Emanuel Kuflik / Mbed OS smat_controller

Dependencies:   MQTT

Road.cpp@2:f10d6fecb345, 2019-12-06 (annotated)

Committer:
micallef25
Date:
Fri Dec 06 15:47:37 2019 +0000
Revision:
2:f10d6fecb345
Child:
4:64c6fc70ddb7
basic communication with mqtt and car threads

Who changed what in which revision?

UserRevisionLine numberNew contents of line
micallef25 2:f10d6fecb345 1 #include "Road.h"
micallef25 2:f10d6fecb345 2
micallef25 2:f10d6fecb345 3 #define ROADLENGTH 100
micallef25 2:f10d6fecb345 4
micallef25 2:f10d6fecb345 5 Road::Road(int id)
micallef25 2:f10d6fecb345 6 {
micallef25 2:f10d6fecb345 7 road_id = id;
micallef25 2:f10d6fecb345 8 active_cars = 0;
micallef25 2:f10d6fecb345 9 active_car_bits = 0x00;
micallef25 2:f10d6fecb345 10 road_clock = 0;
micallef25 2:f10d6fecb345 11 // clear out our pointer table
micallef25 2:f10d6fecb345 12 for (int i = 0; i < MAX_CARS_ON_ROAD; ++i)
micallef25 2:f10d6fecb345 13 {
micallef25 2:f10d6fecb345 14 car_table[i] = NULL;
micallef25 2:f10d6fecb345 15 }
micallef25 2:f10d6fecb345 16 }
micallef25 2:f10d6fecb345 17
micallef25 2:f10d6fecb345 18 void Road::add_acc_car(AccCar* car) {
micallef25 2:f10d6fecb345 19
micallef25 2:f10d6fecb345 20 // make sure all is well on the road
micallef25 2:f10d6fecb345 21 assert( active_cars < MAX_CARS_ON_ROAD );
micallef25 2:f10d6fecb345 22
micallef25 2:f10d6fecb345 23 car_table[active_cars] = car;
micallef25 2:f10d6fecb345 24
micallef25 2:f10d6fecb345 25 // no need to lock as main thread is only callee
micallef25 2:f10d6fecb345 26 active_car_bits = active_car_bits | car->flag;
micallef25 2:f10d6fecb345 27 active_cars++;
micallef25 2:f10d6fecb345 28 }
micallef25 2:f10d6fecb345 29
micallef25 2:f10d6fecb345 30 void Road::let_cars_update() {
micallef25 2:f10d6fecb345 31 go_flags.set(active_car_bits);
micallef25 2:f10d6fecb345 32 road_clock++;
micallef25 2:f10d6fecb345 33 }
micallef25 2:f10d6fecb345 34
micallef25 2:f10d6fecb345 35 void Road::wait_for_car_update() {
micallef25 2:f10d6fecb345 36 done_flags.wait_all(active_car_bits);
micallef25 2:f10d6fecb345 37 }
micallef25 2:f10d6fecb345 38
micallef25 2:f10d6fecb345 39 bool Road::can_car_enter(int speed)
micallef25 2:f10d6fecb345 40 {
micallef25 2:f10d6fecb345 41 // if no cars on the road enter
micallef25 2:f10d6fecb345 42 if(active_cars == 0)
micallef25 2:f10d6fecb345 43 return true;
micallef25 2:f10d6fecb345 44
micallef25 2:f10d6fecb345 45 // else make sure you have not exceed the max amount of cars and make sure you can safely enter
micallef25 2:f10d6fecb345 46 // safely being that you maintain your safety gap with your speed
micallef25 2:f10d6fecb345 47 AccCar* caboose = car_table[active_cars-1];
micallef25 2:f10d6fecb345 48 assert( caboose != NULL);
micallef25 2:f10d6fecb345 49 if(active_cars < MAX_CARS_ON_ROAD && speed <= caboose->position - 2 ) // 2 is safety gap
micallef25 2:f10d6fecb345 50 {
micallef25 2:f10d6fecb345 51 return true;
micallef25 2:f10d6fecb345 52 }
micallef25 2:f10d6fecb345 53 return false;
micallef25 2:f10d6fecb345 54 }
micallef25 2:f10d6fecb345 55
micallef25 2:f10d6fecb345 56 // whats the id of next car
micallef25 2:f10d6fecb345 57 // used to set bit flags really
micallef25 2:f10d6fecb345 58 int Road::get_new_car_id()
micallef25 2:f10d6fecb345 59 {
micallef25 2:f10d6fecb345 60 return active_cars;
micallef25 2:f10d6fecb345 61 }
micallef25 2:f10d6fecb345 62
micallef25 2:f10d6fecb345 63 // how many active cars are there
micallef25 2:f10d6fecb345 64 int Road::get_active_cars()
micallef25 2:f10d6fecb345 65 {
micallef25 2:f10d6fecb345 66 return active_cars;
micallef25 2:f10d6fecb345 67 }
micallef25 2:f10d6fecb345 68
micallef25 2:f10d6fecb345 69 // get a car pointer based off some id
micallef25 2:f10d6fecb345 70 AccCar* Road::get_car(int id)
micallef25 2:f10d6fecb345 71 {
micallef25 2:f10d6fecb345 72 assert(id < MAX_CARS_ON_ROAD);
micallef25 2:f10d6fecb345 73 return car_table[id];
micallef25 2:f10d6fecb345 74 }
micallef25 2:f10d6fecb345 75
micallef25 2:f10d6fecb345 76 // 0 is the lead car
micallef25 2:f10d6fecb345 77 // 1 is the second car and so on
micallef25 2:f10d6fecb345 78 AccCar* Road::get_forward_car(int id)
micallef25 2:f10d6fecb345 79 {
micallef25 2:f10d6fecb345 80 // make sure we don't go out of bounds
micallef25 2:f10d6fecb345 81 assert( id >= 0 && id <= MAX_CARS_ON_ROAD );
micallef25 2:f10d6fecb345 82 if( id > 0 )
micallef25 2:f10d6fecb345 83 return car_table[id-1];
micallef25 2:f10d6fecb345 84 else
micallef25 2:f10d6fecb345 85 return NULL; // return null means there is no forward car
micallef25 2:f10d6fecb345 86 }
micallef25 2:f10d6fecb345 87
micallef25 2:f10d6fecb345 88 // manages any clean up
micallef25 2:f10d6fecb345 89 void Road::DESTROY_ALL_CARS()
micallef25 2:f10d6fecb345 90 {
micallef25 2:f10d6fecb345 91 for( int i = 0; i < active_cars; i++)
micallef25 2:f10d6fecb345 92 {
micallef25 2:f10d6fecb345 93 AccCar* car = car_table[i];
micallef25 2:f10d6fecb345 94 car->stop();
micallef25 2:f10d6fecb345 95 delete car;
micallef25 2:f10d6fecb345 96 }
micallef25 2:f10d6fecb345 97 }
micallef25 2:f10d6fecb345 98
micallef25 2:f10d6fecb345 99 // dumb function to end simulation only returns true when we have
micallef25 2:f10d6fecb345 100 // 5 cars and the last car is passed 100 or road length
micallef25 2:f10d6fecb345 101 bool Road::simulating()
micallef25 2:f10d6fecb345 102 {
micallef25 2:f10d6fecb345 103 if(active_cars != MAX_CARS_ON_ROAD )
micallef25 2:f10d6fecb345 104 return true;
micallef25 2:f10d6fecb345 105
micallef25 2:f10d6fecb345 106 else
micallef25 2:f10d6fecb345 107 {
micallef25 2:f10d6fecb345 108 AccCar* car = car_table[active_cars-1];
micallef25 2:f10d6fecb345 109 assert( car != NULL );
micallef25 2:f10d6fecb345 110 if(car->position > ROADLENGTH) // TODO use macro
micallef25 2:f10d6fecb345 111 return false;
micallef25 2:f10d6fecb345 112 }
micallef25 2:f10d6fecb345 113 return true;
micallef25 2:f10d6fecb345 114 }
micallef25 2:f10d6fecb345 115
micallef25 2:f10d6fecb345 116 // typical getter functions
micallef25 2:f10d6fecb345 117 int Road::get_road_id()
micallef25 2:f10d6fecb345 118 {
micallef25 2:f10d6fecb345 119 return road_id;
micallef25 2:f10d6fecb345 120 }
micallef25 2:f10d6fecb345 121
micallef25 2:f10d6fecb345 122 int Road::get_road_clock()
micallef25 2:f10d6fecb345 123 {
micallef25 2:f10d6fecb345 124 return road_clock;
micallef25 2:f10d6fecb345 125 }
micallef25 2:f10d6fecb345 126
micallef25 2:f10d6fecb345 127 AccCar* Road::get_last_car()
micallef25 2:f10d6fecb345 128 {
micallef25 2:f10d6fecb345 129 return car_table[active_cars-1];
micallef25 2:f10d6fecb345 130 }
micallef25 2:f10d6fecb345 131