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Merged
mathieu1fb merged 31 commits into from
Mar 10, 2026
Merged

Java: CAM v1.1.3 refactoring and new CAM v2.3.0 #489

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e5fad3c
java/iot3mobility: add new CAM 1.1.3 implementation based on Jackson
mathieu1fb Feb 10, 2026
2d88429
java/iot3mobility: add CAM 2.3.0 implementation based on Jackson
mathieu1fb Feb 10, 2026
6be7e70
java: add Jackson Core to THIRD-PARTY.md
mathieu1fb Mar 9, 2026
4b6a41f
java/iot3mobility: add CAM version handling helper classes
mathieu1fb Feb 10, 2026
85cd694
java/iot3mobility: add EtsiConverter class to help with ETSI units co…
mathieu1fb Feb 16, 2026
5890705
java/iot3mobility: add CamHelper class to wrap the CamCodec and expos…
mathieu1fb Feb 16, 2026
51113a4
java/iot3mobility: add sendCam(...) variants for the new v1.1.3 and v…
mathieu1fb Feb 16, 2026
4f0e7b2
java/iot3mobility: implement sendPosition() with the new CAM v1.1.3
mathieu1fb Feb 17, 2026
e0830b1
java/iot3mobility: update CAM processing to handle both the new v1.1.…
mathieu1fb Mar 2, 2026
3205742
java/iot3examples: update roadUserCallback in Iot3Mobility examples
mathieu1fb Mar 2, 2026
4ae1803
java/iot3mobility: delete legacy CAM implementation
mathieu1fb Mar 2, 2026
aca3f96
java/iot3mobility: add default known values to CAM v2.3.0 builder
mathieu1fb Mar 2, 2026
359f069
java/iot3mobility: add MessageFormat enum to CAM v2.3.0
mathieu1fb Mar 2, 2026
2396593
java/iot3mobility: cleanup of CamReader classes
mathieu1fb Mar 3, 2026
0a5deec
java/iot3mobility: fix EtsiConverter's generationDeltaTime method
mathieu1fb Mar 3, 2026
546241e
java/iot3mobility: add Exception throw to sendPosition method
mathieu1fb Mar 3, 2026
740d2c3
java/iot3examples: add Exception handling to sendPosition(...) methods
mathieu1fb Mar 3, 2026
607bae2
java/iot3mobility: add some Javadoc to CAM v1.1.3 builders
mathieu1fb Mar 3, 2026
f5669d1
java/iot3mobility: polish CAM v2.3.0 Javadoc
mathieu1fb Mar 3, 2026
1fe702f
java/iot3mobility: add Origin enum to CAM v1.1.3
mathieu1fb Mar 3, 2026
0b9f181
java/iot3mobility: add StationType enum at the root of the message pa…
mathieu1fb Mar 3, 2026
3a24a01
java/iot3mobility: add full Javadoc to CAM v1.1.3 and delete SpecialV…
mathieu1fb Mar 3, 2026
2cc2df2
java/iot3mobility: add full Javadoc for CAM v2.3.0
mathieu1fb Mar 3, 2026
35d5116
java/iot3mobility: remove SpecialVehicleContainer in CamReader113 and…
mathieu1fb Mar 5, 2026
c4f27b9
java/iot3mobility: remove erroneous check of acceleration control in …
mathieu1fb Mar 5, 2026
984b22c
java/iot3mobility: add CamVersion option to IoT3Mobility sendPosition…
mathieu1fb Mar 5, 2026
4328031
java/iot3examples: adapt Mobility example classes with CamVersion option
mathieu1fb Mar 5, 2026
ec45de5
java/iot3mobility: add copyright to all CAM v1.1.3 and v2.3.0 classes
mathieu1fb Mar 9, 2026
ae5edec
java/iot3mobility: remove max value check on CAM v2.3.0 timestamp
mathieu1fb Mar 9, 2026
d094451
java/iot3mobility: rename message package into messages
mathieu1fb Mar 10, 2026
e2bf447
java: add CAM v2.3.0 to the README listing of messages handled by the…
mathieu1fb Mar 10, 2026
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28 changes: 14 additions & 14 deletions README.md
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Expand Up @@ -92,20 +92,20 @@ But also schemas of custom messages for V2X:
_Note: none of the provided implementation is able to use different versions of a schema,
they are using the following versions:

| Schema | Rust | Python | Java | Swift |
|:-----------------:|:-----------------------------------------------------------------------------------:|:---------------------------------------------------------:|:-------------------------------------------:|:-------------------------------------------:|
| **Bootstrap** | | | | |
| **CAM** | [2.2.0](schema/cam/cam_schema_2-2-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CPM** | [2.1.0](schema/cpm/cpm_schema_2-1-0.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) | [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) | | |
| **MAPEM** | | | | |
| **Neighbourhood** | | | | |
| **Region** | | | | |
| **SPATEM** | | | | |
| **SREM** | | | | |
| **SSEM** | | | | |
| **Status** | | [1.2.0](schema/status/status_schema_1-2-0.json) | | |
| Schema | Rust | Python | Java | Swift |
|:-----------------:|:-----------------------------------------------------------------------------------:|:---------------------------------------------------------:|:-----------------------------------------------------------------------------------:|:-------------------------------------------:|
| **Bootstrap** | | | | |
| **CAM** | [2.2.0](schema/cam/cam_schema_2-2-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) | [2.3.0](schema/cam/cam_schema_2-3-0.json) [1.1.3](schema/cam/cam_schema_1-1-3.json) | [1.1.3](schema/cam/cam_schema_1-1-3.json) |
| **CPM** | [2.1.0](schema/cpm/cpm_schema_2-1-0.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) | [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) | | |
| **MAPEM** | | | | |
| **Neighbourhood** | | | | |
| **Region** | | | | |
| **SPATEM** | | | | |
| **SREM** | | | | |
| **SSEM** | | | | |
| **Status** | | [1.2.0](schema/status/status_schema_1-2-0.json) | | |

Languages
---------
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3 changes: 3 additions & 0 deletions THIRD-PARTY.md
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Expand Up @@ -210,6 +210,9 @@
#### Square OkHttp
- [Source code](https://github.com/square/okhttp)

#### Jackson Core
- [Source code](https://github.com/FasterXML/jackson-core)

## Swift

### License Apache 2.0
Expand Down
28 changes: 18 additions & 10 deletions java/iot3/examples/src/main/java/com/orange/Iot3MobilityBootstrapExample.java
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Expand Up @@ -8,13 +8,16 @@
import com.orange.iot3mobility.TrueTime;
import com.orange.iot3mobility.Utils;
import com.orange.iot3mobility.its.EtsiUtils;
import com.orange.iot3mobility.messages.cam.core.CamCodec;
import com.orange.iot3mobility.messages.cam.core.CamVersion;
import com.orange.iot3mobility.messages.cam.v113.model.CamEnvelope113;
import com.orange.iot3mobility.messages.cam.v230.model.CamEnvelope230;
import com.orange.iot3mobility.roadobjects.HazardType;
import com.orange.iot3mobility.its.StationType;
import com.orange.iot3mobility.its.json.JsonValue;
import com.orange.iot3mobility.its.json.Position;
import com.orange.iot3mobility.its.json.PositionConfidence;
import com.orange.iot3mobility.its.json.PositionConfidenceEllipse;
import com.orange.iot3mobility.its.json.cam.CAM;
import com.orange.iot3mobility.its.json.cpm.*;
import com.orange.iot3mobility.its.json.denm.DENM;
import com.orange.iot3mobility.managers.IoT3RoadHazardCallback;
Expand All @@ -26,6 +29,7 @@
import com.orange.iot3mobility.roadobjects.RoadUser;
import com.orange.iot3mobility.roadobjects.SensorObject;

import java.io.IOException;
import java.net.URI;
import java.util.List;
import java.util.concurrent.Executors;
Expand Down Expand Up @@ -125,12 +129,6 @@ public void newRoadUser(RoadUser roadUser) {
System.out.println("New Road User: " + roadUser.getUuid());
LatLng position = roadUser.getPosition();
System.out.println("Road User position: " + position);
// the CAM on which this object is based can still be accessed
CAM originalCam = roadUser.getCam();
double latitude = originalCam.getBasicContainer().getPosition().getLatitudeDegree();
double longitude = originalCam.getBasicContainer().getPosition().getLongitudeDegree();
LatLng camPosition = new LatLng(latitude, longitude);
System.out.println("CAM position: " + camPosition);
}

@Override
Expand All @@ -146,9 +144,15 @@ public void roadUserExpired(RoadUser roadUser) {
}

@Override
public void camArrived(CAM cam) {
public void camArrived(CamCodec.CamFrame<?> camFrame) {
// if you want to directly process the raw CAM messages
System.out.println("CAM received: " + cam.getJsonCAM());
if(camFrame.version().equals(CamVersion.V1_1_3)) {
CamEnvelope113 camEnvelope113 = (CamEnvelope113) camFrame.envelope();
System.out.println("Raw CAM v1.1.3: " + camEnvelope113);
} else if(camFrame.version().equals(CamVersion.V2_3_0)) {
CamEnvelope230 camEnvelope230 = (CamEnvelope230) camFrame.envelope();
System.out.println("Raw CAM v2.3.0: " + camEnvelope230);
}
}
});

Expand Down Expand Up @@ -221,7 +225,11 @@ private static synchronized void startSendingMessages() {

private static void sendTestCam() {
LatLng position = new LatLng(48.625218, 2.243448); // center point of UTAC TEQMO
ioT3Mobility.sendPosition(StationType.PASSENGER_CAR, position, 0, 0, 0, 0, 0);
try {
ioT3Mobility.sendPosition(StationType.PASSENGER_CAR, position, 0, 0, 0, 0, 0, CamVersion.V1_1_3);
} catch (IOException e) {
throw new RuntimeException(e);
}
}

private static void sendTestDenm() {
Expand Down
28 changes: 18 additions & 10 deletions java/iot3/examples/src/main/java/com/orange/Iot3MobilityExample.java
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Expand Up @@ -8,13 +8,16 @@
import com.orange.iot3mobility.TrueTime;
import com.orange.iot3mobility.Utils;
import com.orange.iot3mobility.its.EtsiUtils;
import com.orange.iot3mobility.messages.cam.core.CamCodec;
import com.orange.iot3mobility.messages.cam.core.CamVersion;
import com.orange.iot3mobility.messages.cam.v113.model.CamEnvelope113;
import com.orange.iot3mobility.messages.cam.v230.model.CamEnvelope230;
import com.orange.iot3mobility.roadobjects.HazardType;
import com.orange.iot3mobility.its.StationType;
import com.orange.iot3mobility.its.json.JsonValue;
import com.orange.iot3mobility.its.json.Position;
import com.orange.iot3mobility.its.json.PositionConfidence;
import com.orange.iot3mobility.its.json.PositionConfidenceEllipse;
import com.orange.iot3mobility.its.json.cam.CAM;
import com.orange.iot3mobility.its.json.cpm.*;
import com.orange.iot3mobility.its.json.denm.DENM;
import com.orange.iot3mobility.managers.IoT3RoadHazardCallback;
Expand All @@ -27,6 +30,7 @@
import com.orange.iot3mobility.roadobjects.SensorObject;
import com.orange.lwm2m.model.CustomLwm2mConnectivityStatisticsExample;

import java.io.IOException;
import java.util.List;
import java.util.concurrent.Executors;
import java.util.concurrent.ScheduledExecutorService;
Expand Down Expand Up @@ -138,12 +142,6 @@ public void newRoadUser(RoadUser roadUser) {
System.out.println("New Road User: " + roadUser.getUuid());
LatLng position = roadUser.getPosition();
System.out.println("Road User position: " + position);
// the CAM on which this object is based can still be accessed
CAM originalCam = roadUser.getCam();
double latitude = originalCam.getBasicContainer().getPosition().getLatitudeDegree();
double longitude = originalCam.getBasicContainer().getPosition().getLongitudeDegree();
LatLng camPosition = new LatLng(latitude, longitude);
System.out.println("CAM position: " + camPosition);
}

@Override
Expand All @@ -159,9 +157,15 @@ public void roadUserExpired(RoadUser roadUser) {
}

@Override
public void camArrived(CAM cam) {
public void camArrived(CamCodec.CamFrame<?> camFrame) {
// if you want to directly process the raw CAM messages
System.out.println("CAM received: " + cam.getJsonCAM());
if(camFrame.version().equals(CamVersion.V1_1_3)) {
CamEnvelope113 camEnvelope113 = (CamEnvelope113) camFrame.envelope();
System.out.println("Raw CAM v1.1.3: " + camEnvelope113);
} else if(camFrame.version().equals(CamVersion.V2_3_0)) {
CamEnvelope230 camEnvelope230 = (CamEnvelope230) camFrame.envelope();
System.out.println("Raw CAM v2.3.0: " + camEnvelope230);
}
}
});

Expand Down Expand Up @@ -235,7 +239,11 @@ private static synchronized void startSendingMessages() {

private static void sendTestCam() {
LatLng position = new LatLng(48.625218, 2.243448); // center point of UTAC TEQMO
ioT3Mobility.sendPosition(StationType.PASSENGER_CAR, position, 0, 0, 0, 0, 0);
try {
ioT3Mobility.sendPosition(StationType.PASSENGER_CAR, position, 0, 0, 0, 0, 0, CamVersion.V1_1_3);
} catch (IOException e) {
throw new RuntimeException(e);
}
}

private static void sendTestDenm() {
Expand Down
1 change: 1 addition & 0 deletions java/iot3/mobility/build.gradle
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Expand Up @@ -22,6 +22,7 @@ repositories {
dependencies {
// Internal dependencies, not exposed to consumers on their own compile classpath.
implementation 'org.json:json:20240303'
implementation 'com.fasterxml.jackson.core:jackson-core:2.21.1'
implementation 'commons-net:commons-net:3.9.0'
implementation project(':core')

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