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The HLC only needs to integrate and configure a reader and a writer to listen to the Middleware and send commands. Thus, as long as the programming language is supported by RTI DDS, the programmer does not need to know the implementation details of the communication.

Functionality

• Logging
• Waiting for the HLC to join the domain & send a ready message
• Periodically calling the HLC to request commands for the vehicle
• Forwarding vehicle state information to the HLC periodically (always the newest information is sent) + timing information s.t. the HLC does not need to care about getting the right timestamps itself
• Forwarding commands sent by the HLC to the vehicle
• Forwarding stop signals to the HLC
• Receiving (some) parameters from the parameter server

Command Line Parameters

Parameter Usage Example

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