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VCM: ignore VCMs if in maneuver

This commit is contained in:
emanuel 2022-11-19 19:20:54 +00:00
parent 22a54a1d06
commit d8dff27d83
2 changed files with 7 additions and 3 deletions
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9
src/vcm.c
View File

@ -308,6 +308,7 @@ static int vcm_check_handle_reply(VCM_t* vcm, mc_neighbour_s* neighbour) {
if (all_rep) { if (all_rep) {
ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req); ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
coordination->session.req = NULL; coordination->session.req = NULL;
coordination->session.ts = itss_time_get();
memset(coordination->session.affs, 0, sizeof(coordination->session.affs)); memset(coordination->session.affs, 0, sizeof(coordination->session.affs));
memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs)); memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs));
coordination->session.n_affs_trjs = 0; coordination->session.n_affs_trjs = 0;
@ -491,6 +492,7 @@ static int intersection_detected(VCM_t* vcm, mc_neighbour_s* neighbour) {
ssize_t vcm_req_len = (enc.encoded + 7) / 8; ssize_t vcm_req_len = (enc.encoded + 7) / 8;
coordination->session.req = vcm_req; coordination->session.req = vcm_req;
coordination->session.ts = now;
coordination->session.n_affs_trjs = 1; coordination->session.n_affs_trjs = 1;
coordination->session.n_affs_neighs[0] = n_intneigh; coordination->session.n_affs_neighs[0] = n_intneigh;
memcpy(coordination->session.affs[0], intneigh, sizeof(intneigh)); memcpy(coordination->session.affs[0], intneigh, sizeof(intneigh));
@ -679,15 +681,16 @@ int vcm_check(VCM_t* vcm) {
} }
} else { } else {
if ( if (
now < neighbour->t_iid/1000 + MC_RESOLUTION_TIMEOUT || (coordination->session.req && now < coordination->session.ts + MC_RESOLUTION_TIMEOUT) || /* issued request */
now < neighbour->t_proposal + MC_RESOLUTION_TIMEOUT now < neighbour->t_proposal + MC_RESOLUTION_TIMEOUT /* issued reply */
) { /* in maneuver */ ) { /* in maneuver */
log_warn("[coordination] received basic VCM of vehicle while maneuvering with it"); log_debug("[coordination] ignoring VCM - currently in maneuver");
} else { /* not in maneuver OR timeout reached */ } else { /* not in maneuver OR timeout reached */
if (coordination->session.req) { /* clear previous request if exists */ if (coordination->session.req) { /* clear previous request if exists */
ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req); ASN_STRUCT_FREE(asn_DEF_VCM, coordination->session.req);
coordination->session.req = NULL; coordination->session.req = NULL;
coordination->session.ts = now;
memset(coordination->session.affs, 0, sizeof(coordination->session.affs)); memset(coordination->session.affs, 0, sizeof(coordination->session.affs));
memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs)); memset(coordination->session.n_affs_neighs, 0, sizeof(coordination->session.n_affs_neighs));
coordination->session.n_affs_trjs = 0; coordination->session.n_affs_trjs = 0;

1
src/vcm.h
View File

@ -39,6 +39,7 @@ typedef struct coordination {
struct { struct {
VCM_t* req; /* last VCM.request sent */ VCM_t* req; /* last VCM.request sent */
uint64_t ts;
uint32_t affs[MC_TRAJECTORIES_N_MAX][MC_AFF_STATIONS_N_MAX]; /* trjs over affected stations */ uint32_t affs[MC_TRAJECTORIES_N_MAX][MC_AFF_STATIONS_N_MAX]; /* trjs over affected stations */
uint8_t n_affs_trjs; uint8_t n_affs_trjs;