-

modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h

@@ -52,6 +52,7 @@ protected:
     Ptr shared_from_this();
 
 private:
+    static constexpr networking::time::Duration RESPONSE_TIMEOUT = std::chrono::milliseconds(3000);
     static constexpr networking::time::Duration HEARTBEAT_INTERVAL = std::chrono::milliseconds(50);
     static constexpr networking::time::Duration BROADCAST_TIMEOUT = std::chrono::milliseconds(500);
 

modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp

@@ -13,6 +13,7 @@ using namespace std::chrono_literals;
 
 constexpr networking::time::Duration FollowerVehicle::HEARTBEAT_INTERVAL;
 constexpr networking::time::Duration FollowerVehicle::BROADCAST_TIMEOUT;
+constexpr networking::time::Duration FollowerVehicle::RESPONSE_TIMEOUT;
 
 FollowerVehicle::Ptr FollowerVehicle::create(networking::Networking & net, const NetworkInfo & info)
 {
@@ -116,9 +117,12 @@ void FollowerVehicle::sendPlatoonCreateRequestToNextVehicle()
         // Create a new one to make sure we're never getting a busy exception.
         responseTimer = networking::time::Timer::create(net);
         responseTimer->startTimeout(
-            3s,
+            RESPONSE_TIMEOUT,
             [self]
-            { self->sendPlatoonCreateRequestToNextVehicle(); });
+            {
+                log("Response Timeout!\n");
+                self->sendPlatoonCreateRequestToNextVehicle();
+            });
 
         utils::cycle(vehiclesToRequestIter, vehiclesToRequest);
     }
@@ -208,6 +212,8 @@ void FollowerVehicle::receiveResponse(const PlatoonMessage & response)
         response.srcVehicle != *vehiclesToRequestIter)
         return;
 
+    log("Received response!\n");
+
     responseTimer->stop();
     waitingForResponse = false;