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The Middleware coordinates the communication with the DDS domain of the vehicle, LCC and further participants with the HLC. It is responsible for sending timed pre-aggregated vehicle information to the HLC. These can be interpreted as a start signal for starting the computation using this data. It sends the commands generated by the HLC as a reaction to this start signal to the vehicles. Any timing task is performed by the Middleware, so period and offset for the interaction with the HLC are set here (and can be set when starting the application using command line parameters). The HLC is informed about the current time, in case that is necessary for its own computations.
Figure: Communication from other participants to the HLC filtered by the Middleware
Figure: Communication from the HLC to other participants
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The IDL type for the DDS communication of HLC and middleware is mentioned here and located here: https://git.rwth-aachen.de/CPM/Project/Lab/software/blob/master/hlc/middleware/idl/VehicleStateList.idl
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