Diff: AccCar.h

Revision:

2:f10d6fecb345

Child:

7:fd8e0604faaa

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AccCar.h	Fri Dec 06 15:47:37 2019 +0000
@@ -0,0 +1,71 @@
+#ifndef _ACC_CAR_H_
+#define _ACC_CAR_H_
+
+#include "mqtt.h"
+#include "mbed.h"
+#include "Road.h"
+
+class Road;
+
+class AccCar{
+public:
+    int position;
+    int speed;
+    int flag;
+    bool waited;
+    
+    // constructor
+    AccCar(int id, Road* road, int flag, mqtt* mqtt_singleton);
+    
+    // sets the car ahead of it
+    void set_forward_car(AccCar* car);
+    
+    // main update function where all the logic is held
+    void update();
+    
+    // reset the car 
+    void reset(int speed);
+    
+    // kill the car essentially
+    void stop();
+    
+    // for breaking continuous right of way ties
+    int car_clock;
+
+    int get_car_id();
+    
+    int wait_time;
+    
+    int get_cycles();
+    
+protected:
+    int car_id;
+    int target_speed;
+    AccCar* forward_car;
+    Road* road;
+    Thread* thread;
+    position_msg_t* msg; 
+    mqtt* singleton;
+    
+    int cycles;
+        
+    // state of the car... are we crossing driving or stopping?
+    drive_state_t state;
+    // just tells us if we are the lead car or not.
+    // if we are lead car we do not have to worry about anything in front
+    bool lead;
+    
+    // update our speed 
+    void update_speed();
+    
+    //
+    void drive_normal();
+    
+    //
+    void get_new_target_speed();
+    
+    //
+    void make_position_msg(position_msg_t* msg);
+
+};
+#endif