V2X safety/awareness message content (SAE BSM and ETSI CAM)

bsm.txt

Here's one of SAE's BSMs in XER format (size units are centimetres apparently):

<BasicSafetyMessage>
  <coreData>
    <msgCnt>33</msgCnt>
    <id>FEF0EFD0</id>
    <secMark>51333</secMark>
    <lat>-419231528</lat>
    <long>158945769</long>
    <elev>27</elev>
    <accuracy>
      <semiMajor>54</semiMajor>
      <semiMinor>54</semiMinor>
      <orientation>0</orientation>
    </accuracy>
    <transmission>
      <unavailable/>
    </transmission>
    <speed>4</speed>
    <heading>19156</heading>
    <angle>127</angle>
    <accelSet>
      <long>58</long>
      <lat>-1</lat>
      <vert>-127</vert>
      <yaw>0</yaw>
    </accelSet>
    <brakes>
      <wheelBrakes>00000</wheelBrakes>
      <traction>
        <unavailable/>
      </traction>
      <abs>
        <unavailable/>
      </abs>
      <scs>
        <unavailable/>
      </scs>
      <brakeBoost>
        <unavailable/>
      </brakeBoost>
      <auxBrakes>
        <unavailable/>
      </auxBrakes>
    </brakes>
    <size>
      <width>184</width>
      <length>497</length>
    </size>
  </coreData>
  <partII>
    <SEQUENCE>
      <partII-Id>0</partII-Id>
      <partII-Value>
        <VehicleSafetyExtensions>
          <pathHistory>
            <crumbData>
              <PathHistoryPoint>
                <latOffset>53</latOffset>
                <lonOffset>99</lonOffset>
                <elevationOffset>7</elevationOffset>
                <timeOffset>213</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>3</latOffset>
                <lonOffset>119</lonOffset>
                <elevationOffset>0</elevationOffset>
                <timeOffset>7033</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-146</latOffset>
                <lonOffset>-468</lonOffset>
                <elevationOffset>-6</elevationOffset>
                <timeOffset>19533</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-214</latOffset>
                <lonOffset>-489</lonOffset>
                <elevationOffset>0</elevationOffset>
                <timeOffset>20353</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-675</latOffset>
                <lonOffset>-575</lonOffset>
                <elevationOffset>0</elevationOffset>
                <timeOffset>22553</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-480</latOffset>
                <lonOffset>-560</lonOffset>
                <elevationOffset>-7</elevationOffset>
                <timeOffset>23093</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-406</latOffset>
                <lonOffset>-803</lonOffset>
                <elevationOffset>-16</elevationOffset>
                <timeOffset>25433</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-94</latOffset>
                <lonOffset>1641</lonOffset>
                <elevationOffset>-304</elevationOffset>
                <timeOffset>37273</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-381</latOffset>
                <lonOffset>1865</lonOffset>
                <elevationOffset>-316</elevationOffset>
                <timeOffset>41472</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-421</latOffset>
                <lonOffset>1856</lonOffset>
                <elevationOffset>-317</elevationOffset>
                <timeOffset>41792</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-412</latOffset>
                <lonOffset>1818</lonOffset>
                <elevationOffset>-326</elevationOffset>
                <timeOffset>42592</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-10</latOffset>
                <lonOffset>3706</lonOffset>
                <elevationOffset>-626</elevationOffset>
                <timeOffset>43632</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-513</latOffset>
                <lonOffset>-468</lonOffset>
                <elevationOffset>-182</elevationOffset>
                <timeOffset>45552</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-290</latOffset>
                <lonOffset>-401</lonOffset>
                <elevationOffset>-119</elevationOffset>
                <timeOffset>46032</timeOffset>
              </PathHistoryPoint>
              <PathHistoryPoint>
                <latOffset>-336</latOffset>
                <lonOffset>-429</lonOffset>
                <elevationOffset>-142</elevationOffset>
                <timeOffset>46572</timeOffset>
              </PathHistoryPoint>
            </crumbData>
          </pathHistory>
          <pathPrediction>
            <radiusOfCurve>32767</radiusOfCurve>
            <confidence>200</confidence>
          </pathPrediction>
        </VehicleSafetyExtensions>
      </partII-Value>
    </SEQUENCE>
  </partII>
</BasicSafetyMessage>

cam.txt

Here's one of ETSI's CAMs in XER format (size units seem to be decimetres):

<CAM>
  <header>
    <protocolVersion>1</protocolVersion>
    <messageID>2</messageID>
    <stationID>1210187986</stationID>
  </header>
  <cam>
    <generationDeltaTime>1720</generationDeltaTime>
    <camParameters>
      <basicContainer>
        <stationType>5</stationType>
        <referencePosition>
          <latitude>-19231621</latitude>
          <longitude>158946244</longitude>
          <positionConfidenceEllipse>
            <semiMajorConfidence>663</semiMajorConfidence>
            <semiMinorConfidence>663</semiMinorConfidence>
            <semiMajorOrientation>0</semiMajorOrientation>
          </positionConfidenceEllipse>
          <altitude>
            <altitudeValue>580</altitudeValue>
            <altitudeConfidence>
              <alt-010-00/>
            </altitudeConfidence>
          </altitude>
        </referencePosition>
      </basicContainer>
      <highFrequencyContainer>
        <basicVehicleContainerHighFrequency>
          <heading>
            <headingValue>2575</headingValue>
            <headingConfidence>126</headingConfidence>
          </heading>
          <speed>
            <speedValue>10</speedValue>
            <speedConfidence>4</speedConfidence>
          </speed>
          <driveDirection>
            <unavailable/>
          </driveDirection>
          <vehicleLength>
            <vehicleLengthValue>49</vehicleLengthValue>
            <vehicleLengthConfidenceIndication>
              <trailerPresenceIsUnknown/>
            </vehicleLengthConfidenceIndication>
          </vehicleLength>
          <vehicleWidth>18</vehicleWidth>
          <longitudinalAcceleration>
            <longitudinalAccelerationValue>-14</longitudinalAccelerationValue>
            <longitudinalAccelerationConfidence>102</longitudinalAccelerationConfidence>
          </longitudinalAcceleration>
          <curvature>
            <curvatureValue>0</curvatureValue>
            <curvatureConfidence>
              <onePerMeter-0-002/>
            </curvatureConfidence>
          </curvature>
          <curvatureCalculationMode>
            <yawRateUsed/>
          </curvatureCalculationMode>
          <yawRate>
            <yawRateValue>0</yawRateValue>
            <yawRateConfidence>
              <unavailable/>
            </yawRateConfidence>
          </yawRate>
          <accelerationControl>0000000</accelerationControl>
          <lateralAcceleration>
            <lateralAccelerationValue>0</lateralAccelerationValue>
            <lateralAccelerationConfidence>102</lateralAccelerationConfidence>
          </lateralAcceleration>
        </basicVehicleContainerHighFrequency>
      </highFrequencyContainer>
    </camParameters>
  </cam>
</CAM>