Vehicle Cloud Gateway

A dedicated communication bridge between the vehicle's internal systems (like the main application, sensors, Autoware) and the external cloud backend. This gateway module handles bidirectional communication, enabling telemetry data transmission from the vehicle to the cloud and command reception from the cloud to the vehicle.

Overview

The Vehicle Cloud Gateway serves as a critical middleware component in the Yaquod autonomous vehicle system. It provides secure and reliable data transmission between the vehicle and the cloud, protocol translation, message routing, and ensures that commands and telemetry are delivered efficiently and safely.

Prerequisites

macOS

First, ensure you have Homebrew installed. Then, install all dependencies:

brew install \
    cmake \
    git \
    pkg-config \
    ninja \
    openssl \
    zlib \
    grpc \
    protobuf \
    boost \
    libpaho-mqtt \
    paho-cpp

Ubuntu

# Update package list and install all dependencies
sudo apt-get update && sudo apt-get install -y \
    build-essential \
    cmake \
    git \
    pkg-config \
    ninja-build \
    libssl-dev \
    zlib1g-dev \
    libgrpc++-dev \
    libprotobuf-dev \
    protobuf-compiler-grpc \
    protobuf-compiler \
    libpaho-mqtt-dev \
    libpaho-mqttpp-dev \
    libboost-system-dev \
    libboost-thread-dev

Fedora

sudo dnf install -y \
    gcc-c++ \
    cmake \
    git \
    pkg-config \
    ninja-build \
    openssl-devel \
    zlib-devel \
    grpc-devel \
    grpc-plugins \
    protobuf-devel \
    boost-devel \
    paho-c-devel \
    paho-cpp-devel

Building the Project

1. Clone the Repository

Clone the repository with submodules (required for third-party dependencies):

git clone --recursive https://github.com/Yaquod/iv-cloud-gateway.git
cd iv-cloud-gateway

If you've already cloned without --recursive, initialize the submodules:

git submodule update --init --recursive

2. Create Build Directory

mkdir -p build
cd build

3. Configure with CMake

cmake ..

Build Options

• BUILD_TESTS: Build unit tests (default: ON)
• ENABLE_COVERAGE: Enable code coverage reporting (default: OFF)
• ENABLE_SANITIZERS: Enable sanitizers for debugging (default: OFF)

Example with options:

cmake -DBUILD_TESTS=ON -DENABLE_SANITIZERS=OFF ..

4. Build

if [[ "$(uname)" == "Darwin" ]]; then
  # For macOS
  make -j$(sysctl -n hw.ncpu)
else
  # For Linux
  make -j$(nproc)
fi

Or for a specific target:

make vehicle_gateway

5. Run Tests (Optional)

ctest --output-on-failure

Or directly:

make test

Running the Gateway

After building, the executable will be located in the build/bin directory:

./build/bin/vehicle_gateway

Development

Adding New Features

1. Implement your feature in the appropriate module (http_client/, mqtt_client/, etc.)
2. Add corresponding tests in the tests/ directory
3. Update the CMakeLists.txt if adding new source files
4. Run tests to ensure everything works

License

See the LICENSE file for details.

Authors

• Yaquod Project Team - 2025-2026