Communication between OBU & DCU

This repository is for the communication between OBU & DCU, which is a simple V2X application. The architecture of the formal version is shown below. The module will try to reconnect every 2s, if the websocket connection is failed.

Environment

• ROS Melodic
• python 2.7/3.6
• websocket-client 0.32.0
• websocket-server 0.4

Setup

• Move the folder planning_msg to your ros_workspace
• Build the customized ROSMSG

  // Keypoints ROSMSG
  string type
  float64 lat
  float64 lon
  int64 heading
  // Trail ROSMSG
  float64 lat
  float64 lon
  // Planning ROSMSG
  string ts
  string area_id
  string level
  string reason
  string dest
  string option
  string last_ret
  keypoints[] key_points
  trail[] trail

OBU2DCU

Usage

• Send the subscribe message from OBU to DCU via ROSTOPIC
• Listen to the PST and :

  • Save the received JSON to msg_log [Optional];

  • Transfer the JSON into the customized ROSMSG format;

  • Publish the ROSTOPIC for the received message, e.g. '/obu_planning' and '/obu_uwb';

  • Publish the heartbeat of the OBU2DCU at '/obu2dcu_status'.

    Here is an example of the heartbeat, the status includes Alive(per 5s), Failed to create connection, Connected, and Received Message.

    

How to use

• Set the parameters in obu2dcu.py line 13 - 15.

  ADDR = "ws://localhost:8204"
  IS_SUBCRIBE_PLANNING = True
  IS_SAVING_LOG = False

• Run the code

  python obu2dcu.py

DCU2OBU

Usage

• Send the vehicle reports from DCU to OBU via websocket
• Listen to the DCU and:
  • Subscribe the ROSTOPIC reports at '/reports_to_obu'
  • Transfer ROS-MSG(String) into JSON format
  • Report the message to the OBU
  • Publish the heartbeat of the DCU2OBU at '/dcu2obu_status'

How to use

• Set the parameter in dcu2obu.py line 6.

  ADDR = "ws://localhost:8205"

• Run the code

  python dcu2obu.py

How to debug

In addition, a debug version is also provided, including the pseudo OBU and DCU for debugging.

Debug for OBU2DCU

• Setup the pseudo DCU, which could subcribe the ROSTOPIC published by the OBU2DCU, including the received OBU messages and the hearbeat of the OBU2DCU.

  python pseudo_dcu.py

• Setup the OBU2DCU.

  python obu2dcu.py

• Setup the pseudo OBU server, which will send the JSON files saved in msg_log.

  python pseudo_obu.py

Debug for DCU2OBU

• Setup the heartbeat receiver, which could subscribe the heartbeat published by the DCU2PST.

  python pseudo_status_rcv.py

• Setup the DCU2OBU.

  python dcu2obu.py

• Setup the pseudo OBU server, which will listen to the port for receiving the reported messages.

  python pseudo_obu.py

• Setup the pseudo DCU, which will publish the ROSTOPIC and send the reports ROSMSG.

  python pseudo_dcu.py