AccCar.h

00001 #ifndef _ACC_CAR_H_
00002 #define _ACC_CAR_H_
00003 
00004 #include "mqtt.h"
00005 #include "mbed.h"
00006 #include "Road.h"
00007 
00008 class Road;
00009 
00010 class AccCar{
00011 public:
00012     int position;
00013     int speed;
00014     int flag;
00015     bool waited;
00016     
00017     // constructor
00018     AccCar(int id, Road* road, int flag, mqtt* mqtt_singleton);
00019     
00020     // sets the car ahead of it
00021     void set_forward_car(AccCar* car);
00022     
00023     // main update function where all the logic is held
00024     void update();
00025     
00026     // reset the car 
00027     void reset(int speed);
00028     
00029     // kill the car essentially
00030     void stop();
00031     
00032     // for breaking continuous right of way ties
00033     int car_clock;
00034 
00035     int get_car_id();
00036     
00037     int wait_time;
00038     
00039     int get_cycles();
00040     
00041     int get_target_speed();
00042 protected:
00043     int car_id;
00044     int target_speed;
00045     AccCar* forward_car;
00046     Road* road;
00047     Thread* thread;
00048     position_msg_t* msg; 
00049     mqtt* singleton;
00050     
00051     int cycles;
00052         
00053     // state of the car... are we crossing driving or stopping?
00054     drive_state_t state;
00055     // just tells us if we are the lead car or not.
00056     // if we are lead car we do not have to worry about anything in front
00057     bool lead;
00058     
00059     // update our speed 
00060     void update_speed();
00061     
00062     //
00063     void drive_normal();
00064     
00065     //
00066     void get_new_target_speed();
00067     
00068     //
00069     void make_position_msg(position_msg_t* msg);
00070     
00071     int enter_safety_mode();
00072 
00073 };
00074 #endif