https://mqtt-broker.azurewebsites.net/
{ "mqttServerIp": "mqttbroker.westeurope.azurecontainer.io", "mqttUser": "test", "mqttPassword": "test", "mqttPort": 1883 }
// Run following commands to initialize the local mqttbroker server
dotnet restore
dotnet build
cd Mqtt.Server
dotnet run
// With the following commands, lead vehicle connects to the server using basic authentication
cd Mqtt.LeadClient
dotnet run
MQTT Server:mqttbroker.westeurope.azurecontainer.io Username:test ClientID:leadVehicle1 Connected successfully with MQTT Brokers.
cd Mqtt.FollowerClient
dotnet run
MQTT Server:mqttbroker.westeurope.azurecontainer.io Username:test ClientID:followingVehicle1 Connected successfully with MQTT Brokers.
After the connection has been established, the lead vehicle has to subscribe to your own topic
At Terminal 2, press "S" key to subscribe @$"platooning/{leadvehicleId}/#"
Mqtt.LeadClient git:(master) ✗ Client SubscribeAsync as platooning/leadVehicle1/#
You can see the list of subscribes wehicles with the following url:
https://mqtt-broker.azurewebsites.net/Service/GetSubscribe
Example List: [ { "id": 5, "clientId": "leadVehicle1", "topic": "platooning/leadVehicle1/#", "qoS": "AtLeastOnce", "enable": true, "creationDate": "2021-03-29T03:18:52.627731" } ]
After that, you can create a new platoon by pressing "P" for Lead Vehicle
Mqtt.LeadClient git:(master) ✗ Client Publish as platooning/message/leadVehicle1/platoon1 payload =>
You can see the list of platoons with the following url: https://mqtt-broker.azurewebsites.net/Service/GetPlatoon
Example List: [ { "id": 11, "platoonRealId": "platoon1", "type": null, "clientId": "leadVehicle1", "vechicleId": "leadVehicle1", "isLead": true, "isFollower": false, "enable": true, "creationDate": "2021-03-29T03:22:43.931418" } ]
Now lead vehicle can wait for new following vehicles to join the platoon.
The following vehicles have to join their topics for receive direct messages
At terminal 3, press "S" key to subscribe @$"platooning/{followingvehicleId}/#"
Mqtt.FollowerClient git:(master) Client SubscribeAsync as platooning/followingVehicle1/#
To see the subscribers list: https://mqtt-broker.azurewebsites.net/Service/GetSubscribe
[ { "id": 5, "clientId": "leadVehicle1", "topic": "platooning/leadVehicle1/#", "qoS": "AtLeastOnce", "enable": true, "creationDate": "2021-03-29T03:18:52.627731" }, { "id": 6, "clientId": "followingVehicle1", "topic": "platooning/followingVehicle1/#", "qoS": "AtLeastOnce", "enable": true, "creationDate": "2021-03-29T03:26:51.706669" } ]
After that,following vehicle want to join active platoon that Lead vehicle has already created Press "s" keyborad button on terminal 3
Mqtt.FollowerClient git:(master) Client Publish joining spesific platoon at the broker as platooning/message/followingVehicle1 payload =>
Topic: platooning/followingVehicle1/leadVehicle1/platoon1. Message Received: { "Maneuver": 2, "PlatoonGap": 0, "PlatoonOverrideStatus": false, "VehicleRank": 0, "BreakPedal": 0, "PlatoonDissolveStatus": false, "StationId": 0, "StreamingRequests": 0, "V2HealthStatus": false, "TruckRoutingStaus": 0, "RealPayload": "\u0002\u0000\u0000\u0000\u0000\u0000\u0000\u0000" } Client SubscribeAsync as platooning/broadcast/platoon1/# Topic: platooning/broadcast/platoon1. Message Received: { "Maneuver": 6, "PlatoonGap": 242, "PlatoonOverrideStatus": true, "VehicleRank": 0, "BreakPedal": 2, "PlatoonDissolveStatus": false, "StationId": 71602726, "StreamingRequests": 1, "V2HealthStatus": false, "TruckRoutingStaus": 0, "RealPayload": "{\n "Id": 0,\n "Maneuver": 6,\n "PlatoonGap": 0,\n "PlatoonOverrideStatus": false,\n "VehicleRank": 0,\n "BreakPedal": 0,\n "PlatoonDissolveStatus": false,\n "StationId": 0,\n "StreamingRequests": 0,\n "V2HealthStatus": false,\n "TruckRoutingStaus": 0,\n "RealPayload": "\u0003\u0000\u0000\u0000\u0000\u0000\u0000\u0000"\n}" }
This information shows us Mqtt Server got a joining message from following vehicle and request accepted by lead vehicle automatically for testing, after accepting lead vehicle send its initial condition to following vehicle via broadcasting channel "platooning/broadcast/platoon1"
You can check all request hierarchies using rest api services
https://mqtt-broker.azurewebsites.net/Service/GetMessage
https://mqtt-broker.azurewebsites.net/Service/GetSubscribe
https://mqtt-broker.azurewebsites.net/Service/GetPlatoon
Finally, at terminal 2, lead vehicle terminal, we can start the broadcasting message for all following vehicles
Press "K" for broadcasting
Client Publish as platooning/broadcast/platoon1 payload =>
https://mqtt-broker.azurewebsites.net/Service/Getplatoon
https://mqtt-broker.azurewebsites.net/Service/GetSubscribe
https://mqtt-broker.azurewebsites.net/Service/GetMessage
https://mqtt-broker.azurewebsites.net/Service/GetConnection
mosquitto_sub -h mqttbroker.westeurope.azurecontainer.io -p 1883 -t 'platooning/sdfsdf/#' -i "Device1" -u test -P test -v
mosquitto_pub -h mqttbroker.westeurope.azurecontainer.io -p 1883 -t 'platooning/sdfsdf/sdsd' -i "Device2" -u test -P test -m "asda"
