message pack
* with each type of message from the drone information into an NAN action frame
* @UAS_Data: general drone status information
* @mac: mac address of the wifi adapter where the NAN frame will be sent
* @buf: pointer to buffer space where the NAN is stored
* @buf_size: maximum size of the buffer
*
* Returns 0 on success, or < 0 on error. Will fill 6 bytes into @mac.
*/
int odid_wifi_receive_message_pack_nan_action_frame(ODID_UAS_Data *UAS_Data,
char *mac, uint8_t *buf, size_t buf_size);
#ifndef ODID_DISABLE_PRINTF
void printByteArray(uint8_t *byteArray, uint16_t asize, int spaced);
void printBasicID_data(ODID_BasicID_data *BasicID);
void printLocation_data(ODID_Location_data *Location);
void printAuth_data(ODID_Auth_data *Auth);
void printSelfID_data(ODID_SelfID_data *SelfID);
void printOperatorID_data(ODID_OperatorID_data *OperatorID);
void printSystem_data(ODID_System_data *System_data);
#endif // ODID_DISABLE_PRINTF
#ifdef __cplusplus
}
#endif
#endif // _OPENDRONEID_H_
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