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Multiple parameter types are supported.

Receiving Parameters

The class class ParameterReceiver .hpp in the cpm library includes a reader and a writer to request and receive parameters from the LCC. It also contains a storage that saves already received parameters and their values, using mutexes for thread-safe access, so that requests do not need to be sent multiple times. Its implementation includes the implementation of the functions for Parameter.hpp.

Setting Parameters

Parameters are set in the LCC. The class ParameterStorage is responsible for loading, storing and changing parameters, and ParameterServer listens for requests of other participants of parameter values and sends these values on request or whenever they have been changed in the LCC.

The usage of YAML files and the handling of parameters within the LCC's UI allows the users to conveniently set parameters for multiple participants without the need to change start-up scripts or multiple configuration files. An example of a parameter distributed using the parameter server are the lateral gain values of the vehicles.