软件技术毕业设计项目源码-V2X_SJTU:MocarV2X设备的基本代码和使用说明存储库。该项目由上海交通大学赞助

# V2X_SJTU ## Introduction A repository of basic codes and usage instructions for [Mokar V2X devices](https://www.huali-tec.com/project.php). The project is sponsored by Shanghai Jiaotong University. Here are some introductions and tutorials for the V2X device. Honestly speaking, I 'm just a beginner in this field. My document and tutorial contain only some basic ways to code & run programs on the V2X device. **Instruction about Symbols** In this instruction, all the linux commands with "$" should be run on your own computer, and the orders with "#" should be run on device. ## Content 1. Description 2. Installation 3. Hardware Connection 4. Before Communication 5. Samples 6. Coding 7. TCP Communication 8. Other Problems 9. Contact ## 1.Description Folder tree: . ├── lidar_ros *--ros package for message sending* │   ├── include │   ├── msg │   └── src ├── mde *--SDK provided by Mokar Technology* │   └── mocar │   ├── bin *--Compiled files here* │   ├── build *--Make file here* │   ├── docs *--Documents by Mocar* │   ├── libs *--Library* │   ├── license *--License* │   └── samples *--Some sample codes by Mokar, except Lidar_send and Lidar_recv generated by Fantasticos* ├── NTP *--Clock Synchronization Software* │   └── ntpclient-2015 └── TCP_Scripts *--TCP communication code* ├── test_tcp_1 *--Old version 1* ├── test_tcp_2 *--Old version 2* ├── test_tcp_3 *--Latest version* └── test_tcp_3 (copy) *--Copy of old version 3* ***mde*** is a developing kit provided and copyrighted by Mokar Technology. ***TCP_Scripts*** contains some simple programs and their codes for socket TCP communication between **computer** and **Mokar V2X devices**. ***lidar_ros*** is a ros package sending messages to road side devices ***NTP*** is a software for clock synchronization ## 2. Installation To clone the codes from Github `$ cd /your_own_work_space` `$ git clone https://github.com/Fantasticos/V2X_SJTU.git` Install some essential libraries `$ sudo apt-get install libc6:i386` `$ sudo apt-get install lib32stdc++6` `$ sudo apt-get install lib32z1` **Install *arm-linux-gnueabihf* cross compiler** Download [compiler](https://pan.baidu.com/s/1o6HW8bS#list/path=%2Fshare) Move *.tar* to `/opt` `$ sudo mv gcc-linaro-arm-linux-gnueabihf-4.9-2014.07_linux/ /opt` Extract `$ tar -xvf gcc-linaro-arm-linux-gnueabihf-4.9-2014.07_linux.tar` Modify profile `$ cd /etc` `$ sudo gedit profile` add `export PATH=$PATH:/opt/gcc-linaro-arm-linux-gnueabihf-4.9-2014.07_linux/bin` `$ sudo gedit ~/.bashrc` add `source /etc/profile` reboot the terminal ## 3. Hardware Connection Refer to the handbook provided by Huali for hardware wire connection instruction If you want to connect your computer and v2x device by Wifi, search for Wifi AP named "IMASTERXXXX", default device ip address 192.168.10.1 If you want to connect through Ethernet, change your local ip address to be 192.168.253.1 and wire-connect directly to the Mokar device, or through a switch. Default device ip address 192.168.253.10 ## 4. Before Communication Suppose you connect through a wire, the ip address of V2X device will be 192.168.253.10. If you connect wirelessly, just replace the ip with 192.168.10.1 **IMPORTANT** You should change your ip address according to your target address. For example, if you want to connect to 192.168.253.10 with Ethernet, you have to change your own ipv4 address to be 192.168.253.x, x can be replaced by any integer from 0 to 255 except 10 (you cannot set your ip to be identical with your device's) Before you test the communicaiton, you have to upload the essential libraries. ``` $ cd mde/mocar/libs $ scp libmocarv2x.so root@192.168.253.10:/usr/lib/ $ scp base/libasnhl.so root@192.168.253.10:/usr/lib/ $ scp base/libosstoed.so root@192.168.253.10:/usr/lib/ $ scp base/libLLC.so root@192.168.253.10:/usr/lib/ $ scp base/libstack.so root@192.168.253.10:/usr/lib/ $ scp base/libsmartway.so root@192.168.253.10:/usr/lib/ $ scp ../samples/mocar_log.conf root@192.168.253.10:/usr/local ``` **PASSWORD:** hL2017.moKar ## 5. Run Samples The sample codes are in `mocar/samples`, you can compile the sample under `mocar/build` ``` $ cd mde/mocar/build $ make ``` Upload the sample app to the v2x device, take **bsm** for example ``` $ cd ../bin $ scp bsm root@192.168.253.10:/var ``` Open a new terminal, log into the device through SSH `$ ssh -l root 192.168.253.10` **PASSWORD:** hL2017.moKar Enter `/var` and run the sample app `# cd /var` `# ./bsm` If warn `undefined symbol: mde_stack_init`, just remove `usr/local` and upload the .conf file again. `# rm -rf /usr/local/*` `$ scp ../samples/mocar_log.conf root@192.168.253.10:/usr/local` Now you can see the device sending bsm message at 10 HZ. You can repeat this process and upload program to another Mokar device, run the same `./bsm`, you can definitely see the two device communicating!!! **If you want to change the IP of device** `# vi /etc/network/interfaces` change the address ## 6. Coding The coding work now takes place in `mocar/samples` Two example are provided, *lidar_send* and *lidar_recv*. I wrote these two program for my graduation project. They combine both TCP communication and BSM message. To generate your own code, I suggest you to copy one sample, like **bsm**, copy the folder and rename the folder. Also remember to replace the code file name and the name in makefile. Now you can write any funcion in c++ you like!!! ## 7. TCP Communicaiton The communication between computer and V2X device is done by TCP. In **TCP_Scripts**, programs include *client* and *server*, client runs on the computer and server runs on the device. In my project, the tcp server is merged into `samples/lidar_send` and `samples/lidar_recv`. *lidar_send* is for the Road Side Device, while *lidar_recv* is for the On Board device To test, you can upload *lidar_send* or *lidar_recv* to the device, these two are both tcp servers. *lidar_send* is for road side unit while *lidar_recv* is for on board unit. I wrote 2 clients for this project, one is road side client. It subscribe messages from rostopic and publish them through tcp to the road side v2x device. Another client is `TCP_Scripts/test_tcp_3/TCP_Client2.c` or its executable `client2` I also wrote a `talker.cpp` to simulate the message published by the lidar. To fully function the communication chain, follow the steps **carefully**: 1. Move `/lidar_ros` to your own workspace i.e. `catkin_ws` ``` $ cd catkin_ws $ catkin_make $ roscore ``` 2. Start the 2 tcp servers on the devices, take the road side device for example, you can repeat it again with OBU. use ssh login 192.168.10.1 `# cd /var` `# ./lidar_send` open another terminal and ssh login again, use the ntp to synchronize the two clock `# cd /var` `# ./ntpclient -s -d -c 1 -i 5 -h 192.168.10.101` **you can refer to 8.　Other Problems for instruction on ntpclient** **ATTENTION** Some times when you run *lidar_send* or *lidar_recv* you will meet the segment fault. This is because the time should be changed to 01/01/2010 before running the program. (I'm also confused why, but this is what the engineer told me) To fix this problem open another terminal, ssh login `# date 0101000010` 3. Start the clients for road side unit, open the client to send messages `$ rosrun lidar_ros talker` `$ rosrun lidar_ros listener 192.168.10.1` for on board unit `$ cd TCP_Scripts/test_tcp_3` `$ ./client2 192.168.253.10` Now you can see the two device communicating messages generated by talker. ## 8. Other Problems **Synchronization of clock** To make sure that the clock