Diff: AccCar.cpp

Revision:

2:16b3bd337db2

Parent:

0:3b4906b8a747

--- a/AccCar.cpp	Tue Dec 10 23:40:25 2019 +0000
+++ b/AccCar.cpp	Wed Dec 11 20:20:12 2019 +0000
@@ -11,7 +11,7 @@
 
 Serial pc_acc(USBTX, USBRX);
 
-AccCar::AccCar(int id, Road* road, int flag, char* t1, char* t2) {
+AccCar::AccCar(int id, Road* road, int flag, Communication* c) {
     this->id = id;
     this->road = road;
     this->flag = flag;
@@ -20,11 +20,7 @@
     this->forward_car = NULL;
 
     this->cycle = 0;
-    this->comm = Communication::getInstance();
-    this->topic_position = t1;
-    this->topic_control = t2;
-//    communication->subscribe_to_position(topic_position);
-    comm->subscribe_to_topic_control(topic_control);
+    this->comm = c;
 }
 
 void AccCar::set_forward_car(AccCar* car) {
@@ -51,9 +47,12 @@
             speed = target_speed;
         }
         // TODO: publish Position and Acc-speed
-        comm->publish_car(topic_position, speed, position);
-        Communication::control_flags.wait_all(flag); // wait for speed instruction from controller
-        speed = Communication::speeds[id - 1];
+        if (position < 255) {
+            comm->publish_car(id, speed, position);
+            Communication::control_flags.wait_all(flag); // wait for speed instruction from controller
+            speed = Communication::speeds[id - 1];
+            pc_acc.printf("Suggested speed: %d\r\n", speed);
+        }
 //        // Crossing
 //        if (position < STOP) {
 //            speed = std::min(speed, STOP - position);