AccCar.cpp

00001 #include "AccCar.h"
00002 #include <stdlib.h>
00003 #include <algorithm>
00004 
00005 #define TICK 1000
00006 #define MONITOR_DIST 17
00007 #define SAFETY_GAP 2
00008 
00009 AccCar::AccCar(int id, Road* road, int flag) {
00010     this->id = id;
00011     this->road = road;
00012     this->flag = flag;
00013     cycle = 0;
00014     this->thread = NULL;
00015 }
00016 
00017 void AccCar::set_forward_car(AccCar* car) {
00018     this->forward_car = car;   
00019 }
00020 
00021 void AccCar::update() {
00022     while (true) {
00023         ThisThread::sleep_for(TICK);
00024         road->go_flags.wait_all(flag);
00025         cycle++;
00026         
00027         position = position + speed;
00028         
00029         if (cycle % 5 == 0) {
00030             speed = rand() % 11 + 5;
00031         }
00032         
00033         if (forward_car->position - position < MONITOR_DIST) {
00034             road->done_flags.wait_all(forward_car->flag, osWaitForever, false);
00035             
00036             int diff = forward_car->position - position;
00037             int maxSafeSpeed = diff - SAFETY_GAP;
00038             
00039             speed = std::min(maxSafeSpeed, target_speed);
00040         } else {
00041             speed = target_speed;   
00042         }
00043         
00044         road->done_flags.set(flag);   
00045     }
00046 }
00047 
00048 void AccCar::reset() {
00049     road->done_flags.clear(flag);
00050     
00051     if (thread != NULL) {
00052         thread->terminate();   
00053     }
00054     
00055     thread = new Thread();
00056     thread->start( callback(this, &AccCar::update) );
00057     
00058     this->position = 0;
00059     this->speed = rand() % 11 + 5;
00060     this->target_speed = speed;
00061 }
00062 
00063 void AccCar::stop() {
00064     if (thread != NULL) {
00065         thread->terminate();   
00066     }   
00067 }