added region parameter

ArduPilot · Oct 16, 2023 · 4d71ebf · 4d71ebf
1 parent 4dea4e6
commit 4d71ebf
Show file tree

Hide file tree

Showing 4 changed files with 156 additions and 9 deletions.
diff --git a/RemoteIDModule/RemoteIDModule.ino b/RemoteIDModule/RemoteIDModule.ino
@@ -128,6 +128,33 @@ void setup()
 #define IMIN(x,y) ((x)<(y)?(x):(y))
 #define ODID_COPY_STR(to, from) strncpy(to, (const char*)from, IMIN(sizeof(to), sizeof(from)))
 
+/*
+  check if a UASID is valid as a serial number
+ */
+static bool valid_UASID_serialnum(const char *uasid)
+{
+    const auto uasid_len = strnlen(uasid, sizeof(UAS_data.BasicID[0].UASID));
+    // 5th char is length field
+    if (uasid_len < 5 || !isxdigit(uasid[4]) != 0) {
+        return false;
+    }
+    char str[2] {};
+    str[0] = uasid[4];
+    const uint8_t sn_length = strtol(str, NULL, 16) + 5;
+    if (sn_length != uasid_len && sn_length > 5) {
+        return false;
+    }
+    //check also for invalid chars
+    for (unsigned i = 0; i < uasid_len; i++) {
+        const auto c = uasid[i];
+        if (islower(c) || c == 'I' || c == 'O') {
+            // only capital letters and digits are allowed. Char I and O are not allowed.
+            return false;
+        }
+    }
+    return true;
+}
+
 /*
   check parsing of UAS_data, this checks ranges of values to ensure we
   will produce a valid pack
@@ -136,6 +163,7 @@ void setup()
 static const char *check_parse(void)
 {
     String ret = "";
+    const uint32_t required = g.get_required_features();
 
     {
         ODID_Location_encoded encoded {};
@@ -175,14 +203,83 @@ static const char *check_parse(void)
             ret += "OP_ID ";
         }
     }
+
+    bool serial_number_configured = false;
+    bool session_ID_configured = false;
+    bool CAA_registration_ID_configured = false; //only mandatory in Japan
+
+    // BasicID checks
+    if (UAS_data.BasicIDValid[0] == 1) {
+        if (UAS_data.BasicID[0].IDType == ODID_IDTYPE_SERIAL_NUMBER) {
+            serial_number_configured = true;
+        } else if (UAS_data.BasicID[0].IDType == ODID_IDTYPE_CAA_REGISTRATION_ID) {
+            CAA_registration_ID_configured = true;
+        } else if (UAS_data.BasicID[0].IDType == ODID_IDTYPE_SPECIFIC_SESSION_ID) {
+            session_ID_configured = true;
+        }
+    }
+
+    if (UAS_data.BasicIDValid[1] == 1) {
+        if (UAS_data.BasicID[1].IDType == ODID_IDTYPE_SERIAL_NUMBER) {
+            if (!serial_number_configured) { //only one serial number is allowed
+                serial_number_configured = true;
+            } else {
+                ret += "DBL_SER_NUM ";
+            }
+        } else if (UAS_data.BasicID[1].IDType == ODID_IDTYPE_CAA_REGISTRATION_ID) {
+            if (!CAA_registration_ID_configured) { //only one CAA registration ID is allowed
+                CAA_registration_ID_configured = true;
+            } else {
+                ret += "DBL_CAA_ID ";
+            }
+        } else if (UAS_data.BasicID[1].IDType== ODID_IDTYPE_SPECIFIC_SESSION_ID) {
+            if (!session_ID_configured) { //only one session ID is allowed
+                session_ID_configured = true;
+            } else {
+                ret += "DBL_SESS_ID ";
+            }
+        }
+    }
+
+    if (!serial_number_configured && (required & REG_REQUIRE_SERIAL_NUM)) {
+        ret += "SER_NUM ";
+    }
+
+    if (!serial_number_configured && !session_ID_configured && (required & REG_REQUIRE_SERIAL_OR_SESSION)) {
+        ret += "SER_SESS ";
+    }
+
+    if (!CAA_registration_ID_configured && (required & REG_REQUIRE_REG_ID)) {
+        ret += "REG_ID ";
+    }
+
+    if (strlen(UAS_data.OperatorID.OperatorId) <= 0 && (required & REG_REQUIRE_OPERATOR_ID)) {
+        // basic check if the operator field has data. For the EU legislation an additional check could be implemented.
+        ret += "OP_ID ";
+    }
+
+    if (UAS_data.BasicIDValid[0] == 1 &&
+        serial_number_configured &&
+        UAS_data.BasicID[0].IDType == ODID_IDTYPE_SERIAL_NUMBER &&
+        !valid_UASID_serialnum(UAS_data.BasicID[0].UASID)) {
+        ret += "SER_NUM_VAL ";
+    }
+
+    if (UAS_data.BasicIDValid[1] == 1 &&
+        UAS_data.BasicID[1].IDType == ODID_IDTYPE_SERIAL_NUMBER &&
+        !valid_UASID_serialnum(UAS_data.BasicID[1].UASID)) {
+        ret += "SER_NUM_VAL ";
+    }
+
     if (ret.length() > 0) {
         // if all errors would occur in this function, it will fit in
         // 50 chars that is also the max for the arm status message
         static char return_string[50];
         memset(return_string, 0, sizeof(return_string));
-        snprintf(return_string, sizeof(return_string-1), "bad %s data", ret.c_str());
+        snprintf(return_string, sizeof(return_string)-1, "bad %s data", ret.c_str());
         return return_string;
     }
+
     return nullptr;
 }
 

diff --git a/RemoteIDModule/parameters.cpp b/RemoteIDModule/parameters.cpp
@@ -38,7 +38,8 @@ const Parameters::Param Parameters::params[] = {
     { "PUBLIC_KEY5",       Parameters::ParamType::CHAR64, (const void*)&g.public_keys[4], },
     { "MAVLINK_SYSID",     Parameters::ParamType::UINT8,  (const void*)&g.mavlink_sysid,    0, 0, 254 },
     { "OPTIONS",           Parameters::ParamType::UINT8,  (const void*)&g.options,          0, 0, 254 },
-    { "TO_DEFAULTS",     Parameters::ParamType::UINT8,  (const void*)&g.to_factory_defaults,    0, 0, 1 }, //if set to 1, reset to factory defaults and make 0.
+    { "TO_DEFAULTS",       Parameters::ParamType::UINT8,  (const void*)&g.to_factory_defaults,    0, 0, 1 }, //if set to 1, reset to factory defaults and make 0.
+    { "REGION",            Parameters::ParamType::UINT8,  (const void*)&g.region,    0, 0, 3 }, // 0 = world, 1 = USA, 2 = Japan, 3 = EU
     { "DONE_INIT",         Parameters::ParamType::UINT8,  (const void*)&g.done_init,        0, 0, 0, PARAM_FLAG_HIDDEN},
     { "",                  Parameters::ParamType::NONE,   nullptr,  },
 };
@@ -496,3 +497,25 @@ bool Parameters::remove_public_key(uint8_t i)
     name[strlen(name)-2] = '1'+i;
     return set_by_name_char64(name, "");
 }
+
+/*
+  get required features based on region
+  There are 4 regions: 0 = world, 1 = USA, 2 = Japan, 3 = EU
+  for now region world is treated the same as the USA
+  checks are based on this table: https://github.com/opendroneid/opendroneid-core-c#comparison
+  and requirements on the serial number (ANSI/CTA-2063-A)
+*/
+uint32_t Parameters::get_required_features(void) const
+{
+    switch (region) {
+    case Region::EU:
+        return REG_REQUIRE_LOC | REG_REQUIRE_BASIC_ID | REG_REQUIRE_OPERATOR_ID | REG_REQUIRE_OPERATOR_LOC | REG_REQUIRE_OPERATOR_ID | REG_REQUIRE_SERIAL_NUM;
+    case Region::JAPAN:
+        return REG_REQUIRE_LOC | REG_REQUIRE_BASIC_ID | REG_REQUIRE_OPERATOR_ID | REG_REQUIRE_OPERATOR_LOC | REG_REQUIRE_SERIAL_NUM;
+    case Region::WORLD:
+    case Region::USA:
+    default:
+        return REG_REQUIRE_LOC | REG_REQUIRE_BASIC_ID | REG_REQUIRE_OPERATOR_ID | REG_REQUIRE_SYSTEM | REG_REQUIRE_OPERATOR_LOC | REG_REQUIRE_SERIAL_OR_SESSION;
+    }
+}
+
diff --git a/RemoteIDModule/parameters.h b/RemoteIDModule/parameters.h
@@ -10,6 +10,26 @@
 #define PARAM_FLAG_PASSWORD (1U<<0)
 #define PARAM_FLAG_HIDDEN (1U<<1)
 
+enum class Region : uint8_t {
+    WORLD=0,
+    USA=1,
+    JAPAN=2,
+    EU=3,
+};
+
+/*
+  bits for which fields are required. Based on the region
+ */
+#define REG_REQUIRE_LOC          (1U<<0)
+#define REG_REQUIRE_BASIC_ID     (1U<<1)
+#define REG_REQUIRE_SELF_ID      (1U<<2)
+#define REG_REQUIRE_OPERATOR_ID  (1U<<3)
+#define REG_REQUIRE_SYSTEM       (1U<<4)
+#define REG_REQUIRE_OPERATOR_LOC (1U<<5)
+#define REG_REQUIRE_SERIAL_NUM   (1U<<6)
+#define REG_REQUIRE_SERIAL_OR_SESSION (1U<<7)
+#define REG_REQUIRE_REG_ID       (1U<<8)
+
 class Parameters {
 public:
     int8_t lock_level;
@@ -37,6 +57,8 @@ class Parameters {
     uint8_t wifi_channel = 6;
     uint8_t to_factory_defaults = 0;
     uint8_t options;
+    Region region;
+
     struct {
         char b64_key[64];
     } public_keys[MAX_PUBLIC_KEYS];
@@ -102,6 +124,9 @@ class Parameters {
     static uint16_t param_count_float(void);
     static int16_t param_index_float(const Param *p);
 
+    // get the REG_REQUIRE features for the region
+    uint32_t get_required_features(void) const;
+
 private:
     void load_defaults(void);
 };

diff --git a/RemoteIDModule/transport.cpp b/RemoteIDModule/transport.cpp
@@ -6,6 +6,7 @@
 #include "parameters.h"
 #include "util.h"
 #include "monocypher.h"
+#include <opendroneid.h>
 
 const char *Transport::parse_fail = "uninitialised";
 
@@ -36,6 +37,7 @@ uint8_t Transport::arm_status_check(const char *&reason)
     const uint32_t max_age_location_ms = 3000;
     const uint32_t max_age_other_ms = 22000;
     const uint32_t now_ms = millis();
+    const uint32_t required = g.get_required_features();
 
     uint8_t status = MAV_ODID_ARM_STATUS_PRE_ARM_FAIL_GENERIC;
 
@@ -47,34 +49,34 @@ uint8_t Transport::arm_status_check(const char *&reason)
 
     String ret = "";
 
-    if (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms) {
+    if ((required & REG_REQUIRE_LOC) && (last_location_ms == 0 || now_ms - last_location_ms > max_age_location_ms)) {
         ret += "LOC ";
     }
-    if (!g.have_basic_id_info()) {
+    if ((required & REG_REQUIRE_BASIC_ID) && !g.have_basic_id_info()) {
         // if there is no basic ID data stored in the parameters give warning. If basic ID data are streamed to RID device,
         // it will store them in the parameters
         ret += "ID ";
     }
 
-    if (last_self_id_ms == 0  || now_ms - last_self_id_ms > max_age_other_ms) {
+    if ((required & REG_REQUIRE_SELF_ID) && (last_self_id_ms == 0  || now_ms - last_self_id_ms > max_age_other_ms)) {
         ret += "SELF_ID ";
     }
 
-    if (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms) {
+    if ((required & REG_REQUIRE_OPERATOR_ID) && (last_operator_id_ms == 0 || now_ms - last_operator_id_ms > max_age_other_ms)) {
         ret += "OP_ID ";
     }
 
-    if (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms) {
+    if ((required & REG_REQUIRE_SYSTEM) && (last_system_ms == 0 || now_ms - last_system_ms > max_age_location_ms)) {
         // we use location age limit for system as the operator location needs to come in as fast
         // as the vehicle location for FAA standard
         ret += "SYS ";
     }
 
-    if (location.latitude == 0 && location.longitude == 0) {
+    if ((required & REG_REQUIRE_LOC) && (location.latitude == 0 && location.longitude == 0)) {
         ret += "LOC ";
     }
 
-    if (system.operator_latitude == 0 && system.operator_longitude == 0) {
+    if ((required & REG_REQUIRE_OPERATOR_LOC) && (system.operator_latitude == 0 && system.operator_longitude == 0)) {
         ret += "OP_LOC ";
     }