V2V Communication Manager

lib/ConvoyFollower/src/App.cpp

@@ -158,12 +158,12 @@ void App::setup()
         {
             LOG_FATAL("Failed to setup MQTT client.");
         }
-        else if (V2VClient::PLATOON_LEADER_ID == settings.getPlatoonVehicleId())
+        else if (V2VCommManager::PLATOON_LEADER_ID == settings.getPlatoonVehicleId())
         {
             /* Correct config.json file loaded? */
             LOG_FATAL("Platoon Vehicle ID must not be 0 for a follower.");
         }
-        else if (false == m_v2vClient.init(settings.getPlatoonPlatoonId(), settings.getPlatoonVehicleId()))
+        else if (false == m_v2vCommManager.init(settings.getPlatoonPlatoonId(), settings.getPlatoonVehicleId()))
         {
             LOG_FATAL("Failed to initialize V2V client.");
         }
@@ -216,7 +216,7 @@ void App::loop()
     m_mqttClient.process();
 
     /* Process V2V Communication */
-    m_v2vClient.process();
+    processV2VCommunication();
 
     /* Process System State Machine */
     m_systemStateMachine.process();
@@ -225,12 +225,12 @@ void App::loop()
     processPeriodicTasks();
 
     /* Process V2V event queue. */
-    while (0U < m_v2vClient.getWaypointQueueSize())
+    while (0U < m_v2vCommManager.getWaypointQueueSize())
     {
         /* Waypoints are pending. */
         Waypoint waypoint;
 
-        if (false == m_v2vClient.getNextWaypoint(waypoint))
+        if (false == m_v2vCommManager.getNextWaypoint(waypoint))
         {
             LOG_WARNING("Failed to get next waypoint from V2V client.");
         }
@@ -412,7 +412,7 @@ void App::processPeriodicTasks()
         {
             LOG_WARNING("Failed to get waypoint from driving state.");
         }
-        else if (false == m_v2vClient.sendWaypoint(payload))
+        else if (false == m_v2vCommManager.sendWaypoint(payload))
         {
             LOG_WARNING("Waypoint could not be sent.");
         }
@@ -478,6 +478,44 @@ void App::processPeriodicTasks()
     }
 }
 
+void App::processV2VCommunication()
+{
+    V2VCommManager::V2VStatus     v2vStatus     = V2VCommManager::V2V_STATUS_OK;
+    V2VCommManager::VehicleStatus vehicleStatus = V2VCommManager::VEHICLE_STATUS_OK;
+
+    if (true == ErrorState::getInstance().isActive())
+    {
+        vehicleStatus = V2VCommManager::VEHICLE_STATUS_ERROR;
+    }
+
+    v2vStatus = m_v2vCommManager.process(vehicleStatus);
+
+    switch (v2vStatus)
+    {
+    case V2VCommManager::V2V_STATUS_OK:
+        /* All good. Nothing to do. */
+        break;
+
+    case V2VCommManager::V2V_STATUS_NOT_INIT:
+        LOG_WARNING("V2V not initialized.");
+        break;
+
+    case V2VCommManager::V2V_STATUS_LOST_FOLLOWER:
+    case V2VCommManager::V2V_STATUS_FOLLOWER_ERROR:
+        LOG_ERROR("Follower Error");
+        setErrorState();
+        break;
+
+    case V2VCommManager::V2V_STATUS_GENERAL_ERROR:
+        LOG_ERROR("V2V Communication error.");
+        setErrorState();
+        break;
+
+    default:
+        break;
+    }
+}
+
 /******************************************************************************
  * External Functions
  *****************************************************************************/

lib/ConvoyFollower/src/App.h

@@ -48,7 +48,7 @@
 #include <MqttClient.h>
 #include <SimpleTimer.hpp>
 #include <StateMachine.h>
-#include <V2VClient.h>
+#include <V2VCommManager.h>
 #include "SerialMuxChannels.h"
 
 /******************************************************************************
@@ -72,7 +72,7 @@ class App
         m_serialMuxProtChannelIdStatus(0U),
         m_smpServer(Board::getInstance().getDevice().getStream(), this),
         m_mqttClient(),
-        m_v2vClient(m_mqttClient),
+        m_v2vCommManager(m_mqttClient),
         m_systemStateMachine(),
         m_sendWaypointTimer(),
         m_commandTimer(),
@@ -166,9 +166,9 @@ class App
     MqttClient m_mqttClient;
 
     /**
-     * V2V client instance.
+     * V2V communication manager instance.
      */
-    V2VClient m_v2vClient;
+    V2VCommManager m_v2vCommManager;
 
     /**
      * The system state machine.
@@ -200,6 +200,11 @@ class App
      */
     SimpleTimer m_statusTimeoutTimer;
 
+    /**
+     * Process V2V communication.
+     */
+    void processV2VCommunication();
+
 private:
     /**
      * Handler of fatal errors in the Application.

lib/ConvoyLeader/src/App.cpp

@@ -158,12 +158,12 @@ void App::setup()
         {
             LOG_FATAL("Failed to setup MQTT client.");
         }
-        else if (V2VClient::PLATOON_LEADER_ID != settings.getPlatoonVehicleId())
+        else if (V2VCommManager::PLATOON_LEADER_ID != settings.getPlatoonVehicleId())
         {
             /* Correct config.json file loaded? */
             LOG_FATAL("Platoon Vehicle ID must be 0 for the leader.");
         }
-        else if (false == m_v2vClient.init(settings.getPlatoonPlatoonId(), settings.getPlatoonVehicleId()))
+        else if (false == m_v2vCommManager.init(settings.getPlatoonPlatoonId(), settings.getPlatoonVehicleId()))
         {
             LOG_FATAL("Failed to initialize V2V client.");
         }
@@ -220,7 +220,7 @@ void App::loop()
     m_mqttClient.process();
 
     /* Process V2V Communication */
-    m_v2vClient.process();
+    processV2VCommunication();
 
     /* Process System State Machine */
     m_systemStateMachine.process();
@@ -390,7 +390,7 @@ void App::processPeriodicTasks()
 
     if ((true == m_sendWaypointTimer.isTimeout()) && (true == m_mqttClient.isConnected()))
     {
-        if (false == m_v2vClient.sendWaypoint(m_latestVehicleData))
+        if (false == m_v2vCommManager.sendWaypoint(m_latestVehicleData))
         {
             LOG_WARNING("Waypoint could not be sent.");
         }
@@ -449,6 +449,44 @@ void App::processPeriodicTasks()
     }
 }
 
+void App::processV2VCommunication()
+{
+    V2VCommManager::V2VStatus     v2vStatus     = V2VCommManager::V2V_STATUS_OK;
+    V2VCommManager::VehicleStatus vehicleStatus = V2VCommManager::VEHICLE_STATUS_OK;
+
+    if (true == ErrorState::getInstance().isActive())
+    {
+        vehicleStatus = V2VCommManager::VEHICLE_STATUS_ERROR;
+    }
+
+    v2vStatus = m_v2vCommManager.process(vehicleStatus);
+
+    switch (v2vStatus)
+    {
+    case V2VCommManager::V2V_STATUS_OK:
+        /* All good. Nothing to do. */
+        break;
+
+    case V2VCommManager::V2V_STATUS_NOT_INIT:
+        LOG_WARNING("V2V not initialized.");
+        break;
+
+    case V2VCommManager::V2V_STATUS_LOST_FOLLOWER:
+    case V2VCommManager::V2V_STATUS_FOLLOWER_ERROR:
+        LOG_ERROR("Follower Error");
+        setErrorState();
+        break;
+
+    case V2VCommManager::V2V_STATUS_GENERAL_ERROR:
+        LOG_ERROR("V2V Communication error.");
+        setErrorState();
+        break;
+
+    default:
+        break;
+    }
+}
+
 /******************************************************************************
  * External Functions
  *****************************************************************************/

lib/ConvoyLeader/src/App.h

@@ -48,7 +48,7 @@
 #include <MqttClient.h>
 #include <SimpleTimer.hpp>
 #include <StateMachine.h>
-#include <V2VClient.h>
+#include <V2VCommManager.h>
 #include "SerialMuxChannels.h"
 
 /******************************************************************************
@@ -72,7 +72,7 @@ class App
         m_serialMuxProtChannelIdStatus(0U),
         m_smpServer(Board::getInstance().getDevice().getStream(), this),
         m_mqttClient(),
-        m_v2vClient(m_mqttClient),
+        m_v2vCommManager(m_mqttClient),
         m_systemStateMachine(),
         m_latestVehicleData(),
         m_sendWaypointTimer(),
@@ -167,9 +167,9 @@ class App
     MqttClient m_mqttClient;
 
     /**
-     * V2V client instance.
+     * V2V communication manager instance.
      */
-    V2VClient m_v2vClient;
+    V2VCommManager m_v2vCommManager;
 
     /**
      * The system state machine.
@@ -231,6 +231,11 @@ class App
      */
     void processPeriodicTasks();
 
+    /**
+     * Process V2V communication.
+     */
+    void processV2VCommunication();
+
 private:
     /* Not allowed. */
     App(const App& app);            /**< Copy construction of an instance. */

lib/PlatoonService/src/Follower.h

@@ -0,0 +1,127 @@
+/* MIT License
+ *
+ * Copyright (c) 2023 - 2024 Andreas Merkle <[email protected]>
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+
+/*******************************************************************************
+    DESCRIPTION
+*******************************************************************************/
+/**
+ * @brief  Follower class for V2V communication.
+ * @author Gabryel Reyes <[email protected]>
+ *
+ * @addtogroup PlatoonService
+ *
+ * @{
+ */
+#ifndef FOLLOWER_H
+#define FOLLOWER_H
+
+/******************************************************************************
+ * Compile Switches
+ *****************************************************************************/
+
+/******************************************************************************
+ * Includes
+ *****************************************************************************/
+
+#include <stdint.h>
+
+/******************************************************************************
+ * Macros
+ *****************************************************************************/
+
+/******************************************************************************
+ * Types and Classes
+ *****************************************************************************/
+
+/** Follower class. */
+class Follower
+{
+public:
+    /**
+     * Follower Constructor.
+     */
+    Follower() : m_lastHeartbeatTimestamp(0U), m_status(0U)
+    {
+    }
+
+    /**
+     * Follower Destructor.
+     */
+    ~Follower()
+    {
+    }
+
+    /**
+     * Get the last heartbeat timestamp.
+     *
+     * @return Last heartbeat timestamp.
+     */
+    uint32_t getLastHeartbeatTimestamp() const
+    {
+        return m_lastHeartbeatTimestamp;
+    }
+
+    /**
+     * Set the last heartbeat timestamp.
+     *
+     * @param[in] timestamp    Last heartbeat timestamp.
+     */
+    void setLastHeartbeatTimestamp(uint32_t timestamp)
+    {
+        m_lastHeartbeatTimestamp = timestamp;
+    }
+
+    /**
+     * Get the status.
+     *
+     * @return Status.
+     */
+    uint8_t getStatus() const
+    {
+        return m_status;
+    }
+
+    /**
+     * Set the status.
+     *
+     * @param[in] status    Status.
+     */
+    void setStatus(uint8_t status)
+    {
+        m_status = status;
+    }
+
+private:
+    /** Last heartbeat timestamp. */
+    uint32_t m_lastHeartbeatTimestamp;
+
+    /** Status. */
+    uint8_t m_status;
+};
+
+/******************************************************************************
+ * Functions
+ *****************************************************************************/
+
+#endif /* FOLLOWER_H */
+/** @} */