VCM: reject VCM after checking it is for ego
This commit is contained in:
emanuel
parent
86056eb304
commit
62ae51845a
336
src/vcm.c
336
src/vcm.c
|
|
@ -46,6 +46,167 @@ static int do_paths_intersect(
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||||
|
|
||||||
|
coordination_t* coordination = &facilities.coordination;
|
||||||
|
|
||||||
|
pthread_mutex_lock(&facilities.id.lock);
|
||||||
|
uint32_t my_station_id = facilities.id.station_id;
|
||||||
|
pthread_mutex_unlock(&facilities.id.lock);
|
||||||
|
|
||||||
|
int32_t lat, lon;
|
||||||
|
itss_space_lock();
|
||||||
|
itss_space_get();
|
||||||
|
lat = epv.space.latitude;
|
||||||
|
lon = epv.space.longitude;
|
||||||
|
itss_space_unlock();
|
||||||
|
|
||||||
|
uint64_t now = itss_time_get();
|
||||||
|
|
||||||
|
itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
|
||||||
|
ssize_t trajectoryA_len = 0;
|
||||||
|
|
||||||
|
TransportRequest_t* tr = NULL;
|
||||||
|
FacilitiesIndication_t* fi = NULL;
|
||||||
|
VCM_t* vcm_rep = calloc(1, sizeof(VCM_t));
|
||||||
|
|
||||||
|
int rv = 0;
|
||||||
|
const uint16_t buf_len = 2048;
|
||||||
|
uint8_t buf1[buf_len];
|
||||||
|
|
||||||
|
vcm_rep->header.messageID = 43;
|
||||||
|
vcm_rep->header.protocolVersion = 1;
|
||||||
|
vcm_rep->header.stationID = my_station_id;
|
||||||
|
|
||||||
|
vcm_rep->vcm.currentPosition.latitude = lat;
|
||||||
|
vcm_rep->vcm.currentPosition.longitude = lon;
|
||||||
|
asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
|
||||||
|
|
||||||
|
if (coordination->chain.id) {
|
||||||
|
vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
|
||||||
|
vcm_rep->vcm.chain->id = coordination->chain.id;
|
||||||
|
vcm_rep->vcm.chain->link.buf = malloc(32);
|
||||||
|
vcm_rep->vcm.chain->link.size = 32;
|
||||||
|
memcpy(vcm_rep->vcm.chain->link.buf, coordination->chain.link, 32);
|
||||||
|
vcm_rep->vcm.chain->area = calloc(1, sizeof(OCTET_STRING_t));
|
||||||
|
vcm_rep->vcm.chain->area->buf = malloc(4);
|
||||||
|
vcm_rep->vcm.chain->area->size = 4;
|
||||||
|
}
|
||||||
|
|
||||||
|
vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
|
||||||
|
ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
|
||||||
|
|
||||||
|
// Vehicle DimensionsDimensions
|
||||||
|
mvc_rep->vehicleLength.vehicleLengthValue= facilities.vehicle.length;
|
||||||
|
mvc_rep->vehicleLength.vehicleLengthConfidenceIndication = 0;
|
||||||
|
mvc_rep->vehicleWidth = facilities.vehicle.width;
|
||||||
|
|
||||||
|
itss_trajectory_lock();
|
||||||
|
trajectoryA_len = epv.trajectory.len;
|
||||||
|
memcpy(trajectoryA + 1, epv.trajectory.path, trajectoryA_len * sizeof(itss_st_t));
|
||||||
|
itss_trajectory_unlock();
|
||||||
|
|
||||||
|
trajectoryA[0].latitude = lat;
|
||||||
|
trajectoryA[0].longitude = lon;
|
||||||
|
trajectoryA[0].timestamp = now;
|
||||||
|
++trajectoryA_len;
|
||||||
|
|
||||||
|
// Planned trajectory
|
||||||
|
mvc_rep->plannedTrajectory.list.count = trajectoryA_len - 1;
|
||||||
|
mvc_rep->plannedTrajectory.list.size = (trajectoryA_len - 1) * sizeof(void*);
|
||||||
|
mvc_rep->plannedTrajectory.list.array = malloc((trajectoryA_len - 1) * sizeof(void*));
|
||||||
|
for (int i = 0; i < trajectoryA_len - 1; ++i) {
|
||||||
|
mvc_rep->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
|
||||||
|
mvc_rep->plannedTrajectory.list.array[i]->deltaLatitude = trajectoryA[i+1].latitude - trajectoryA[i].latitude;
|
||||||
|
mvc_rep->plannedTrajectory.list.array[i]->deltaLongitude = trajectoryA[i+1].longitude - trajectoryA[i].longitude;
|
||||||
|
mvc_rep->plannedTrajectory.list.array[i]->deltaTime = trajectoryA[i+1].timestamp - trajectoryA[i].timestamp;
|
||||||
|
}
|
||||||
|
|
||||||
|
mvc_rep->negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
|
||||||
|
mvc_rep->negotiation->present = CoordinationNegotiation_PR_reply;
|
||||||
|
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.count = 0;
|
||||||
|
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.size = 0;
|
||||||
|
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.array = NULL;
|
||||||
|
mvc_rep->negotiation->choice.reply.requesterId = vcm->header.stationID;
|
||||||
|
mvc_rep->negotiation->choice.reply.nonce = vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.request.nonce;
|
||||||
|
|
||||||
|
asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_VCM, NULL, vcm_rep, buf1, buf_len);
|
||||||
|
if (enc.encoded == -1) {
|
||||||
|
log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||||
|
rv = 1;
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
|
||||||
|
|
||||||
|
tr = calloc(1, sizeof(TransportRequest_t));
|
||||||
|
tr->present = TransportRequest_PR_packet;
|
||||||
|
tr->choice.packet.present = TransportPacketRequest_PR_btp;
|
||||||
|
BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
|
||||||
|
bpr->btpType = BTPType_btpB;
|
||||||
|
bpr->id = itss_id(buf1, vcm_rep_len);
|
||||||
|
bpr->gn.destinationAddress.buf = malloc(6);
|
||||||
|
for (int i = 0; i < 6; ++i) {
|
||||||
|
bpr->gn.destinationAddress.buf[i] = 0xff;
|
||||||
|
}
|
||||||
|
bpr->gn.destinationAddress.size = 6;
|
||||||
|
bpr->gn.packetTransportType = PacketTransportType_shb;
|
||||||
|
bpr->destinationPort = 2043;
|
||||||
|
bpr->gn.trafficClass = 2;
|
||||||
|
bpr->data.buf = malloc(vcm_rep_len);
|
||||||
|
memcpy(bpr->data.buf, buf1, vcm_rep_len);
|
||||||
|
bpr->data.size = vcm_rep_len;
|
||||||
|
buf1[0] = 4;
|
||||||
|
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf1+1, buf_len-1);
|
||||||
|
if (enc.encoded == -1) {
|
||||||
|
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||||
|
rv = 1;
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_TRANSPORT, bpr->id, "TR.packet.btp");
|
||||||
|
|
||||||
|
fi = calloc(1, sizeof(FacilitiesIndication_t));
|
||||||
|
fi->present = FacilitiesIndication_PR_message;
|
||||||
|
fi->choice.message.id = bpr->id;
|
||||||
|
fi->choice.message.itsMessageType = 2043;
|
||||||
|
fi->choice.message.data.size = bpr->data.size;
|
||||||
|
fi->choice.message.data.buf = malloc(bpr->data.size);
|
||||||
|
memcpy(fi->choice.message.data.buf, bpr->data.buf, bpr->data.size);
|
||||||
|
buf1[0] = 4;
|
||||||
|
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, buf1+1, buf_len-1);
|
||||||
|
if (enc.encoded == -1) {
|
||||||
|
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
||||||
|
rv = 1;
|
||||||
|
goto cleanup;
|
||||||
|
}
|
||||||
|
|
||||||
|
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_APPLICATIONS, bpr->id, "FI.message");
|
||||||
|
|
||||||
|
coordination->t_last_send_vcm = now;
|
||||||
|
|
||||||
|
if (facilities.logging.recorder) {
|
||||||
|
uint16_t buffer_len = 2048;
|
||||||
|
uint8_t buffer[buffer_len];
|
||||||
|
int e = itss_management_record_packet_sdu(
|
||||||
|
buffer,
|
||||||
|
buffer_len,
|
||||||
|
bpr->data.buf,
|
||||||
|
bpr->data.size,
|
||||||
|
bpr->id,
|
||||||
|
itss_time_get(),
|
||||||
|
ITSS_FACILITIES,
|
||||||
|
true);
|
||||||
|
if (e != -1) {
|
||||||
|
itss_queue_send(facilities.tx_queue, buffer, e, ITSS_MANAGEMENT, bpr->id, "MReq.packet.set");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
cleanup:
|
||||||
|
ASN_STRUCT_FREE(asn_DEF_VCM, vcm_rep);
|
||||||
|
ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
|
||||||
|
ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
|
||||||
|
}
|
||||||
|
|
||||||
static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||||
int rv = 0;
|
int rv = 0;
|
||||||
|
|
||||||
|
|
@ -72,6 +233,14 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
uint64_t now = itss_time_get();
|
||||||
|
|
||||||
|
if (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) { /* in maneuver */
|
||||||
|
log_debug("[vc] rejecting VCM from %d - currently in maneuver", vcm->header.stationID);
|
||||||
|
vcm_reject(vcm, neighbour);
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
const ssize_t buf_len = 512;
|
const ssize_t buf_len = 512;
|
||||||
uint8_t buf1[buf_len], buf2[buf_len];
|
uint8_t buf1[buf_len], buf2[buf_len];
|
||||||
|
|
||||||
|
|
@ -136,12 +305,10 @@ static int vcm_check_handle_request(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||||
itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
|
itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
|
||||||
ssize_t trajectoryA_len = 0;
|
ssize_t trajectoryA_len = 0;
|
||||||
|
|
||||||
uint64_t now = itss_time_get();
|
|
||||||
|
|
||||||
neighbour->proposed = true;
|
neighbour->proposed = true;
|
||||||
neighbour->t_proposal = now;
|
neighbour->t_proposal = now;
|
||||||
|
|
||||||
|
|
||||||
vcm_rep = calloc(1, sizeof(VCM_t));
|
vcm_rep = calloc(1, sizeof(VCM_t));
|
||||||
|
|
||||||
vcm_rep->header.messageID = 43;
|
vcm_rep->header.messageID = 43;
|
||||||
|
|
@ -667,166 +834,6 @@ static void intersection_check(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
static void vcm_reject(VCM_t* vcm, mc_neighbour_s* neighbour) {
|
|
||||||
|
|
||||||
coordination_t* coordination = &facilities.coordination;
|
|
||||||
|
|
||||||
pthread_mutex_lock(&facilities.id.lock);
|
|
||||||
uint32_t my_station_id = facilities.id.station_id;
|
|
||||||
pthread_mutex_unlock(&facilities.id.lock);
|
|
||||||
|
|
||||||
int32_t lat, lon;
|
|
||||||
itss_space_lock();
|
|
||||||
itss_space_get();
|
|
||||||
lat = epv.space.latitude;
|
|
||||||
lon = epv.space.longitude;
|
|
||||||
itss_space_unlock();
|
|
||||||
|
|
||||||
uint64_t now = itss_time_get();
|
|
||||||
|
|
||||||
itss_st_t trajectoryA[TRAJECTORY_MAX_LEN+1]; /* ego trajectory */
|
|
||||||
ssize_t trajectoryA_len = 0;
|
|
||||||
|
|
||||||
TransportRequest_t* tr = NULL;
|
|
||||||
FacilitiesIndication_t* fi = NULL;
|
|
||||||
VCM_t* vcm_rep = calloc(1, sizeof(VCM_t));
|
|
||||||
|
|
||||||
int rv = 0;
|
|
||||||
const uint16_t buf_len = 2048;
|
|
||||||
uint8_t buf1[buf_len];
|
|
||||||
|
|
||||||
vcm_rep->header.messageID = 43;
|
|
||||||
vcm_rep->header.protocolVersion = 1;
|
|
||||||
vcm_rep->header.stationID = my_station_id;
|
|
||||||
|
|
||||||
vcm_rep->vcm.currentPosition.latitude = lat;
|
|
||||||
vcm_rep->vcm.currentPosition.longitude = lon;
|
|
||||||
asn_ulong2INTEGER(&vcm_rep->vcm.currentPosition.timestamp, now);
|
|
||||||
|
|
||||||
if (coordination->chain.id) {
|
|
||||||
vcm_rep->vcm.chain = calloc(1, sizeof(ChainInformation_t));
|
|
||||||
vcm_rep->vcm.chain->id = coordination->chain.id;
|
|
||||||
vcm_rep->vcm.chain->link.buf = malloc(32);
|
|
||||||
vcm_rep->vcm.chain->link.size = 32;
|
|
||||||
memcpy(vcm_rep->vcm.chain->link.buf, coordination->chain.link, 32);
|
|
||||||
vcm_rep->vcm.chain->area = calloc(1, sizeof(OCTET_STRING_t));
|
|
||||||
vcm_rep->vcm.chain->area->buf = malloc(4);
|
|
||||||
vcm_rep->vcm.chain->area->size = 4;
|
|
||||||
}
|
|
||||||
|
|
||||||
vcm_rep->vcm.maneuverContainer.present = ManeuverContainer_PR_vehicle;
|
|
||||||
ManeuverVehicleContainer_t* mvc_rep = &vcm_rep->vcm.maneuverContainer.choice.vehicle;
|
|
||||||
|
|
||||||
// Vehicle DimensionsDimensions
|
|
||||||
mvc_rep->vehicleLength.vehicleLengthValue= facilities.vehicle.length;
|
|
||||||
mvc_rep->vehicleLength.vehicleLengthConfidenceIndication = 0;
|
|
||||||
mvc_rep->vehicleWidth = facilities.vehicle.width;
|
|
||||||
|
|
||||||
itss_trajectory_lock();
|
|
||||||
trajectoryA_len = epv.trajectory.len;
|
|
||||||
memcpy(trajectoryA + 1, epv.trajectory.path, trajectoryA_len * sizeof(itss_st_t));
|
|
||||||
itss_trajectory_unlock();
|
|
||||||
|
|
||||||
trajectoryA[0].latitude = lat;
|
|
||||||
trajectoryA[0].longitude = lon;
|
|
||||||
trajectoryA[0].timestamp = now;
|
|
||||||
++trajectoryA_len;
|
|
||||||
|
|
||||||
// Planned trajectory
|
|
||||||
mvc_rep->plannedTrajectory.list.count = trajectoryA_len - 1;
|
|
||||||
mvc_rep->plannedTrajectory.list.size = (trajectoryA_len - 1) * sizeof(void*);
|
|
||||||
mvc_rep->plannedTrajectory.list.array = malloc((trajectoryA_len - 1) * sizeof(void*));
|
|
||||||
for (int i = 0; i < trajectoryA_len - 1; ++i) {
|
|
||||||
mvc_rep->plannedTrajectory.list.array[i] = calloc(1, sizeof(STPoint_t));
|
|
||||||
mvc_rep->plannedTrajectory.list.array[i]->deltaLatitude = trajectoryA[i+1].latitude - trajectoryA[i].latitude;
|
|
||||||
mvc_rep->plannedTrajectory.list.array[i]->deltaLongitude = trajectoryA[i+1].longitude - trajectoryA[i].longitude;
|
|
||||||
mvc_rep->plannedTrajectory.list.array[i]->deltaTime = trajectoryA[i+1].timestamp - trajectoryA[i].timestamp;
|
|
||||||
}
|
|
||||||
|
|
||||||
mvc_rep->negotiation = calloc(1, sizeof(CoordinationNegotiation_t));
|
|
||||||
mvc_rep->negotiation->present = CoordinationNegotiation_PR_reply;
|
|
||||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.count = 0;
|
|
||||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.size = 0;
|
|
||||||
mvc_rep->negotiation->choice.reply.acceptedTrajectoriesIds.list.array = NULL;
|
|
||||||
mvc_rep->negotiation->choice.reply.requesterId = vcm->header.stationID;
|
|
||||||
mvc_rep->negotiation->choice.reply.nonce = vcm->vcm.maneuverContainer.choice.vehicle.negotiation->choice.request.nonce;
|
|
||||||
|
|
||||||
asn_enc_rval_t enc = uper_encode_to_buffer(&asn_DEF_VCM, NULL, vcm_rep, buf1, buf_len);
|
|
||||||
if (enc.encoded == -1) {
|
|
||||||
log_error("[vc] VCM.reply encode failure (%s)", enc.failed_type->name);
|
|
||||||
rv = 1;
|
|
||||||
goto cleanup;
|
|
||||||
}
|
|
||||||
ssize_t vcm_rep_len = (enc.encoded + 7) / 8;
|
|
||||||
|
|
||||||
tr = calloc(1, sizeof(TransportRequest_t));
|
|
||||||
tr->present = TransportRequest_PR_packet;
|
|
||||||
tr->choice.packet.present = TransportPacketRequest_PR_btp;
|
|
||||||
BTPPacketRequest_t* bpr = &tr->choice.packet.choice.btp;
|
|
||||||
bpr->btpType = BTPType_btpB;
|
|
||||||
bpr->id = itss_id(buf1, vcm_rep_len);
|
|
||||||
bpr->gn.destinationAddress.buf = malloc(6);
|
|
||||||
for (int i = 0; i < 6; ++i) {
|
|
||||||
bpr->gn.destinationAddress.buf[i] = 0xff;
|
|
||||||
}
|
|
||||||
bpr->gn.destinationAddress.size = 6;
|
|
||||||
bpr->gn.packetTransportType = PacketTransportType_shb;
|
|
||||||
bpr->destinationPort = 2043;
|
|
||||||
bpr->gn.trafficClass = 2;
|
|
||||||
bpr->data.buf = malloc(vcm_rep_len);
|
|
||||||
memcpy(bpr->data.buf, buf1, vcm_rep_len);
|
|
||||||
bpr->data.size = vcm_rep_len;
|
|
||||||
buf1[0] = 4;
|
|
||||||
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_TransportRequest, tr, buf1+1, buf_len-1);
|
|
||||||
if (enc.encoded == -1) {
|
|
||||||
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
|
||||||
rv = 1;
|
|
||||||
goto cleanup;
|
|
||||||
}
|
|
||||||
|
|
||||||
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_TRANSPORT, bpr->id, "TR.packet.btp");
|
|
||||||
|
|
||||||
fi = calloc(1, sizeof(FacilitiesIndication_t));
|
|
||||||
fi->present = FacilitiesIndication_PR_message;
|
|
||||||
fi->choice.message.id = bpr->id;
|
|
||||||
fi->choice.message.itsMessageType = 2043;
|
|
||||||
fi->choice.message.data.size = bpr->data.size;
|
|
||||||
fi->choice.message.data.buf = malloc(bpr->data.size);
|
|
||||||
memcpy(fi->choice.message.data.buf, bpr->data.buf, bpr->data.size);
|
|
||||||
buf1[0] = 4;
|
|
||||||
enc = asn_encode_to_buffer(NULL, ATS_CANONICAL_OER, &asn_DEF_FacilitiesIndication, fi, buf1+1, buf_len-1);
|
|
||||||
if (enc.encoded == -1) {
|
|
||||||
log_error("[vc] TR VCM.reply encode failure (%s)", enc.failed_type->name);
|
|
||||||
rv = 1;
|
|
||||||
goto cleanup;
|
|
||||||
}
|
|
||||||
|
|
||||||
itss_queue_send(facilities.tx_queue, buf1, enc.encoded+1, ITSS_APPLICATIONS, bpr->id, "FI.message");
|
|
||||||
|
|
||||||
coordination->t_last_send_vcm = now;
|
|
||||||
|
|
||||||
if (facilities.logging.recorder) {
|
|
||||||
uint16_t buffer_len = 2048;
|
|
||||||
uint8_t buffer[buffer_len];
|
|
||||||
int e = itss_management_record_packet_sdu(
|
|
||||||
buffer,
|
|
||||||
buffer_len,
|
|
||||||
bpr->data.buf,
|
|
||||||
bpr->data.size,
|
|
||||||
bpr->id,
|
|
||||||
itss_time_get(),
|
|
||||||
ITSS_FACILITIES,
|
|
||||||
true);
|
|
||||||
if (e != -1) {
|
|
||||||
itss_queue_send(facilities.tx_queue, buffer, e, ITSS_MANAGEMENT, bpr->id, "MReq.packet.set");
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
cleanup:
|
|
||||||
ASN_STRUCT_FREE(asn_DEF_VCM, vcm_rep);
|
|
||||||
ASN_STRUCT_FREE(asn_DEF_TransportRequest, tr);
|
|
||||||
ASN_STRUCT_FREE(asn_DEF_FacilitiesIndication, fi);
|
|
||||||
}
|
|
||||||
|
|
||||||
int vcm_check(VCM_t* vcm) {
|
int vcm_check(VCM_t* vcm) {
|
||||||
coordination_t* coordination = &facilities.coordination;
|
coordination_t* coordination = &facilities.coordination;
|
||||||
|
|
@ -869,12 +876,7 @@ int vcm_check(VCM_t* vcm) {
|
||||||
if (mvc->negotiation) {
|
if (mvc->negotiation) {
|
||||||
switch (mvc->negotiation->present) {
|
switch (mvc->negotiation->present) {
|
||||||
case CoordinationNegotiation_PR_request:
|
case CoordinationNegotiation_PR_request:
|
||||||
if (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) { /* in maneuver */
|
|
||||||
log_debug("[vc] rejecting VCM from %d - currently in maneuver", vcm->header.stationID);
|
|
||||||
vcm_reject(vcm, neighbour);
|
|
||||||
} else {
|
|
||||||
vcm_check_handle_request(vcm, neighbour);
|
vcm_check_handle_request(vcm, neighbour);
|
||||||
}
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
case CoordinationNegotiation_PR_reply:
|
case CoordinationNegotiation_PR_reply:
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue