https://kr.mathworks.com/help/driving/ug/truck-platooning-with-roadrunner-scenario.html
classdef HelperV2VReceiver < matlab.System
% HelperV2VReceiver Models a V2V receiver.
% The V2V Receiver receives the Basic Safety Message transmitted by the
% target vehicles based on SNR graphs. The SNR data is adjusted based
% on the range and loaded during simulation.
% NOTE: The name of this System Object and its functionality may
% change without notice in a future release,
% or the System Object itself may be removed.

% Copyright 2021-2023 The MathWorks, Inc.
properties(Nontunable)
% V2V Channel Info
SnrCurves = struct;
% Output Struct
OutputStruct = struct;
end
% Pre-computed constants
properties(Access = private)
% Holds the information of precomputed snr curves
DistanceToSnrInfo
SnrToTputInfo
% Holds the information of snr & distance limits
MaxVehDist;
SnrMin;
SnrMax;
% Maximum range
MaxRange = 1000;
% Output Bus
BSMOut
% Minimum Throughput Percentage
MinTput = 60;
end
methods(Access = protected)
function sts = getSampleTimeImpl(obj)
sts = createSampleTime(obj,’Type’,’Inherited’);
end
function setupImpl(obj)
% Distance to SNR Relation
obj.DistanceToSnrInfo = obj.SnrCurves.dist2snr;
% SNR to Throughput Relation
obj.SnrToTputInfo = obj.SnrCurves.snr2tput;
% Get the limits for Distance & SNR
obj.MaxVehDist = obj.DistanceToSnrInfo(end,1);
obj.SnrMin = obj.SnrToTputInfo(1,1);
obj.SnrMax = obj.SnrToTputInfo(end,1);
% Initialize Output Bus
obj.BSMOut = obj.OutputStruct;
end
function bsmOut = stepImpl(obj,bsm,egoPose,sceneOrigin)
numReceivedSignal = 0;
bsmOut = obj.BSMOut;
bsmOutIdx = 1;
for i = 1:bsm.NumOfBSM
if bsm.BSMCoreData(i).Id > 0
% Compute the Ego to Target Vehicle distance
vehPos = [0,0,0];
lla = [double(bsm.BSMCoreData(i).Lattitude)*10^-7,double(bsm.BSMCoreData(i).Longitude)*10^-7,double(bsm.BSMCoreData(i).Elevation)*0.1];
% Convert geographic coordinates to local Cartesian coordinates
[vehPos(1),vehPos(2),vehPos(3)] = latlon2local(lla(1),lla(2),lla(3),sceneOrigin);
v2vdist = norm(egoPose.Position – vehPos);
% Find the throughput percentage for the v2vdist using
% the precomputed snr curves.
if v2vdist<obj.MaxVehDist
v2vdist = max(1,round(v2vdist));
snrEstimate = min(max(obj.SnrMin,interp1(obj.DistanceToSnrInfo(:,1),obj.DistanceToSnrInfo(:,2),v2vdist)),obj.SnrMax);
tput = interp1(obj.SnrToTputInfo(:,1),obj.SnrToTputInfo(:,2),snrEstimate);
else
tput = 0;
end
% Receive the signal based on throughput
receivedFlag = randi([obj.MinTput 100]) <= tput;
if receivedFlag
numReceivedSignal = numReceivedSignal+1;
bsmOut.IsValidTime = true;
bsmOut.BSMCoreData(bsmOutIdx) = bsm.BSMCoreData(i);
bsmOutIdx = bsmOutIdx+1;
end
end
end
bsmOut.NumOfBSM = numReceivedSignal;
end
function bsmOut = getOutputSizeImpl(obj) %#ok<MANU>
% Return size for each output port
bsmOut = 1;
end

function bsmOut = getOutputDataTypeImpl(obj) %#ok<MANU>
% Return data type for each output port
bsmOut = ‘BusBSM’;
end

function bsmOut = isOutputComplexImpl(obj) %#ok<MANU>
% Return true for each output port with complex data
bsmOut = false;
end

function bsmOut = isOutputFixedSizeImpl(obj) %#ok<MANU>
% Return true for each output port with fixed size
bsmOut = true;
end
end
methods(Access = protected, Static)
function flag = showSimulateUsingImpl
% Return false if simulation mode hidden in System block dialog
flag = true;
end
end
end

I would like to obtain the receivedFlag value from the HelperV2VReceiver code in the Follower1 Simulink example and plot it in platooning.mlx. What should I do?https://kr.mathworks.com/help/driving/ug/truck-platooning-with-roadrunner-scenario.html
classdef HelperV2VReceiver < matlab.System
% HelperV2VReceiver Models a V2V receiver.
% The V2V Receiver receives the Basic Safety Message transmitted by the
% target vehicles based on SNR graphs. The SNR data is adjusted based
% on the range and loaded during simulation.
% NOTE: The name of this System Object and its functionality may
% change without notice in a future release,
% or the System Object itself may be removed.

% Copyright 2021-2023 The MathWorks, Inc.
properties(Nontunable)
% V2V Channel Info
SnrCurves = struct;
% Output Struct
OutputStruct = struct;
end
% Pre-computed constants
properties(Access = private)
% Holds the information of precomputed snr curves
DistanceToSnrInfo
SnrToTputInfo
% Holds the information of snr & distance limits
MaxVehDist;
SnrMin;
SnrMax;
% Maximum range
MaxRange = 1000;
% Output Bus
BSMOut
% Minimum Throughput Percentage
MinTput = 60;
end
methods(Access = protected)
function sts = getSampleTimeImpl(obj)
sts = createSampleTime(obj,’Type’,’Inherited’);
end
function setupImpl(obj)
% Distance to SNR Relation
obj.DistanceToSnrInfo = obj.SnrCurves.dist2snr;
% SNR to Throughput Relation
obj.SnrToTputInfo = obj.SnrCurves.snr2tput;
% Get the limits for Distance & SNR
obj.MaxVehDist = obj.DistanceToSnrInfo(end,1);
obj.SnrMin = obj.SnrToTputInfo(1,1);
obj.SnrMax = obj.SnrToTputInfo(end,1);
% Initialize Output Bus
obj.BSMOut = obj.OutputStruct;
end
function bsmOut = stepImpl(obj,bsm,egoPose,sceneOrigin)
numReceivedSignal = 0;
bsmOut = obj.BSMOut;
bsmOutIdx = 1;
for i = 1:bsm.NumOfBSM
if bsm.BSMCoreData(i).Id > 0
% Compute the Ego to Target Vehicle distance
vehPos = [0,0,0];
lla = [double(bsm.BSMCoreData(i).Lattitude)*10^-7,double(bsm.BSMCoreData(i).Longitude)*10^-7,double(bsm.BSMCoreData(i).Elevation)*0.1];
% Convert geographic coordinates to local Cartesian coordinates
[vehPos(1),vehPos(2),vehPos(3)] = latlon2local(lla(1),lla(2),lla(3),sceneOrigin);
v2vdist = norm(egoPose.Position – vehPos);
% Find the throughput percentage for the v2vdist using
% the precomputed snr curves.
if v2vdist<obj.MaxVehDist
v2vdist = max(1,round(v2vdist));
snrEstimate = min(max(obj.SnrMin,interp1(obj.DistanceToSnrInfo(:,1),obj.DistanceToSnrInfo(:,2),v2vdist)),obj.SnrMax);
tput = interp1(obj.SnrToTputInfo(:,1),obj.SnrToTputInfo(:,2),snrEstimate);
else
tput = 0;
end
% Receive the signal based on throughput
receivedFlag = randi([obj.MinTput 100]) <= tput;
if receivedFlag
numReceivedSignal = numReceivedSignal+1;
bsmOut.IsValidTime = true;
bsmOut.BSMCoreData(bsmOutIdx) = bsm.BSMCoreData(i);
bsmOutIdx = bsmOutIdx+1;
end
end
end
bsmOut.NumOfBSM = numReceivedSignal;
end
function bsmOut = getOutputSizeImpl(obj) %#ok<MANU>
% Return size for each output port
bsmOut = 1;
end

function bsmOut = getOutputDataTypeImpl(obj) %#ok<MANU>
% Return data type for each output port
bsmOut = ‘BusBSM’;
end

function bsmOut = isOutputComplexImpl(obj) %#ok<MANU>
% Return true for each output port with complex data
bsmOut = false;
end

function bsmOut = isOutputFixedSizeImpl(obj) %#ok<MANU>
% Return true for each output port with fixed size
bsmOut = true;
end
end
methods(Access = protected, Static)
function flag = showSimulateUsingImpl
% Return false if simulation mode hidden in System block dialog
flag = true;
end
end
end

I would like to obtain the receivedFlag value from the HelperV2VReceiver code in the Follower1 Simulink example and plot it in platooning.mlx. What should I do? https://kr.mathworks.com/help/driving/ug/truck-platooning-with-roadrunner-scenario.html
classdef HelperV2VReceiver < matlab.System
% HelperV2VReceiver Models a V2V receiver.
% The V2V Receiver receives the Basic Safety Message transmitted by the
% target vehicles based on SNR graphs. The SNR data is adjusted based
% on the range and loaded during simulation.
% NOTE: The name of this System Object and its functionality may
% change without notice in a future release,
% or the System Object itself may be removed.

% Copyright 2021-2023 The MathWorks, Inc.
properties(Nontunable)
% V2V Channel Info
SnrCurves = struct;
% Output Struct
OutputStruct = struct;
end
% Pre-computed constants
properties(Access = private)
% Holds the information of precomputed snr curves
DistanceToSnrInfo
SnrToTputInfo
% Holds the information of snr & distance limits
MaxVehDist;
SnrMin;
SnrMax;
% Maximum range
MaxRange = 1000;
% Output Bus
BSMOut
% Minimum Throughput Percentage
MinTput = 60;
end
methods(Access = protected)
function sts = getSampleTimeImpl(obj)
sts = createSampleTime(obj,’Type’,’Inherited’);
end
function setupImpl(obj)
% Distance to SNR Relation
obj.DistanceToSnrInfo = obj.SnrCurves.dist2snr;
% SNR to Throughput Relation
obj.SnrToTputInfo = obj.SnrCurves.snr2tput;
% Get the limits for Distance & SNR
obj.MaxVehDist = obj.DistanceToSnrInfo(end,1);
obj.SnrMin = obj.SnrToTputInfo(1,1);
obj.SnrMax = obj.SnrToTputInfo(end,1);
% Initialize Output Bus
obj.BSMOut = obj.OutputStruct;
end
function bsmOut = stepImpl(obj,bsm,egoPose,sceneOrigin)
numReceivedSignal = 0;
bsmOut = obj.BSMOut;
bsmOutIdx = 1;
for i = 1:bsm.NumOfBSM
if bsm.BSMCoreData(i).Id > 0
% Compute the Ego to Target Vehicle distance
vehPos = [0,0,0];
lla = [double(bsm.BSMCoreData(i).Lattitude)*10^-7,double(bsm.BSMCoreData(i).Longitude)*10^-7,double(bsm.BSMCoreData(i).Elevation)*0.1];
% Convert geographic coordinates to local Cartesian coordinates
[vehPos(1),vehPos(2),vehPos(3)] = latlon2local(lla(1),lla(2),lla(3),sceneOrigin);
v2vdist = norm(egoPose.Position – vehPos);
% Find the throughput percentage for the v2vdist using
% the precomputed snr curves.
if v2vdist<obj.MaxVehDist
v2vdist = max(1,round(v2vdist));
snrEstimate = min(max(obj.SnrMin,interp1(obj.DistanceToSnrInfo(:,1),obj.DistanceToSnrInfo(:,2),v2vdist)),obj.SnrMax);
tput = interp1(obj.SnrToTputInfo(:,1),obj.SnrToTputInfo(:,2),snrEstimate);
else
tput = 0;
end
% Receive the signal based on throughput
receivedFlag = randi([obj.MinTput 100]) <= tput;
if receivedFlag
numReceivedSignal = numReceivedSignal+1;
bsmOut.IsValidTime = true;
bsmOut.BSMCoreData(bsmOutIdx) = bsm.BSMCoreData(i);
bsmOutIdx = bsmOutIdx+1;
end
end
end
bsmOut.NumOfBSM = numReceivedSignal;
end
function bsmOut = getOutputSizeImpl(obj) %#ok<MANU>
% Return size for each output port
bsmOut = 1;
end

function bsmOut = getOutputDataTypeImpl(obj) %#ok<MANU>
% Return data type for each output port
bsmOut = ‘BusBSM’;
end

function bsmOut = isOutputComplexImpl(obj) %#ok<MANU>
% Return true for each output port with complex data
bsmOut = false;
end

function bsmOut = isOutputFixedSizeImpl(obj) %#ok<MANU>
% Return true for each output port with fixed size
bsmOut = true;
end
end
methods(Access = protected, Static)
function flag = showSimulateUsingImpl
% Return false if simulation mode hidden in System block dialog
flag = true;
end
end
end

I would like to obtain the receivedFlag value from the HelperV2VReceiver code in the Follower1 Simulink example and plot it in platooning.mlx. What should I do? simulink, roadrunner, matlab MATLAB Answers — New Questions

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