Diff: simulator.cpp

Revision:

5:e0d8e5e922f1

Child:

7:fd8e0604faaa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/simulator.cpp	Tue Dec 10 23:39:25 2019 +0000
@@ -0,0 +1,171 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include <cctype>
+#include "AccCar.h"
+#include "Road.h"
+#include "mqtt.h"
+
+#define MAGIC_NUMBER 2
+
+#define SIM_DEBUG
+#define SIM_TAG "[SIM] "
+
+Serial pc(USBTX, USBRX);
+
+// prints statistics
+static void print_wait_time(Road* road)
+{
+    int active_cars = road->get_active_cars();
+    for( int i = 0; i < active_cars; i++)
+    {
+            AccCar* car = road->get_car(i);
+            assert(car != NULL);
+            pc.printf(SIM_TAG "Car %d Road %d wait_time %d"DELIM, i,road->get_road_id(), car->wait_time); 
+    }
+}
+
+// handles adding a new car safely to the intersection
+static void add_new_car(Road* road,int* cycles,mqtt* mqtt_singleton)
+{
+        // get rand speed
+        int temp_speed = rand() %11;
+        temp_speed += 5;
+            
+        // 
+        assert( temp_speed >=5 && temp_speed <= 15);
+        
+        if(road->can_car_enter( temp_speed ))
+        {
+            *cycles = 0; // we added a car reset our timer
+            
+            int id = road->get_new_car_id();
+            
+            AccCar* car = new AccCar(id, road, (1 << id),mqtt_singleton );
+            assert(car != NULL);
+            
+#ifdef SIM_DEBUG
+            pc.printf(SIM_TAG "adding new car to road %d car %d"DELIM,road->get_road_id(),id);
+#endif
+
+            road->add_acc_car(car);
+            
+            AccCar* forward_car = road->get_forward_car(id);
+            
+            // lead car will get a null pointer
+            car->set_forward_car( forward_car ); 
+            
+            // this needs to be a rand number [0,15]
+            car->reset(temp_speed);
+            
+        }
+}
+
+void print_positions(Road* road)
+{
+//#ifdef SIM_DEBUG
+            pc.printf(SIM_TAG " -------------- "DELIM);
+//#endif  
+    int active_cars = road->get_active_cars();
+    for( int i = 0; i < active_cars; i++)
+    {
+            AccCar* car = road->get_car(i);
+            assert(car != NULL);
+            pc.printf(SIM_TAG "Car %d Road %d position %d : speed %d cycles: %d car_cycles %d "DELIM, i,road->get_road_id(), car->position,car->speed, road->get_road_clock(), car->get_cycles()); 
+    }
+//#ifdef SIM_DEBUG
+            pc.printf(SIM_TAG " -------------- "DELIM);
+//#endif 
+}
+
+
+int start_simulation(mqtt* mqtt_singleton)
+{   
+    // ------------------------------------------------------------------------------
+    // The following three variables are used for timing statistics, do not modify them
+    Timer stopwatch;    // A timer to keep track of how long the updates take, for statistics purposes
+    int numberCycles = 0;
+    int totalUpdateTime = 0;
+    
+    // every 3 cycles we need to add a new car
+    int new_car_cycles = 0;
+
+    // ------------------------------------------------------------------------------
+    // seed rand number generator
+    srand(mqtt_singleton->mqtt_id);
+    
+    // make new road based off of ID
+    Road* road = new Road(mqtt_singleton->mqtt_id, mqtt_singleton);
+        
+    // add first cars to the road to kick everything off
+    add_new_car(road,&new_car_cycles,mqtt_singleton);
+    
+    stopwatch.start();
+    
+    stopwatch.reset();
+    
+    bool other_simulating=false;
+    bool simulating = true; 
+    
+    // 
+    //road->synchronize(simulating);
+    
+    do {
+        
+        // if we get a random number thats right OR if we hit our max of 3
+        // then add a new car
+        if( (rand() %3) == MAGIC_NUMBER || new_car_cycles >= 3)
+        {
+            // add new car to road and then set the forward car to it
+            add_new_car(road,&new_car_cycles,mqtt_singleton);  
+        }
+        
+        //
+        road->let_cars_update();
+        
+        //
+        road->wait_for_car_update();
+    
+        // are we still simulating? true if yes
+        simulating = road->simulating();
+
+#ifndef PUBLISH_ONLY
+        // is the other road still simulating? true if yes
+        other_simulating = road->synchronize(simulating);
+#endif           
+
+        // ------------------------------------------------------------------
+        // Timing statistics logic, do not modify
+        totalUpdateTime += stopwatch.read_ms();
+        numberCycles++;
+        new_car_cycles++;
+        stopwatch.reset();
+        // ------------------------------------------------------------------
+        
+        print_positions(road);
+
+#ifndef PUBLISH_ONLY
+    // TODO figure out how to end simulation like they want
+    } while (other_simulating || simulating); 
+#else
+    } while (simulating);
+#endif
+    // ----------------------------------------------------------------------
+    // Timing statistics printout, do not modify
+    pc.printf(SIM_TAG "Average update cycle took: %fms "DELIM, (totalUpdateTime*1.0)/(numberCycles*1.0));
+    totalUpdateTime = 0;
+    numberCycles = 0;
+    
+    // print wait times
+    print_wait_time(road);
+    
+    // ----------------------------------------------------------------------
+    road->DESTROY_ALL_CARS();
+    delete road->msg;
+    delete road;
+    return 0;
+}
+