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• node_id: Identification string of the middleware instance in the DDS network
• simulated_time: True if the current setup uses simulated time, else false
• middleware_domain: Domain ID for communication between middleware and HLC via shared memory, default is 1
• wait_for_start: Whether the middleware should wait for the LCC's start signal, should be true (false only for debugging purposes)
  
• vehicle_id: Single ID of a vehicle the middleware is supposed to be responsible for
• vehicle_ids: IDs of the vehicles the HLC(s) that the middleware 'controls' are responsible for (usually just one ID)
  
• vehicle_amount: Set amount of vehicles instead of vehicle ID, sets IDs 1 - vehicle_amount (restricted to 256)
• dds_domain: Domain ID of the domain in which the LCC, vehicle etc. participate
  
• domain_number: Local domain ID of the middleware and the HLC
  
• dds_initial_peer: Should be explained in Lab Control Center (Usage) 
  

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• offset_nanoseconds: Set the offset of the communication w.r.t. ~1970 (real time) or 0 (simulated time); should usually not be changed

QOS_LOCAL_COMMUNICATION.xml.template

The communication between Middleware and HLC takes place locally and should not be shared with the other participants in the network. Thus, this DDS QoS file makes sure that messages via both of them are only exchanged locally and that other participants do not get discovered for that. .template is used as the current IP must be used for this to work, build.bash fills in the template and creates the .xml file in the build folder. This file is also relevant for the HLC scripts, which need to use the same QoS settings to communicate with the Middleware.

How Do I Use The Middleware?

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There are some steps involved in using the Middleware after it has been started. They are mentioned below and are further elaborated in the Matlab Tutorial. Even if you use another programming language, you can use that tutorial as an implementation guideline (as DDS communication should not depend on the programming language).

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