Diff: AccCar.cpp

Revision:

5:e0d8e5e922f1

Parent:

2:f10d6fecb345

Child:

6:6cb13ac483e0

--- a/AccCar.cpp	Fri Dec 06 20:34:52 2019 +0000
+++ b/AccCar.cpp	Tue Dec 10 23:39:25 2019 +0000
@@ -9,7 +9,8 @@
 #define MONITOR_DIST 17
 #define SAFETY_GAP 2
 
-#define DEBUG_ACC
+//#define DEBUG_ACC
+#define ACC_TAG "[ACC] "
 
 // speed for a legal stop
 #define STOPPED_SPEED 0
@@ -40,7 +41,7 @@
     msg->car_id = this->car_id;
     msg->road_id = this->road->get_road_id(); 
     msg->counter = this->road->get_road_clock();
-    msg->state = this->state; 
+    //msg->state = this->state; 
 }
 
 // if a null pointer is sent this means no car is in front and it is the lead car.
@@ -96,7 +97,22 @@
         ThisThread::sleep_for(TICK);
         road->go_flags.wait_all(flag);
         cycles++;
+//        if(cycles > 1)
+//        {
+            // get_control message may need to malloc the message or something
+//            control_msg_t* c_msg = this->singleton->get_control_msg(this->car_id);
+        
+            //
+            // do something with the control message
+//            assert(c_msg->car_id == car_id );
+//            speed = c_msg->speed;  
+//            delete c_msg;
+//        }
+
         position = position + speed;
+
+        
+        
         if( (cycles % 5) == 0)
         {
             get_new_target_speed();    
@@ -119,20 +135,34 @@
             assert(state == NORMAL_STATE);
         }
         
-#ifdef DEBUG_ACC
-        printf("sending position to server\r\n");
-#endif
+//#ifdef DEBUG_ACC
+//        printf(ACC_TAG "sending position to server DELIM");
+//#endif
         
+//#ifdef DEBUG_ACC
+//        printf(ACC_TAG "car %d done DELIM",car_id);
+//#endif
+
         // make a message
         make_position_msg(msg);
         
         // stuff a message in the queue
         this->singleton->add_to_position_queue(msg);
         
+#ifndef PUBLISH_ONLY       
         //
         // get_control message may need to malloc the message or something
         control_msg_t* c_msg = this->singleton->get_control_msg(this->car_id);
         
+        //
+        // do something with the control message
+        assert(c_msg->car_id == car_id );
+        speed = c_msg->speed;
+    
+        //
+        // delete the control message
+        delete c_msg;
+#endif
         // set flag for completion of cycle
         road->done_flags.set(this->flag);
     }
@@ -161,6 +191,7 @@
     if (thread != NULL) {
         thread->terminate();
     }
+    delete thread;
     delete msg;
 }