Updated V2V with new Waypoint. Removed unused members

Author: gabryelreyes

lib/PlatoonService/src/V2VClient.cpp

@@ -33,9 +33,7 @@
  * Includes
  *****************************************************************************/
 #include "V2VClient.h"
-#include <SettingsHandler.h>
 #include <Logging.h>
-#include <ArduinoJson.h>
 
 /******************************************************************************
  * Compiler Switches
@@ -57,18 +55,6 @@
  * Local Variables
  *****************************************************************************/
 
-/* MQTT topic name for birth messages. */
-const char* V2VClient::TOPIC_NAME_BIRTH = "birth";
-
-/* MQTT topic name for will messages. */
-const char* V2VClient::TOPIC_NAME_WILL = "will";
-
-/** Default size of the JSON Document for parsing. */
-static const uint32_t JSON_DOC_DEFAULT_SIZE = 1024U;
-
-/** Platoon leader vehicle ID. */
-static const uint8_t PLATOON_LEADER_ID = 0U;
-
 /******************************************************************************
  * Public Methods
  *****************************************************************************/
@@ -163,26 +149,16 @@ void V2VClient::process()
 
 bool V2VClient::sendWaypoint(const Waypoint& waypoint)
 {
-    bool                                      isSuccessful = false;
-    StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
-
-    jsonPayload["X"]           = waypoint.xPos;        /**< X position [mm]. */
-    jsonPayload["Y"]           = waypoint.yPos;        /**< Y position [mm]. */
-    jsonPayload["Orientation"] = waypoint.orientation; /**< Orientation [mrad]. */
-    jsonPayload["Left"]        = waypoint.left;        /**< Left motor speed [steps/s]. */
-    jsonPayload["Right"]       = waypoint.right;       /**< Right motor speed [steps/s]. */
-    jsonPayload["Center"]      = waypoint.center;      /**< Center speed [steps/s]. */
-
-    size_t jsonBufferSize = measureJson(jsonPayload) + 1U;
-    char   jsonBuffer[jsonBufferSize];
+    bool   isSuccessful = false;
+    String payload      = waypoint.serialize();
 
-    if ((jsonBufferSize - 1U) != serializeJson(jsonPayload, jsonBuffer, jsonBufferSize))
+    if (true == payload.isEmpty())
     {
-        LOG_ERROR("JSON serialization failed.");
+        LOG_DEBUG("Failed to serialize waypoint.");
     }
-    else if (false == m_mqttClient.publish(m_outputTopic, false, String(jsonBuffer)))
+    else if (false == m_mqttClient.publish(m_outputTopic, false, payload))
     {
-        LOG_ERROR("Failed to publish MQTT message to %s.", m_outputTopic);
+        LOG_ERROR("Failed to publish MQTT message to %s.", m_outputTopic.c_str());
     }
     else
     {
@@ -229,47 +205,15 @@ size_t V2VClient::getWaypointQueueSize() const
 
 void V2VClient::targetWaypointTopicCallback(const String& payload)
 {
-    StaticJsonDocument<JSON_DOC_DEFAULT_SIZE> jsonPayload;
-    DeserializationError                      error = deserializeJson(jsonPayload, payload.c_str());
+    Waypoint* waypoint = Waypoint::deserialize(payload);
 
-    if (error != DeserializationError::Ok)
+    if (nullptr == waypoint)
     {
-        LOG_ERROR("JSON Deserialization Error %d.", error);
+        LOG_ERROR("Failed to deserialize received waypoint.");
     }
     else
     {
-        JsonVariant jsonXPos        = jsonPayload["X"];           /**< X position [mm]. */
-        JsonVariant jsonYPos        = jsonPayload["Y"];           /**< Y position [mm]. */
-        JsonVariant jsonOrientation = jsonPayload["Orientation"]; /**< Orientation [mrad]. */
-        JsonVariant jsonLeft        = jsonPayload["Left"];        /**< Left motor speed [steps/s]. */
-        JsonVariant jsonRight       = jsonPayload["Right"];       /**< Right motor speed [steps/s]. */
-        JsonVariant jsonCenter      = jsonPayload["Center"];      /**< Center speed [steps/s]. */
-
-        if ((false == jsonXPos.isNull()) && (false == jsonYPos.isNull()) && (false == jsonOrientation.isNull()) &&
-            (false == jsonLeft.isNull()) && (false == jsonRight.isNull()) && (false == jsonCenter.isNull()))
-        {
-            Waypoint* waypoint = new (std::nothrow) Waypoint();
-
-            if (nullptr != waypoint)
-            {
-                waypoint->xPos        = jsonXPos.as<int32_t>();
-                waypoint->yPos        = jsonYPos.as<int32_t>();
-                waypoint->orientation = jsonOrientation.as<int32_t>();
-                waypoint->left        = jsonLeft.as<int16_t>();
-                waypoint->right       = jsonRight.as<int16_t>();
-                waypoint->center      = jsonCenter.as<int16_t>();
-
-                m_waypointQueue.push(waypoint);
-            }
-            else
-            {
-                LOG_ERROR("Failed to allocate memory for received waypoint.");
-            }
-        }
-        else
-        {
-            LOG_WARNING("Received invalid waypoint.");
-        }
+        m_waypointQueue.push(waypoint);
     }
 }
 

lib/PlatoonService/src/V2VClient.h

@@ -58,6 +58,9 @@
 class V2VClient
 {
 public:
+    /** Platoon leader vehicle ID. */
+    static const uint8_t PLATOON_LEADER_ID = 0U;
+
     /**
      * Constructs a V2V client.
      *
@@ -111,12 +114,6 @@ class V2VClient
     size_t getWaypointQueueSize() const;
 
 private:
-    /** MQTT topic name for birth messages. */
-    static const char* TOPIC_NAME_BIRTH;
-
-    /** MQTT topic name for will messages. */
-    static const char* TOPIC_NAME_WILL;
-
     /** Max topic length */
     static const uint8_t MAX_TOPIC_LENGTH = 64U;