-

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

@@ -33,6 +33,13 @@ inline bool isStandardMessageType(MessageType messageType)
     return messageTypes::standardMessageTypes.find(messageType) != messageTypes::standardMessageTypes.end();
 }
 
+template<typename ... MessageTypes>
+bool contains(MessageType type, MessageTypes ... types)
+{
+    std::unordered_set<MessageType> set{types...};
+    return set.find(type) != set.end();
+}
+
 }
 
 namespace jsonNames
@@ -145,11 +152,16 @@ struct Encoder<platoonProtocol::PlatoonMessage>
 
         using json = nlohmann::json;
         using namespace jsonNames;
-        auto j = json{{SRC_VEHICLE, message.srcVehicle},
-                      {DST_VEHICLE, message.dstVehicle},
-                      {PLATOON_ID, message.platoonId}};
+        auto j = json{{SRC_VEHICLE, message.srcVehicle}};
+
+        using namespace messageTypes;
+        if (messageTypes::contains(messageType, FV_HEARTBEAT, LV_ACCEPT, REJECT, FV_LEAVE))
+            j[DST_VEHICLE] = message.dstVehicle;
 
-        if (messageType == messageTypes::LV_BROADCAST)
+        if (messageTypes::contains(messageType, LV_BROADCAST, FV_HEARTBEAT, LV_ACCEPT, FV_LEAVE))
+            j[PLATOON_ID] = message.platoonId;
+
+        if (messageTypes::contains(messageType, LV_BROADCAST))
         {
             j[PLATOON_SPEED] = message.platoonSpeed;
             j[INNER_PLATOON_DISTANCE] = message.innerPlatoonDistance;
@@ -184,10 +196,15 @@ struct Decoder<platoonProtocol::PlatoonMessage>
 
         using namespace jsonNames;
         message.srcVehicle = j.at(SRC_VEHICLE).get<VehicleId>();
-        message.dstVehicle = j.at(DST_VEHICLE).get<VehicleId>();
-        message.platoonId = j.at(PLATOON_ID).get<PlatoonId>();
 
-        if (messageType == messageTypes::LV_BROADCAST)
+        using namespace messageTypes;
+        if (messageTypes::contains(messageType, FV_HEARTBEAT, LV_ACCEPT, REJECT, FV_LEAVE))
+            message.dstVehicle = j.at(DST_VEHICLE).get<VehicleId>();
+
+        if (messageTypes::contains(messageType, LV_BROADCAST, FV_HEARTBEAT, LV_ACCEPT, FV_LEAVE))
+            message.platoonId = j.at(PLATOON_ID).get<VehicleId>();
+
+        if (messageTypes::contains(messageType, LV_BROADCAST))
         {
             message.platoonSpeed = j.at(PLATOON_SPEED).get<PlatoonSpeed>();
             message.innerPlatoonDistance = j.at(INNER_PLATOON_DISTANCE).get<InnerPlatoonDistance>();