-

modules/catkin_ws/src/car/include/mainNode/MainNode.h

@@ -49,6 +49,8 @@ private:
     std::function<void()> cruiseControllerNotify =
         [this] { cruiseControllerThread.notify(); };
 
+    platoonProtocol::VehicleId readVehicleId();
+    platoonProtocol::Vehicle::VehicleEndpoints readVehicleEndpoints();
 };
 }
 #endif

modules/catkin_ws/src/car/src/mainNode/MainNode.cpp

@@ -18,7 +18,8 @@ namespace car
 
 // TODO: ConfigReader!
 
-platoonProtocol::VehicleId readVehicleId() {
+platoonProtocol::VehicleId MainNode::readVehicleId()
+{
     // open config file
     std::string userHome = getenv("HOME");
     std::ifstream configFile;
@@ -55,10 +56,12 @@ platoonProtocol::VehicleId readVehicleId() {
 
     configFile.close();
 
+    messageOStream.write("vehicleId", vehicleId);
     return vehicleId;
 }
 
-platoonProtocol::Vehicle::VehicleEndpoints readVehicleEndpoints() {
+platoonProtocol::Vehicle::VehicleEndpoints MainNode::readVehicleEndpoints()
+{
     // open config file
     std::string userHome = getenv("HOME");
     std::ifstream configFile;
@@ -91,6 +94,13 @@ platoonProtocol::Vehicle::VehicleEndpoints readVehicleEndpoints() {
 
     configFile.close();
 
+    for (const auto & endpoint : endpoints)
+    {
+        messageOStream << MessageOStream::key << "VehicleEndpoint"
+                       << MessageOStream::value << endpoint.getVehicleId() << " " << endpoint.getHost()
+                       << MessageOStream::flush;
+    }
+
     return endpoints;
 }