platoon.config update

modules/CarConfig/platoon.config

 VehicleId: 1 use 1,2 or 3 here depending on the position of the car in platoon; 1 = LEADER
-BroadCast: 10.255.255.255
+VehicleEndpoint: 2 10.5.37.195
\ No newline at end of file

modules/catkin_ws/src/CMakeLists.txt

-/opt/ros/lunar/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
+/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

modules/catkin_ws/src/car/include/exceptions/Exceptions.h

-#ifndef EXCEPTIONS_H 
-#define EXCEPTIONS_H 
-namespace car {
+#ifndef EXCEPTIONS_H
+#define EXCEPTIONS_H
+namespace car
+{
 
-class MissingParameters: public std::exception {
-  virtual const char* what() const throw() {
-    return "Found too few paramters!";
-  }
-};  
+class MissingParameters : public std::exception
+{
+    virtual const char * what() const throw()
+    {
+        return "Found too few paramters!";
+    }
+};
 
-class FileNotFound: public std::runtime_error {
+class FileNotFound : public std::runtime_error
+{
 public:
     explicit FileNotFound(const std::string & filename)
         : runtime_error("File not found: " + filename)
     {}
-};  
+};
 
 }
 

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

@@ -2,8 +2,6 @@
 
 #include "exceptions/Exceptions.h"
 
-#include "PlatoonProtocolLib/NetworkInfo.h"
-
 #include <pluginlib/class_list_macros.h>
 
 #include <iostream>
@@ -17,10 +15,10 @@ PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
 
 namespace car
 {
-  
-platoonProtocol::NetworkInfo readNetworkInfo() {
-    /** This reads ~/.CarConfig/platoon.config */
 
+// TODO: ConfigReader!
+
+platoonProtocol::VehicleId readVehicleId() {
     // open config file
     std::string userHome = getenv("HOME");
     std::ifstream configFile;
@@ -32,40 +30,75 @@ platoonProtocol::NetworkInfo readNetworkInfo() {
     // desired parameters
     platoonProtocol::VehicleId vehicleId;
     bool foundVehicleId = false;
-    std::string broadCastAdress;
-    bool foundBroadCastAdress = false;
 
     std::string contentLine;
-    while (!configFile.eof()) {
-    std::getline(configFile, contentLine);
-
-    // split this line
-    std::istringstream iss(contentLine);
-    std::vector<std::string> words {std::istream_iterator<std::string>(iss), {} };
-
-    if ( words.size() > 1) { // this line contains parameter[at(0)] and value[at(1)]
-        if ( words.at(0) == "VehicleId:" ) {
-            vehicleId = std::stoi(words.at(1));
-            foundVehicleId = true;
-        } else if ( words.at(0) == "BroadCast:" ) {
-            broadCastAdress = words.at(1);
-            foundBroadCastAdress = true;
+    while (!configFile.eof())
+    {
+        std::getline(configFile, contentLine);
+
+        // split this line
+        std::istringstream iss(contentLine);
+        std::vector<std::string> words{std::istream_iterator<std::string>(iss), {} };
+
+        if (words.size() > 1)
+        {
+            if (words.at(0) == "VehicleId:")
+            {
+                vehicleId = std::stoi(words.at(1));
+                foundVehicleId = true;
+            }
         }
     }
 
+    if(!foundVehicleId)
+        throw MissingParameters();
+
+    configFile.close();
+
+    return vehicleId;
+}
+
+platoonProtocol::Vehicle::VehicleEndpoints readVehicleEndpoints() {
+    // open config file
+    std::string userHome = getenv("HOME");
+    std::ifstream configFile;
+    std::string filename = userHome + "/CarConfig/platoon.config";
+    configFile.open(filename, std::ifstream::in);
+    if (!configFile.is_open())
+        throw FileNotFound{filename};
+
+    // desired parameters
+    platoonProtocol::Vehicle::VehicleEndpoints endpoints;
+
+    std::string contentLine;
+    while (!configFile.eof())
+    {
+        std::getline(configFile, contentLine);
+
+        // split this line
+        std::istringstream iss(contentLine);
+        std::vector<std::string> words{std::istream_iterator<std::string>(iss), {} };
+        if (words.size() > 1)
+        {
+            if (words.at(0) == "VehicleEndpoint:")
+            {
+                auto vehicleId = static_cast<platoonProtocol::VehicleId>(std::stoi(words.at(1)));
+                auto host = words.at(2);
+                endpoints.emplace_back(platoonProtocol::VehicleEndpoint{vehicleId, host});
+            }
+        }
     }
 
-    if ( !(foundVehicleId && foundBroadCastAdress) ) { throw MissingParameters(); }
     configFile.close();
 
-    return platoonProtocol::NetworkInfo{vehicleId, broadCastAdress};
+    return endpoints;
 }
 
 MainNode::MainNode()
     : nh()
       , messageOStream(nh, "MainNode")
       , c2cNet()
-      , c2c(platoonProtocol::Vehicle::Role::FOLLOWER, c2cNet, readNetworkInfo())
+      , c2c(platoonProtocol::Vehicle::Role::FOLLOWER, c2cNet, readVehicleId())
       , pcNet()
       , pc(pc2car::CommandReceiver::create(pcNet))
       , egoMotion(nh)
@@ -79,6 +112,7 @@ MainNode::MainNode()
     platoonController.setCruiseControllerNotify(cruiseControllerNotify);
     pc->receiveCommands([this] (auto commandCode) {platoonControllerThread.notify();} );
     c2c.setCallback( [this] {platoonControllerThread.notify();} );
+    c2c.addVehicleEndpoints(readVehicleEndpoints());
 }
 
 void MainNode::onInit()