def ExchangeArrivalTimes(self):
""" Exchange V2V communications between the Icarous instances """
arrTimes = []
log = []
for ic in self.icInstances:
if ic.arrTime is not None:
arrTimes.append(ic.arrTime)
for arr in arrTimes:
fid = arr.intersectionID
if fid <= 0:
continue
avail = False
for g in log:
if fid == g[0].intersectionID:
avail = True
g.append(arr)
if not avail:
log.append([arr])
for lg in log:
if len(lg) == 0:
continue
datalog = LogData()
datalog.intersectionID = lg[0].intersectionID
datalog.nodeRole = 1
datalog.totalNodes = len(lg)
mg = MergerData * MAX_NODES
datalog.log = mg(*lg)
for ic in self.icInstances:
if ic.arrTime is None:
continue
if ic.arrTime.intersectionID == datalog.intersectionID:
ic.InputMergeLogs(datalog, self.commDelay)
def ExchangeV2VData(self):
""" Exchange V2V communications between the Icarous instances """
# Transmit all V2V data
for ic in self.icInstances:
# Do not broadcast if running SBN
if "SBN" in ic.apps:
continue
if not ic.missionStarted or ic.missionComplete:
continue
# broadcast position data to all other vehicles in the airspace
tfdata = V2Vdata("INTRUDER", {
"callsign": ic.callsign,
"pos": ic.position,
"vel": ic.velocity
})
ic.transmitter.transmit(self.current_time, ic.position, tfdata)
# Gather logs to be exchanged for merging activity
log = {}
for ic in self.icInstances:
if ic.arrTime is not None:
intsid = ic.arrTime.intersectionID
if intsid in log.keys():
log[intsid].append(ic.arrTime)
else:
log[intsid] = [ic.arrTime]
# Transmit all merger log data
for lg in log:
datalog = LogData()
datalog.intersectionID = log[lg][0].intersectionID
datalog.nodeRole = 1
datalog.totalNodes = len(log[lg])
mg = MergerData * MAX_NODES
datalog.log = mg(*log[lg])
for ic in self.icInstances:
# Do not broadcast if running SBN
if "SBN" in ic.apps:
continue
mergelog = V2Vdata("MERGER", datalog)
ic.transmitter.transmit(self.current_time, ic.position,
mergelog)
# Receive all V2V data
for ic in self.icInstances:
if not ic.missionStarted or ic.missionComplete:
continue
received_msgs = ic.receiver.receive(self.current_time, ic.position)
data = [m.data for m in received_msgs]
ic.InputV2VData(data)
self.comm_channel.flush()