From 8d3c9da7645ae118bfbfc33b0d09ef797e4dbff7 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Wed, 4 Apr 2018 00:32:23 +0200
Subject: [PATCH] -
---
.../PlatoonProtocolLib/FollowerVehicle.h | 1 -
.../src/FollowerVehicle.cpp | 43 +++++++------------
2 files changed, 16 insertions(+), 28 deletions(-)
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
index d38f8f4a..ebf559a3 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/include/PlatoonProtocolLib/FollowerVehicle.h
@@ -59,7 +59,6 @@ private:
VehicleId leader;
std::vector<VehicleId> vehiclesToRequest;
std::vector<VehicleId>::iterator vehiclesToRequestIter;
- bool waitingForResponse{false};
networking::time::Timer::Ptr responseTimer;
networking::time::Timer::Ptr broadcastTimer;
networking::time::Timer::Ptr heartbeatTimer;
diff --git a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
index 82fdd5e1..8182f0e6 100644
--- a/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
+++ b/modules/catkin_ws/src/PlatoonProtocolLib/src/FollowerVehicle.cpp
@@ -59,8 +59,6 @@ void FollowerVehicle::doRunPlatoon()
if (state != State::CREATING_PLATOON)
return;
- log("Running Platoon!\n");
-
Vehicle::doRunPlatoon();
startHeartbeat();
@@ -73,8 +71,6 @@ void FollowerVehicle::doLeavePlatoon()
if (state == State::IDLE)
return;
- log("Leave Platoon!\n");
-
Vehicle::doLeavePlatoon();
sendLeavePlatoonMessage();
@@ -105,29 +101,24 @@ void FollowerVehicle::receiveMessage(const PlatoonMessage & message)
void FollowerVehicle::sendPlatoonCreateRequestToNextVehicle()
{
- if (state != State::CREATING_PLATOON)
+ if (state != State::CREATING_PLATOON || vehiclesToRequest.empty())
return;
- if (!waitingForResponse &&
- vehiclesToRequest.size() > 0)
- {
- utils::cycle(vehiclesToRequestIter, vehiclesToRequest);
-
- auto vehicleToRequest = *vehiclesToRequestIter;
- sendPlatoonCreateRequest(vehicleToRequest);
-
- waitingForResponse = true;
- auto self = shared_from_this();
- // Create a new one to make sure we're never getting a busy exception.
- responseTimer = networking::time::Timer::create(net);
- responseTimer->startTimeout(
- RESPONSE_TIMEOUT,
- [self]
- {
- log("Response Timeout!\n");
- self->sendPlatoonCreateRequestToNextVehicle();
- });
- }
+ utils::cycle(vehiclesToRequestIter, vehiclesToRequest);
+
+ auto vehicleToRequest = *vehiclesToRequestIter;
+ sendPlatoonCreateRequest(vehicleToRequest);
+
+ auto self = shared_from_this();
+ // Create a new one to make sure we're never getting a busy exception.
+ responseTimer = networking::time::Timer::create(net);
+ responseTimer->startTimeout(
+ RESPONSE_TIMEOUT,
+ [self]
+ {
+ log("Response Timeout!\n");
+ self->sendPlatoonCreateRequestToNextVehicle();
+ });
}
void FollowerVehicle::sendPlatoonCreateRequest(VehicleId vehicleToRequest)
@@ -204,12 +195,10 @@ void FollowerVehicle::receiveResponse(const PlatoonMessage & response)
{
if (state != State::CREATING_PLATOON ||
response.dstVehicle != myInfo.vehicleId ||
- !waitingForResponse ||
response.srcVehicle != *vehiclesToRequestIter)
return;
responseTimer->stop();
- waitingForResponse = false;
if (response.messageType == messageTypes::LV_ACCEPT)
{
--
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