V2VService Class Reference

Public Member Functions
	V2VService (std::string ip, std::string id, std::string partnerIp, std::string partnerId, std::string speed_after, std::string left, std::string right, uint16_t queue_max)
void	announcePresence ()
void	followRequest ()
void	followResponse ()
void	stopFollow (std::string vehicleIp)
void	leaderStatus (float speed, float steeringAngle, uint8_t distanceTraveled)
void	followerStatus ()

Public Attributes
std::map< std::string, std::string >	presentCars

Detailed Description

Definition at line 34 of file V2VService.hpp.

Constructor & Destructor Documentation

V2VService()

V2VService::V2VService	(	std::string	ip,
		std::string	id,
		std::string	partnerIp,
		std::string	partnerId,
		std::string	speed_after,
		std::string	left,
		std::string	right,
		uint16_t	queue_max
	)

Implementation of the V2VService class as declared in V2VService.hpp

Definition at line 88 of file V2VService.cpp.

Member Function Documentation

announcePresence()

void V2VService::announcePresence

(

)

This function sends an AnnouncePresence (id = 1001) message on the broadcast channel. It will contain information about the sending vehicle, including: IP, port and the group identifier.

Definition at line 246 of file V2VService.cpp.

followerStatus()

void V2VService::followerStatus

(

)

This function sends a FollowerStatus (id = 3001) message on the leader channel.

Parameters

speed	- current velocity
steeringAngle	- current steering angle
distanceFront	- distance to nearest object in front of the car sending the status message
distanceTraveled	- distance traveled since last reading

Definition at line 331 of file V2VService.cpp.

followRequest()

void V2VService::followRequest

(

)

This function sends a FollowRequest (id = 1002) message to the IP address specified by the parameter vehicleIp. And sets the current leaderIp field of the sending vehicle to that of the target of the request.

Definition at line 264 of file V2VService.cpp.

followResponse()

void V2VService::followResponse

(

)

This function send a FollowResponse (id = 1003) message and is sent in response to a FollowRequest (id = 1002). This message will contain the NTP server IP for time synchronization between the target and the sender.

Definition at line 281 of file V2VService.cpp.

leaderStatus()

void V2VService::leaderStatus	(	float	speed,
		float	steeringAngle,
		uint8_t	distanceTraveled
	)

This function sends a LeaderStatus (id = 2001) message on the follower channel.

Parameters

speed	- current velocity
steeringAngle	- currentFREQ steering angle
distanceTraveled	- distance traveled since last reading

Definition at line 346 of file V2VService.cpp.

stopFollow()

void V2VService::stopFollow

(

std::string

vehicleIp

)

This function sends a StopFollow (id = 1004) request on the ip address of the parameter vehicleIp. If the IP address is neither that of the follower nor the leader, this function ends without sending the request message.

Parameters

vehicleIp

- IP of the target for the request

Definition at line 300 of file V2VService.cpp.

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The documentation for this class was generated from the following files:

• V2VService.hpp
• V2VService.cpp