From 7470d58b135e48c1825d193783c125aa22e5bb77 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Sat, 20 Jan 2018 11:30:48 +0100
Subject: [PATCH] platoon should be standard confirm now
---
NetworkingLib/include/Frame.h | 5 +-
NetworkingLib/include/Utils.h | 21 ++++++--
NetworkingLib/src/Socket.cpp | 2 +-
NetworkingLib/src/Stream.cpp | 2 +-
Protocol/README.md | 6 +++
Protocol/include/PlatoonMessage.h | 80 ++++++++++++++++++-------------
6 files changed, 72 insertions(+), 44 deletions(-)
diff --git a/NetworkingLib/include/Frame.h b/NetworkingLib/include/Frame.h
index 26c840b1..380ed364 100644
--- a/NetworkingLib/include/Frame.h
+++ b/NetworkingLib/include/Frame.h
@@ -22,10 +22,7 @@ public:
Frame(const std::uint8_t * data, std::uint32_t numDataBytes)
: data(data), numDataBytes(numDataBytes)
{
- header[0] = utils::byte<0>(numDataBytes);
- header[1] = utils::byte<1>(numDataBytes);
- header[2] = utils::byte<2>(numDataBytes);
- header[3] = utils::byte<3>(numDataBytes);
+ utils::toBigEndian<4>(header, numDataBytes);
}
Frame(const Frame &) = delete;
diff --git a/NetworkingLib/include/Utils.h b/NetworkingLib/include/Utils.h
index b4bb54cd..5635b287 100644
--- a/NetworkingLib/include/Utils.h
+++ b/NetworkingLib/include/Utils.h
@@ -12,16 +12,27 @@ namespace networking
namespace utils
{
-template<std::size_t index, typename Int>
-inline std::uint8_t byte(Int var)
-{ return (std::uint8_t) ((var >> 8*index) & 0x000000ff); }
+template<std::size_t numBytes, typename Int>
+inline void toBigEndian(std::uint8_t * dest, Int src)
+{
+ std::size_t bitsToShift = numBytes * 8;
+ for (std::size_t i = 0; i < numBytes; i++)
+ {
+ bitsToShift -= 8;
+ dest[i] = (std::uint8_t) ((src >> bitsToShift) & 0x000000ff);
+ }
+};
template<std::size_t numBytes, typename Int>
-inline Int bytesToInt(const std::uint8_t * bytes)
+inline Int fromBigEndian(const std::uint8_t * bytes)
{
Int result = 0;
+ std::size_t bitsToShift = numBytes * 8;
for (std::size_t i = 0; i < numBytes; i++)
- result += ((Int) bytes[i]) << (i*8);
+ {
+ bitsToShift -= 8;
+ result += ((Int) bytes[i]) << bitsToShift;
+ }
return result;
}
diff --git a/NetworkingLib/src/Socket.cpp b/NetworkingLib/src/Socket.cpp
index 20a21e96..d21db207 100644
--- a/NetworkingLib/src/Socket.cpp
+++ b/NetworkingLib/src/Socket.cpp
@@ -16,7 +16,7 @@ bool stringFromBuffer(std::string & data, std::vector<char> & buffer, std::size_
if (bytesTransferred < 4)
return false;
- auto numDataBytes = utils::bytesToInt<4, std::uint32_t>((const std::uint8_t *) buffer.data());
+ auto numDataBytes = utils::fromBigEndian<4, std::uint32_t>((const std::uint8_t *) buffer.data());
if (bytesTransferred < 4 + numDataBytes)
return false;
diff --git a/NetworkingLib/src/Stream.cpp b/NetworkingLib/src/Stream.cpp
index f4be80af..3884231f 100644
--- a/NetworkingLib/src/Stream.cpp
+++ b/NetworkingLib/src/Stream.cpp
@@ -23,7 +23,7 @@ std::string stringFromStreambuf(boost::asio::streambuf & streambuf, std::size_t
std::uint32_t numDataBytesFromBuffer(boost::asio::streambuf & streambuf)
{
auto numDataBytesStr = stringFromStreambuf(streambuf, 4);
- return utils::bytesToInt<4, std::uint32_t>((const std::uint8_t *) numDataBytesStr.c_str());
+ return utils::fromBigEndian<4, std::uint32_t>((const std::uint8_t *) numDataBytesStr.c_str());
}
std::size_t getNumRemainingBytes(std::size_t numBytesTransferred, std::uint32_t numDataBytes)
diff --git a/Protocol/README.md b/Protocol/README.md
index 22d71294..69ada00b 100644
--- a/Protocol/README.md
+++ b/Protocol/README.md
@@ -16,6 +16,9 @@ Here we suppose to run a platoon as leader:
networking::Networking net;
// Create a leader.
auto leader = protocol::LeaderVehicle::create(net, 1); // 1 = vehicleId
+// Add endpoints which we may request a platoon to create with.
+leader->addVehicleEndpoint(2, "192.168.100.30);
+leader->addVehicleEndpoint(3, "192.168.134.5);
// Set the initial platoon configuration.
// This can be set at anytime and will be send to the following vehicles.
leader->setPlatoonConfig(protocol::PlatoonConfig{10.0f, 20.0f});
@@ -35,6 +38,9 @@ And on another machine, we're running a follower:
networking::Networking net;
// Create a leader.
auto follower = protocol::FollowerVehicle::create(net, 2); // 2 = vehicleId
+// Add endpoints which we may request a platoon to create with.
+follower->addVehicleEndpoint(2, "192.168.100.30);
+follower->addVehicleEndpoint(3, "192.168.134.5);
// Register a callback to receive platoon configuration updates (ps and ipd).
follower->setOnUpdatePlatoonConfigCallback(
[](const protocol::PlatoonConfig & config){/* Received updated platoonConfig. */});
diff --git a/Protocol/include/PlatoonMessage.h b/Protocol/include/PlatoonMessage.h
index eb4777ae..86c1268e 100644
--- a/Protocol/include/PlatoonMessage.h
+++ b/Protocol/include/PlatoonMessage.h
@@ -10,12 +10,14 @@
#include "Protocol.h"
#include "json.hpp"
#include <NetworkingLib/Message.h>
+#include <unordered_set>
namespace protocol
{
namespace messageTypes
{
+
constexpr MessageType LV_BROADCAST = 0x00000001;
constexpr MessageType FV_HEARTBEAT = 0x00000002;
constexpr MessageType LV_REQUEST = 0x00000004;
@@ -23,11 +25,20 @@ constexpr MessageType FV_REQUEST = 0x00000008;
constexpr MessageType ACCEPT_RESPONSE = 0x00000010;
constexpr MessageType REJECT_RESPONSE = 0x00000020;
constexpr MessageType LEAVE_PLATOON = 0x00000040;
+
+const std::unordered_set<MessageType> standardMessageTypes{
+ LV_BROADCAST, FV_HEARTBEAT, LV_REQUEST, FV_REQUEST, ACCEPT_RESPONSE, REJECT_RESPONSE, LEAVE_PLATOON};
+
+inline bool isStandardMessageType(MessageType messageType)
+{
+ return messageTypes::standardMessageTypes.find(messageType) != messageTypes::standardMessageTypes.end();
+}
+
}
struct PlatoonMessage
{
- static constexpr std::size_t MAX_SIZE = 512;
+ static constexpr std::size_t MAX_SIZE = 256;
PlatoonMessage()
{}
@@ -75,31 +86,6 @@ struct PlatoonMessage
PlatoonSpeed platoonSpeed;
InnerPlatoonDistance innerPlatoonDistance;
};
-}
-
-namespace nlohmann
-{
-
-template<>
-struct adl_serializer<protocol::PlatoonMessage>
-{
- static void to_json(json & j, const protocol::PlatoonMessage & message)
- {
- j = json{{"vehicleId", message.vehicleId},
- {"platoonId", message.platoonId},
- {"platoonSpeed", message.platoonSpeed},
- {"innerPlatoonDistance", message.innerPlatoonDistance}};
- }
-
- static void from_json(const json & j, protocol::PlatoonMessage & message)
- {
- using namespace protocol;
- message.vehicleId = j.at("vehicleId").get<VehicleId>();
- message.platoonId = j.at("platoonId").get<PlatoonId>();
- message.platoonSpeed = j.at("platoonSpeed").get<PlatoonSpeed>();
- message.innerPlatoonDistance = j.at("innerPlatoonDistance").get<InnerPlatoonDistance>();
- }
-};
}
@@ -116,15 +102,29 @@ struct Encoder<protocol::PlatoonMessage>
using namespace protocol;
auto messageType = message.messageType;
+
+ if (!messageTypes::isStandardMessageType(messageType))
+ throw 0; // Throw something to signal a failed encoding.
+
// 4 bytes for message type
data = std::string(4, '\0');
- data[0] = networking::utils::byte<0>(messageType);
- data[1] = networking::utils::byte<1>(messageType);
- data[2] = networking::utils::byte<2>(messageType);
- data[3] = networking::utils::byte<3>(messageType);
+
+ std::uint8_t numDataBytes[sizeof(MessageType)];
+ networking::utils::toBigEndian<4>(numDataBytes, messageType);
+
+ for (std::size_t i = 0; i < sizeof(MessageType); i++)
+ data[i] = numDataBytes[i];
using json = nlohmann::json;
- json j = message;
+ auto j = json{{"vehicleId", message.vehicleId},
+ {"platoonId", message.platoonId}};
+
+ if (messageType == messageTypes::LV_BROADCAST)
+ {
+ j["ps"] = message.platoonSpeed;
+ j["ipd"] = message.innerPlatoonDistance;
+ }
+
data.append(j.dump());
}
};
@@ -141,9 +141,23 @@ struct Decoder<protocol::PlatoonMessage>
using json = nlohmann::json;
auto j = json::parse(data.begin() + sizeof(MessageType), data.end());
- message = j;
- message.messageType = networking::utils::bytesToInt<sizeof(MessageType), MessageType>(
+
+ auto messageType = networking::utils::fromBigEndian<sizeof(MessageType), MessageType>(
(const std::uint8_t *) data.c_str());
+
+ // We only know message types conforming to the standard protocol specification.
+ if (!messageTypes::isStandardMessageType(messageType))
+ throw 0;
+
+ message.messageType = messageType;
+ message.vehicleId = j.at("vehicleId").get<VehicleId>();
+ message.platoonId = j.at("platoonId").get<PlatoonId>();
+
+ if (messageType == messageTypes::LV_BROADCAST)
+ {
+ message.platoonSpeed = j.at("ps").get<PlatoonSpeed>();
+ message.innerPlatoonDistance = j.at("ipd").get<InnerPlatoonDistance>();
+ }
};
};
--
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