Add DENM TS access functions by jdvoliveira · Pull Request #114 · ika-rwth-aachen/etsi_its_messages

jdvoliveira · 2026-01-26T20:21:57Z

This draft PR adds the initial headers for the denm_ts access functions.
The function implementations are still pending and will be added gradually.

jdvoliveira · 2026-02-02T16:52:10Z

I’ve now added the denm_ts access function implementations.
Feedback is welcome.

Copilot

Pull request overview

This pull request adds initial support for DENM TS (Technical Specification) access functions to the ETSI ITS messages utilities library. The PR introduces new header files for DENM TS message manipulation alongside the existing DENM EN (European Norm) support, with significant code refactoring to share common functionality between the two variants.

Changes:

Added DENM TS access headers and implementation files (denm_ts_access.hpp, denm_ts_access.h, denm_ts_getters.h, denm_ts_setters.h)
Refactored common DENM functionality into shared headers (denm_getters_common.h, denm_setters_common.h)
Added CDD v2.2.1 support (cdd_v2-2-1_getters.h, cdd_v2-2-1_setters.h)
Added corresponding test file (test_denm_ts_access.cpp)
Updated denm_utils.h to support both EN and TS variants

Reviewed changes

Copilot reviewed 18 out of 18 changed files in this pull request and generated 12 comments.

Show a summary per file

File	Description
etsi_its_msgs_utils/test/test_access.cpp	Added includes and namespace setup for DENM TS test integration
etsi_its_msgs_utils/test/impl/test_denm_ts_access.cpp	New test file for DENM TS access functions with comprehensive test coverage
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_utils.h	Updated to support both EN and TS, added header guards (with ordering issue)
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_setters.h	New TS-specific setter functions for DENM
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_getters.h	New TS-specific getter functions including extensive cause code mappings
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_access.h	Main DENM TS access header with namespace setup (missing v2.2.1 guards)
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_setters_common.h	Extracted common setter functions shared by EN and TS
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_setters.h	Refactored to use common setters, removed duplicated code
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_getters_common.h	Extracted common getter functions shared by EN and TS
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_getters.h	Refactored to use common getters, removed duplicated code
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_access.h	Updated to include new common header guards
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_setters.h	New CDD v2.2.1 setter functions including WGS84 heading support
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_getters.h	New CDD v2.2.1 getter functions for WGS84 heading
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h	Refactored to move common functions to cdd_setters_common.h
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_setters.h	Refactored to move common functions to cdd_setters_common.h
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_setters_common.h	Added common CDD setter functions (setStationId, setStationType) as templates
etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_getters_common.h	Updated description to include v2.2.1
etsi_its_msgs_utils/include/etsi_its_msgs_utils/denm_ts_access.hpp	Public header for DENM TS access in ROS 2 projects

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etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_setters_common.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_getters_common.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_utils.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_getters.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_setters.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_access.h

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_getters.h

jdvoliveira · 2026-03-05T19:48:43Z

All comments have been addressed.
Please let me know if anything else needs adjustment.

gkueppers · 2026-03-06T13:03:55Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_getters.h

+ * @return WGS Heading value in degree as decimal number
+ */
+template <typename Wgs84Angle>
+inline double getWGSHeadingCDD(const Wgs84Angle& heading) { return ((double)heading.value.value) * 1e-1; }


Is there a specific reason for this CDD postfix in the function-name? I think we're not having these for the ohter setter/getter functions?

The CDD postfix is already used for low-level CDD functions (e.g. getHeadingCDD(), setHeadingCDD(), getYawRateCDD() in cdd_*_common.h). The message-level access functions stay without postfix. getWGSHeadingCDD() follows the same pattern.

gkueppers · 2026-03-06T13:04:12Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_getters.h

+ */
+
+template <typename Wgs84Angle>
+inline double getWGSHeadingConfidenceCDD(const Wgs84Angle& heading) { return ((double)heading.confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; }


Same as above: CDD postfix?

gkueppers · 2026-03-06T13:05:09Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_setters.h

+ * @param confidence standard deviation of heading in degree as decimal number (default: infinity, mapping to Wgs84AngleConfidence::UNAVAILABLE) 
+ */
+template <typename Wgs84Angle, typename Wgs84AngleConfidence = decltype(Wgs84Angle::confidence)>
+void setWGSHeadingCDD(Wgs84Angle& heading, const double value, double confidence = std::numeric_limits<double>::infinity()) {


Same as above: CDD postfix?

gkueppers · 2026-03-06T13:06:22Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_access.h

-#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H
-#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_SETTERS_H


To my understanding DENM EN uses CDD v1.3.1 and DENM TS (Release 2) is based on CDD v2.2.1 so why are we replacing the undef of v2.1.1 with v2.2.1? I guess we should remove the "undef" for v.1.3.1 and keep both undefs vor v2.1.X instead?!
At least this should be aligned to what happens in denm_ts_access.h

You're right. I’ve updated the undefs in both denm_acess.h and denm_ts_access.h.

gkueppers · 2026-03-06T13:16:12Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/cdd/cdd_v2-2-1_getters.h

+ * @return WGS Heading value in degree as decimal number
+ */
+template <typename Wgs84Angle>
+inline double getWGSHeadingCDD(const Wgs84Angle& heading) { return ((double)heading.value.value) * 1e-1; }


Is there a specific reason for this CDD postfix? I think we're not having these for the

gkueppers · 2026-03-06T14:16:07Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_access.h

+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_GETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V1_3_1_SETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_GETTERS_H
+#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_2_1_SETTERS_H


so we undef v1.3.1 and v2.2.1 because DENM TS is based on v2.1.1 so in denm_access.h we should undef v2.1.1 and v2.2.1 based on my understanding

DENM TS is based on v2.2.1 so I’ve updated this and now we undef v1.3.1 and v2.1.1.

gkueppers · 2026-03-06T14:24:35Z

etsi_its_msgs_utils/include/etsi_its_msgs_utils/impl/denm/denm_ts_getters.h

+ * @param denm DENM to get the causeCode value from
+ * @return causeCode value
+ */
+inline uint8_t getCauseCodeV2(const DENM& denm) { return denm.denm.situation.event_type.cc_and_scc.choice; }


Same as with the CDD postfix: Do we really need this postfix? Shouldn't this be solved by the different namespaces etsi_its_denm_msgs::access for release 1 and etsi_its_denm_ts_msgs::access for release 2?

I initially used the V2 suffix because the field type is named CauseCodeV2, but you are correct that the namespaces already distinguish EN vs TS. I've renamed these functions to keep the naming consistent.

gkueppers · 2026-03-06T14:34:20Z

etsi_its_msgs_utils/test/impl/test_denm_ts_access.cpp

@@ -0,0 +1,77 @@
+#include <gtest/gtest.h>
+#include <cmath>
+


I think we're also lacking this tests for DENM EN but we might add some exemplary for the (Sub)CauseCode setters/getters

Good point. I added some exemplary tests for the (Sub)CauseCode functions.

consistency in DENM TS access functions.

add initial DENM TS access and common getter/setter headers

b58253e

jdvoliveira changed the title ~~Add DENM TS access functions~~ WIP: Add DENM TS access functions Jan 26, 2026

add DENM TS access functions and new CDD v2.2.1 setters/getters

5ac6375

jdvoliveira closed this Feb 2, 2026

jdvoliveira deleted the denm-ts-access-functions branch February 2, 2026 15:23

jdvoliveira restored the denm-ts-access-functions branch February 2, 2026 15:24

jdvoliveira reopened this Feb 2, 2026

add tests for DENM TS access functions

4e9fa46

jdvoliveira changed the title ~~WIP: Add DENM TS access functions~~ Add DENM TS access functions Feb 2, 2026

jdvoliveira marked this pull request as ready for review February 2, 2026 15:31

lreiher requested a review from Copilot February 26, 2026 07:58

Copilot started reviewing on behalf of lreiher February 26, 2026 07:58 View session

Copilot AI reviewed Feb 26, 2026

View reviewed changes

minor improvements to DENM TS access functions

be2d5e4

gkueppers self-requested a review March 6, 2026 12:58

gkueppers reviewed Mar 6, 2026

View reviewed changes

jdvoliveira added 2 commits March 10, 2026 17:18

fix #undef for header guards and improve naming

37c18d6

consistency in DENM TS access functions.

add tests for (Sub)CauseCode in DENM EN/TS access functions

7b38130

		#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_GETTERS_H
		#undef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_V2_1_1_SETTERS_H

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jdvoliveira commented Jan 26, 2026

Uh oh!

jdvoliveira commented Feb 2, 2026

Uh oh!

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jdvoliveira commented Mar 5, 2026

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jdvoliveira Mar 10, 2026 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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jdvoliveira Mar 10, 2026 •

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