Knowledge Base

Everything you need to know and understand to develop V2X applications.

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denm-generator.py
msg = self.generate_denm()
future = self.send_request(msg)
future.add_done_callback(self.request_completed)

APIs

The APIs provides unified and lightweight interfaces for accessing all key subsystems of the cube platform — Radio, GNSS/IMU, and Time. Each API is designed for direct use in C or modern C++, enabling applications to interact with the hardware with minimal dependencies.

📡 Radio API

The Radio API provides direct access to the cube’s V2X radio subsystem, covering both ITS-G5 (DSRC) and C-V2X (LTE-V2X) technologies. It allows developers to:

  • Configure channels, power levels, and modulation settings
  • Transmit and receive raw V2X frames
  • Monitor link status and channel busy ratio (CBR)
  • Work with unified data structures for both ITS-G5 and C-V2X

Used by tools like cube-radio-transmit, cube-radio-receive, and cube-radio-pcap, the API is ideal for direct integration, custom radio testing, and application-level V2X development.

👉 See: Radio API Developer Guide

🛰️ GNSS and IMU API

The cube::ubx module gives structured access to all u-blox receiver messages, including GNSS navigation data and inertial measurements. It supports parsing of:

  • High-rate GNSS data (UBX-HNR-PVT)
  • Position accuracy and error ellipses (UBX-NAV-EELL)
  • Fused IMU data (UBX-ESF-INS)
  • Raw IMU data (UBX-ESF-MEAS)

Using the Reactor event system, developers can subscribe to specific UBX messages and process them in real time — for logging, sensor fusion, or V2X timestamping.

👉 See: GNSS and IMU API

⏱️ ITS Time API

The ITS Time API exposes the device’s ETSI ITS time base, synchronized via GNSS through the system clock. It allows access to:

  • Current ITS timestamp (milliseconds or microseconds since 2004-01-01)
  • Synchronization state
  • Current TAI-UTC offset
  • Conversion between system time and ITS time

This ensures that all Cube subsystems — GNSS, V2X radio, and application logic — share the same time reference, compliant with ETSI ITS standards.

👉 See: ITS Time API

Together, these APIs form the foundation for time-aligned, sensor-aware, and radio-connected V2X applications running on the Cube platform — from raw sensor logging to high-level cooperative driving experiments.

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