Diff: main.cpp

Revision:

2:16b3bd337db2

Parent:

1:19c3299ea83a

--- a/main.cpp	Tue Dec 10 23:40:25 2019 +0000
+++ b/main.cpp	Wed Dec 11 20:20:12 2019 +0000
@@ -14,6 +14,7 @@
 
 #include <algorithm>
 #include <vector>
+#include <queue>
 #include <string>
 #include <stdlib.h>
 
@@ -62,34 +63,25 @@
     Intersection intersection;
 
     // Initialize Communication
-    Communication* communication = Communication::getInstance();
-    communication->send_message("Rahman/Sync/Send/1");
+    
+    char buf1[30] = "Rahman/Position/2";
+    char buf2[30] = "Rahman/Control/2";
+    char buf3[50] = "Rahman/Sync/Receive/2";
+    char buf4[50] = "Rahman/Sync/Send/2";
+    Communication* c = Communication::getInstance(buf1, buf2, buf3, buf4);
+    
     // Initialize 5 AccCars and the Road
-    char buf1[50] = "Rahman/Sync/Receive/1";
-    char buf2[50] = "Rahman/Sync/Send/1";
-    Road road1(buf1, buf2);
+    
+    Road road1(c);
     intersection.road1 = &road1;
     road1.intersection = &intersection;
     
-    char buf11[30] = "Rahman/Position/1/1";
-    char buf12[30] = "Rahman/Control/1/1";
-    AccCar car11(1, &road1, 0x01, buf11, buf12);
     
-    char buf21[30] = "Rahman/Position/1/2";
-    char buf22[30] = "Rahman/Control/1/2";
-    AccCar car12(2, &road1, 0x02, buf21, buf22);
-    
-    char buf31[30] = "Rahman/Position/1/3";
-    char buf32[30] = "Rahman/Control/1/3";
-    AccCar car13(3, &road1, 0x04, buf31, buf32);
-    
-    char buf41[30] = "Rahman/Position/1/4";
-    char buf42[30] = "Rahman/Control/1/4";
-    AccCar car14(4, &road1, 0x08, buf41, buf42);
-    
-    char buf51[30] = "Rahman/Position/1/5";
-    char buf52[30] = "Rahman/Control/1/5";
-    AccCar car15(5, &road1, 0x10, buf51, buf52);
+    AccCar car11(1, &road1, 0x01, c);
+    AccCar car12(2, &road1, 0x02, c);
+    AccCar car13(3, &road1, 0x04, c);
+    AccCar car14(4, &road1, 0x08, c);
+    AccCar car15(5, &road1, 0x10, c);
 
     std::vector<AccCar*> q1;
     q1.push_back(&car15);
@@ -106,8 +98,10 @@
 
     stopwatch.start();
     
-    communication->reset(); // start thread
-
+    pc.printf("Dispatching communication thread.\r\n");
+    
+    c->reset();
+    
     int interval = MAX_SPEED - MIN_SPEED + 1;
     car11.reset(rand() % interval + MIN_SPEED); // set random speed [5, 15]
     car12.reset(rand() % interval + MIN_SPEED);
@@ -115,6 +109,7 @@
     car14.reset(rand() % interval + MIN_SPEED);
     car15.reset(rand() % interval + MIN_SPEED);
 
+//    c->reset();
     stopwatch.reset();
 
     int waitTime1 = 0;
@@ -190,7 +185,7 @@
     car13.stop();
     car14.stop();
     car15.stop();
-    communication->stop();
+    c->stop();
 
             // ----------------------------------------------------------------------
     // Timing statistics printout, do not modify