Yaquod · AhmedAdelWafdy7 · Jul 8, 2026 · Jul 8, 2026
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -45,7 +45,6 @@ find_package(zenohcxx REQUIRED)
 find_package(PkgConfig REQUIRED)
 find_package(OpenMP REQUIRED)
 find_package(protobuf CONFIG REQUIRED)
-# find_package(Protobuf REQUIRED)
 find_package(gRPC CONFIG REQUIRED)
 
 set(PROTO_GEN_DIR ${CMAKE_CURRENT_BINARY_DIR}/generated)

diff --git a/proto/vehicle_gateway.proto b/proto/vehicle_gateway.proto
@@ -50,6 +50,7 @@ message EtaRequest
   int64 request_id = 2;
   double time = 3;
   double fare = 4;
+  string status = 5;
 }
 
 message EtaResponse
@@ -100,6 +101,15 @@ message OrderUpdateStatusResponse
 
 
 
+message TripCancelRequest{
+string vin_number = 1;
+  int64 request_id = 2;
+}
+
+message TripCancelResponse{
+ bool success = 1;
+  string message = 2;
+}
 
 
 message GatewayCommand {
@@ -109,6 +119,8 @@ message GatewayCommand {
     TripParkRequest trip_park = 3;
     OrderUpdateLocationRequest order_update_location = 4;
     OrderUpdateStatusRequest order_update_status = 5;
+    TripCancelRequest trip_cancel = 6;
+
   }
 }
 
@@ -123,6 +135,8 @@ message VehicleEvent {
     StatusRequest     status         = 7;
     ArriveRequest     arrive         = 8;
     UpdateVehicleLocationRequest   location       = 9;
+    TripCancelResponse trip_cancel_ack = 10;
+
   }
 }
 

diff --git a/src/AutowareApp.cpp b/src/AutowareApp.cpp
@@ -28,6 +28,26 @@
 
 using namespace std::chrono_literals;
 
+namespace {
+
+double calculate_fare(double distance_m, double time_seconds) {
+  constexpr double BASE_FARE = 5.0;     // fixed base charge
+  constexpr double RATE_PER_KM = 2.0;   // per kilometer
+  constexpr double RATE_PER_MIN = 0.5;  // per minute
+
+  double distance_km = distance_m / 1000.0;
+  double time_min = time_seconds / 60.0;
+
+  double fare = BASE_FARE + (distance_km * RATE_PER_KM) + (time_min * RATE_PER_MIN);
+
+  spdlog::info("[AutowareApp] Fare: base={} + dist({:.2f}km * {}) + time({:.1f}min * {}) = {:.2f}",
+               BASE_FARE, distance_km, RATE_PER_KM, time_min, RATE_PER_MIN, fare);
+
+  return fare;
+}
+
+}  // namespace
+
 namespace autoware_agent {
 
 AppHandles startAutowareApp(const std::string& yaml_path, const std::string& server_addr_in,
@@ -76,55 +96,69 @@ AppHandles startAutowareApp(const std::string& yaml_path, const std::string& ser
     std::make_shared<vehicle_gateway::AutowareControllerTripAdapter>(h.controller_);
 
   auto stream_client = std::make_shared<vehicle_gateway::VehicleGatewayStreamClient>(
-    "127.0.0.1:50051", trip_adapter.get(), eta_adapter.get(), loc_adapter.get(), "ORIN_NANO_001");
-
-  stream_client->set_handlers(
-    {.on_trip_init =
-       [ctrl = h.controller_, sc = stream_client](const vehicle_gateway::TripInitRequest& req) {
-         autoware_agent::GPSCoordinate start{.latitude = req.start_lat(),
-                                             .longitude = req.start_long()};
-         autoware_agent::GPSCoordinate goal{.latitude = req.end_lat(), .longitude = req.end_long()};
-         ctrl->queryEta(start, goal, [ctrl, sc](autoware_agent::EtaQueryResult r) {
-           if (!r.success_) {
-             spdlog::error("[AutowareApp] queryEta failed: {}", r.error_message_);
-             return;
-           }
-
-           double total_distance_m = r.pickup_leg_.distance_m_ + r.trip_leg_.distance_m_;
-           double total_eta_s = r.pickup_leg_.eta_seconds_ + r.trip_leg_.eta_seconds_;
-
-           sc->ReportEta(total_distance_m, total_eta_s);
-
-           ctrl->startTrip([](bool ok) {
-             if (!ok)
-               spdlog::error("[AutowareApp] startTrip rejected");
-           });
-         });
-       },
-
-     .on_trip_move =
-       [ctrl = h.controller_](const vehicle_gateway::TripMoveRequest&) {
-         ctrl->handleMoveCommand([](bool ok) {
-           if (!ok)
-             spdlog::error("[AutowareApp] move rejected");
-         });
-       },
-
-     .on_order_update_location =
-       [ctrl = h.controller_,
-        sc = stream_client](const vehicle_gateway::OrderUpdateLocationRequest& req) {
-         spdlog::info("[AutowareApp] OrderUpdateLocation request — vin={}", req.vin_number());
-
-         sc->ReportOrderUpdateLocationAck(true);
-
-         ctrl->getTripStatus([sc](autoware_agent::TripStatus status) {
-           spdlog::info("[AutowareApp] Reporting location: lat={} lon={}",
-                        status.current_gps_.latitude, status.current_gps_.longitude);
-           sc->ReportLocation(status.current_gps_.latitude, status.current_gps_.longitude);
-         });
-       }
-
-    });
+    "127.0.0.1:50051", trip_adapter.get(), eta_adapter.get(), loc_adapter.get(), "ORIN_NANO_001",
+    h.cluster_bridge_->GetRequestId());
+
+  stream_client->set_handlers({
+    .on_trip_init =
+      [ctrl = h.controller_, sc = stream_client](const vehicle_gateway::TripInitRequest& req) {
+        autoware_agent::GPSCoordinate start{.latitude = req.start_lat(),
+                                            .longitude = req.start_long()};
+        autoware_agent::GPSCoordinate goal{.latitude = req.end_lat(), .longitude = req.end_long()};
+        ctrl->queryEta(start, goal, [ctrl, sc](autoware_agent::EtaQueryResult r) {
+          if (!r.success_) {
+            spdlog::error("[AutowareApp] queryEta failed: {}", r.error_message_);
+            return;
+          }
+
+          double total_distance_m = r.pickup_leg_.distance_m_ + r.trip_leg_.distance_m_;
+          double total_eta_s = r.pickup_leg_.eta_seconds_ + r.trip_leg_.eta_seconds_;
+          double fare = calculate_fare(r.trip_leg_.distance_m_, r.trip_leg_.eta_seconds_);
+          r.fare_ = fare;
+
+          sc->ReportEta(total_distance_m, total_eta_s, fare);
+
+          ctrl->startTrip([](bool ok) {
+            if (!ok)
+              spdlog::error("[AutowareApp] startTrip rejected");
+          });
+        });
+      },
+
+    .on_trip_move =
+      [ctrl = h.controller_](const vehicle_gateway::TripMoveRequest&) {
+        ctrl->handleMoveCommand([](bool ok) {
+          if (!ok)
+            spdlog::error("[AutowareApp] move rejected");
+        });
+      },
+
+    .on_order_update_location =
+      [ctrl = h.controller_,
+       sc = stream_client](const vehicle_gateway::OrderUpdateLocationRequest& req) {
+        spdlog::info("[AutowareApp] OrderUpdateLocation request — vin={}", req.vin_number());
+
+        sc->ReportOrderUpdateLocationAck(true);
+
+        ctrl->getTripStatus([sc](autoware_agent::TripStatus status) {
+          spdlog::info("[AutowareApp] Reporting location: lat={} lon={}",
+                       status.current_gps_.latitude, status.current_gps_.longitude);
+          sc->ReportLocation(status.current_gps_.latitude, status.current_gps_.longitude);
+        });
+      },
+
+    .on_trip_cancel =
+      [ctrl = h.controller_, sc = stream_client](const vehicle_gateway::TripCancelRequest& req) {
+        spdlog::info("[AutowareApp] TripCancel received — reqId={} vin={}", req.request_id(),
+                     req.vin_number());
+
+        ctrl->cancelTrip();
+
+        sc->ReportTripCancelAck(true);
+        sc->ReportStatus("CANCELLED");
+      },
+
+  });
 
   h.controller_->setTripStateCallback([sc = stream_client](TripState, TripState next) {
     if (next == TripState::WAITING_FOR_MOVE) {

diff --git a/src/cluster_bridge/include/ClusterBridge.h b/src/cluster_bridge/include/ClusterBridge.h
@@ -65,6 +65,11 @@ class ClusterBridge : public autoware_agent::ZenohPublisher {
   int64_t& GetRequestId() {
     return current_request_id_;
   }
+
+  void SetRequestId(int64_t id) {
+    current_request_id_ = id;
+  }
+
   boost::asio::io_context& GetIoContext() {
     return io_context_;
   }

diff --git a/src/gateway_bridge/include/ClusterBridgeProvider.h b/src/gateway_bridge/include/ClusterBridgeProvider.h
@@ -37,6 +37,7 @@ class ClusterEtaAdapter : public IEtaProvider {
       .request_id = request_id_,
       .time_seconds = static_cast<double>(state_.remaining_time_s),
       .fare = 0.0  // Cloud should takeover pricing
+
     };
   }
 

diff --git a/src/gateway_bridge/include/TripStatus.h b/src/gateway_bridge/include/TripStatus.h
@@ -60,6 +60,7 @@ struct EtaQueryResult {
   LegEta pickup_leg_;
   LegEta trip_leg_;
   std::string error_message_;
+  double fare_{0.0};
 };
 
 struct HeldRoute {

diff --git a/src/gateway_bridge/include/VehicleGatewayStreamClient.h b/src/gateway_bridge/include/VehicleGatewayStreamClient.h
@@ -38,18 +38,20 @@ struct StreamCommandHandlers {
   std::function<void(const TripInitRequest&)> on_trip_init;
   std::function<void(const TripMoveRequest&)> on_trip_move;
   std::function<void(const OrderUpdateLocationRequest&)> on_order_update_location;
+  std::function<void(const TripCancelRequest&)> on_trip_cancel;
 };
 
 class VehicleGatewayStreamClient {
  public:
   VehicleGatewayStreamClient(const std::string& gateway_addr, ITripManager* trip_manager,
                              IEtaProvider* eta_provider, ILocationProvider* location_provider,
-                             std::string vin)
+                             std::string vin, int64_t& request_id)
     : gateway_addr_(gateway_addr)
     , trip_manager_(trip_manager)
     , eta_provider_(eta_provider)
     , location_provider_(location_provider)
     , vin_(std::move(vin))
+    , current_request_id_(request_id)
     , shutdown_(false) {
     reconnect_thread_ = std::thread([this] { run_with_reconnect(); });
   }
@@ -78,6 +80,14 @@ class VehicleGatewayStreamClient {
     enqueue(ev);
   }
 
+  void ReportTripCancelAck(bool success, const std::string& message = "") {
+    VehicleEvent ev;
+    auto* r = ev.mutable_trip_cancel_ack();
+    r->set_success(success);
+    r->set_message(message);
+    enqueue(ev);
+  }
+
   void ReportOrderUpdateLocationAck(bool success, const std::string& message = "") {
     VehicleEvent ev;
     auto* r = ev.mutable_order_update_location_ack();
@@ -104,20 +114,21 @@ class VehicleGatewayStreamClient {
     r->set_request_id(d.request_id);
     r->set_time(d.time_seconds);
     r->set_fare(d.fare);
+    r->set_status("COMPLETED");
     enqueue(ev);
     spdlog::info("[Stream] Eta event enqueued");  // ADD
   }
 
-  void ReportEta(double distance_m, double time_seconds) {
+  void ReportEta(double distance_m, double time_seconds, double fare = 0.0) {
     spdlog::info("[Stream] ReportEta called: distance={} time={}", distance_m,
                  time_seconds);  // ADD
     VehicleEvent ev;
     auto* r = ev.mutable_eta();
     r->set_vin_number(vin_);
     r->set_request_id(eta_provider_->GetEta().request_id);
     r->set_time(time_seconds);
-    r->set_fare(0.0);
-    // r->set_distance(distance_m);
+    r->set_fare(fare);
+    r->set_status("COMPLETED");
     enqueue(ev);
     spdlog::info("[Stream] Eta event enqueued");  // ADD
   }
@@ -224,9 +235,35 @@ class VehicleGatewayStreamClient {
     GatewayCommand cmd;
     while (stream->Read(&cmd)) {
       read_received.store(true);
+
+      // validate vin number
+      std::string cmd_vin;
+      if (cmd.has_trip_init()) {
+        cmd_vin = cmd.trip_init().vin_number();
+      } else if (cmd.has_trip_move()) {
+        cmd_vin = cmd.trip_move().vin_number();
+      } else if (cmd.has_trip_cancel()) {
+        cmd_vin = cmd.trip_cancel().vin_number();
+      } else if (cmd.has_trip_park()) {
+        cmd_vin = cmd.trip_park().vin_number();
+      } else if (cmd.has_order_update_location()) {
+        cmd_vin = cmd.order_update_location().vin_number();
+      } else if (cmd.has_order_update_status()) {
+        cmd_vin = cmd.order_update_status().vin_number();
+      }
+
+      if (cmd_vin != vin_) {
+        spdlog::warn(
+          "[StreamClient] Received command with mismatched VIN: expected {}, got {}. Ignoring "
+          "command.",
+          vin_, cmd_vin);
+        continue;
+      }
+
       if (cmd.has_trip_init()) {
         spdlog::info("[StreamClient] Received TripInit reqId={}", cmd.trip_init().request_id());
         trip_manager_->SetActiveTripId(cmd.trip_init().request_id());
+        current_request_id_ = cmd.trip_init().request_id();
         if (handlers_.on_trip_init)
           handlers_.on_trip_init(cmd.trip_init());
       } else if (cmd.has_trip_move()) {
@@ -239,6 +276,11 @@ class VehicleGatewayStreamClient {
                      cmd.order_update_location().vin_number());
         if (handlers_.on_order_update_location)
           handlers_.on_order_update_location(cmd.order_update_location());
+      } else if (cmd.has_trip_cancel()) {
+        spdlog::info("[StreamClient] Received TripCancel tripId={}",
+                     cmd.trip_cancel().request_id());
+        if (handlers_.on_trip_cancel)
+          handlers_.on_trip_cancel(cmd.trip_cancel());
       }
     }
 
@@ -267,6 +309,7 @@ class VehicleGatewayStreamClient {
   ILocationProvider* location_provider_;
   std::string vin_;
   StreamCommandHandlers handlers_;
+  int64_t& current_request_id_;
 
   std::atomic<bool> shutdown_;
   std::thread reconnect_thread_;

diff --git a/src/gateway_bridge/src/TripController.cc b/src/gateway_bridge/src/TripController.cc
@@ -303,6 +303,9 @@ void TripController::cancel() {
   trip_route_.reset();
   status_ = TripStatus{};
   route_received_ = false;
+  engaging_for_pickup_ = false;
+  current_route_state_.reset();
+
   transitionTo(TripState::IDLE);
 }
-Original file line number
+Diff line change
@@ Expand Up / @@ -37,6 +37,7 @@ class ClusterEtaAdapter : public IEtaProvider { @@
           .request_id = request_id_,
           .time_seconds = static_cast<double>(state_.remaining_time_s),
           .fare = 0.0  // Cloud should takeover pricing
         };
       }
@@ Expand Down @@