From 89670887aa9d323aff55557e3187add3a121ca66 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Wed, 4 Apr 2018 14:05:44 +0200
Subject: [PATCH] request doesn't contain a dstVehicle anymore
---
.../PlatoonProtocolLib/FollowerVehicle.h | 10 +----
.../PlatoonProtocolLib/LeaderVehicle.h | 2 +-
.../PlatoonProtocolLib/PlatoonMessage.h | 5 +--
.../src/FollowerVehicle.cpp | 39 ++++---------------
.../PlatoonProtocolLib/src/LeaderVehicle.cpp | 5 +--
.../PlatoonProtocolLib/test/FollowerTest.cpp | 4 --
6 files changed, 13 insertions(+), 52 deletions(-)
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
index ebf559a3..b07e6a20 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
@@ -38,8 +38,6 @@ public:
void setOnPlatoonConfigUpdatedCallback(Callback callback)
{ onPlatoonConfigUpdatedCallback = callback; }
- void addVehicleToRequest(VehicleId vehicleId);
-
protected:
void doCreatePlatoon() override;
@@ -53,20 +51,16 @@ protected:
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 HEARTBEAT_INTERVAL = std::chrono::milliseconds(200);
static constexpr networking::time::Duration BROADCAST_TIMEOUT = std::chrono::milliseconds(500);
VehicleId leader;
- std::vector<VehicleId> vehiclesToRequest;
- std::vector<VehicleId>::iterator vehiclesToRequestIter;
networking::time::Timer::Ptr responseTimer;
networking::time::Timer::Ptr broadcastTimer;
networking::time::Timer::Ptr heartbeatTimer;
Callback onPlatoonConfigUpdatedCallback;
- void sendPlatoonCreateRequestToNextVehicle();
-
- void sendPlatoonCreateRequest(VehicleId vehicleId);
+ void sendPlatoonCreateRequest();
void receivePlatoonCreateRequest(const PlatoonMessage & request);
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/LeaderVehicle.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/LeaderVehicle.h
index c45b828f..d0a48363 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/LeaderVehicle.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/LeaderVehicle.h
@@ -52,7 +52,7 @@ protected:
private:
static constexpr networking::time::Duration HEARTBEAT_TIMEOUT = std::chrono::milliseconds(1000);
- static constexpr networking::time::Duration BROADCAST_INTERVAL = std::chrono::milliseconds(10);
+ static constexpr networking::time::Duration BROADCAST_INTERVAL = std::chrono::milliseconds(50);
struct Follower
{
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/PlatoonMessage.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/PlatoonMessage.h
index 6fe9270a..cbcd60a9 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/PlatoonMessage.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/PlatoonMessage.h
@@ -72,9 +72,8 @@ struct PlatoonMessage
, followers(followers)
{}
- static PlatoonMessage followerRequest(VehicleId srcVehicle,
- VehicleId dstVehicle)
- { return PlatoonMessage(messageTypes::FV_REQUEST, srcVehicle, dstVehicle, 0, 0, 0, {}); }
+ static PlatoonMessage followerRequest(VehicleId srcVehicle)
+ { return PlatoonMessage(messageTypes::FV_REQUEST, srcVehicle, 0, 0, 0, 0, {}); }
static PlatoonMessage rejectResponse(VehicleId srcVehicle,
VehicleId dstVehicle)
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
index d32c35b7..78f1027e 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
@@ -47,11 +47,7 @@ void FollowerVehicle::doCreatePlatoon()
Vehicle::doCreatePlatoon();
- // We cycle through every available endpoint and try to make a create-platoon-request.
- // Note that we'll be actually starting with the first element in the vector
- // by setting the iterator to end() due to utils::cycle().
- vehiclesToRequestIter = vehiclesToRequest.end();
- sendPlatoonCreateRequestToNextVehicle();
+ sendPlatoonCreateRequest();
}
void FollowerVehicle::doRunPlatoon()
@@ -99,15 +95,12 @@ void FollowerVehicle::receiveMessage(const PlatoonMessage & message)
}
}
-void FollowerVehicle::sendPlatoonCreateRequestToNextVehicle()
+void FollowerVehicle::sendPlatoonCreateRequest()
{
- if (state != State::CREATING_PLATOON || vehiclesToRequest.empty())
+ if (state != State::CREATING_PLATOON)
return;
- utils::cycle(vehiclesToRequestIter, vehiclesToRequest);
-
- auto vehicleToRequest = *vehiclesToRequestIter;
- sendPlatoonCreateRequest(vehicleToRequest);
+ sendMessage(PlatoonMessage::followerRequest(myInfo.vehicleId), 3s);
auto self = shared_from_this();
// Create a new one to make sure we're never getting a busy exception.
@@ -115,13 +108,7 @@ void FollowerVehicle::sendPlatoonCreateRequestToNextVehicle()
responseTimer->startTimeout(
RESPONSE_TIMEOUT,
[self]
- { self->sendPlatoonCreateRequestToNextVehicle(); });
-}
-
-void FollowerVehicle::sendPlatoonCreateRequest(VehicleId vehicleToRequest)
-{
- // We'll send a request indicating that we want to be the follower.
- sendMessage(PlatoonMessage::followerRequest(myInfo.vehicleId, vehicleToRequest), 3s);
+ { self->sendPlatoonCreateRequest(); });
}
void FollowerVehicle::receivePlatoonCreateRequest(const PlatoonMessage & request)
@@ -188,8 +175,7 @@ void FollowerVehicle::receiveBroadcast(const PlatoonMessage & broadcast)
void FollowerVehicle::receiveResponse(const PlatoonMessage & response)
{
if (state != State::CREATING_PLATOON ||
- response.dstVehicle != myInfo.vehicleId ||
- response.srcVehicle != *vehiclesToRequestIter)
+ response.dstVehicle != myInfo.vehicleId)
return;
responseTimer->stop();
@@ -202,7 +188,7 @@ void FollowerVehicle::receiveResponse(const PlatoonMessage & response)
}
else
{
- sendPlatoonCreateRequestToNextVehicle();
+ sendPlatoonCreateRequest();
}
}
@@ -211,17 +197,6 @@ void FollowerVehicle::sendLeavePlatoonMessage()
sendMessage(PlatoonMessage::leaveMessage(myInfo.vehicleId, leader, platoonId), HEARTBEAT_INTERVAL);
}
-void FollowerVehicle::addVehicleToRequest(VehicleId vehicleId)
-{
- if (vehicleId == 0)
- throw std::invalid_argument{"Invalid vehicle ID '0'"};
-
- auto self = shared_from_this();
- net.callLater(
- [self, vehicleId]
- { self->vehiclesToRequest.push_back(vehicleId); });
-}
-
FollowerVehicle::Ptr FollowerVehicle::shared_from_this()
{
return std::static_pointer_cast<FollowerVehicle>(Vehicle::shared_from_this());
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
index 0a6afeae..582686e5 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/LeaderVehicle.cpp
@@ -75,10 +75,6 @@ void LeaderVehicle::doLeavePlatoon()
void LeaderVehicle::receiveMessage(const PlatoonMessage & message)
{
- // Each message must be directed to us.
- if (message.dstVehicle != myInfo.vehicleId)
- return;
-
switch (message.messageType)
{
case messageTypes::FV_HEARTBEAT:
@@ -223,6 +219,7 @@ void LeaderVehicle::removeAllFollowers()
bool LeaderVehicle::checkFollowerMessage(const PlatoonMessage & message) const
{
return state == State::RUNNING_PLATOON &&
+ message.dstVehicle == myInfo.vehicleId &&
findFollower(message.srcVehicle) &&
message.platoonId == platoonId;
}
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
index 63f5980a..06c38c0f 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/test/FollowerTest.cpp
@@ -34,10 +34,6 @@ int main(int argc, char ** argv)
<< "\nPS=" << config.platoonSpeed << "\n";
});
- auto numVehiclesToRequest = argc - 3;
- for (std::size_t i = 0; i < numVehiclesToRequest; i++)
- follower->addVehicleToRequest(static_cast<VehicleId>(atoi(argv[i + 3])));
-
follower->createPlatoon();
while (1)
--
GitLab