Diff: main.cpp
- Revision:
- 0:3b4906b8a747
- Child:
- 1:19c3299ea83a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Tue Dec 10 22:29:09 2019 +0000
@@ -0,0 +1,183 @@
+/* mbed Microcontroller Library
+ * Copyright (c) 2018 ARM Limited
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include "mbed.h"
+#include <cctype>
+#include "Car.h"
+#include "AccCar.h"
+#include "TextLCD.h"
+#include "Road.h"
+#include "Intersection.h"
+#include "Communication.h"
+
+#include <algorithm>
+#include <vector>
+#include <string>
+#include <stdlib.h>
+
+Serial pc(USBTX, USBRX);
+TextLCD lcd(p15, p16, p17, p18, p19, p20);
+
+#define ROADLENGTH 100
+#define STOP 54
+#define MIN_SPEED 5
+#define MAX_SPEED 15
+
+// Read the max number of services to perform from pc input
+int read_int(char* prompt) {
+ int maxService = 0;
+
+ pc.printf(prompt);
+
+ char input;
+ while(1) {
+ input = pc.getc();
+ pc.putc(input);
+
+ if( std::isdigit(input) ) {
+ maxService = (maxService * 10) + (input-'0');
+ } else {
+ pc.putc(input);
+ break;
+ }
+ }
+
+ return maxService;
+}
+
+// main() runs in its own thread in the OS
+int main()
+{
+
+ pc.printf("\nStarting simulation\n");
+ // ------------------------------------------------------------------------------
+ // 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;
+ // ------------------------------------------------------------------------------
+
+ Intersection intersection;
+
+ // Initialize Communication
+ Communication* communication = Communication::getInstance();
+ // Initialize 5 AccCars and the Road
+ Road road1("Rahman/Sync/Receive/1", "Rahman/Sync/Send/1");
+ intersection.road1 = &road1;
+ road1.intersection = &intersection;
+ AccCar car11(1, &road1, 0x01, "Rahman/Position/1/1", "Rahman/Control/1/1");
+ AccCar car12(2, &road1, 0x02, "Rahman/Position/1/2", "Rahman/Control/1/2");
+ AccCar car13(3, &road1, 0x04, "Rahman/Position/1/3", "Rahman/Control/1/3");
+ AccCar car14(4, &road1, 0x08, "Rahman/Position/1/4", "Rahman/Control/1/4");
+ AccCar car15(5, &road1, 0x10, "Rahman/Position/1/5", "Rahman/Control/1/5");
+
+ std::vector<AccCar*> q1;
+ q1.push_back(&car15);
+ q1.push_back(&car14);
+ q1.push_back(&car13);
+ q1.push_back(&car12);
+ q1.push_back(&car11);
+
+ for (int i = 0; i < 4; i++) {
+ q1[i]->set_forward_car(q1[i+1]);
+ }
+
+ AccCar *lastCar1 = q1.front();
+
+ stopwatch.start();
+
+ communication->reset(); // start thread
+
+ int interval = MAX_SPEED - MIN_SPEED + 1;
+ car11.reset(rand() % interval + MIN_SPEED); // set random speed [5, 15]
+ car12.reset(rand() % interval + MIN_SPEED);
+ car13.reset(rand() % interval + MIN_SPEED);
+ car14.reset(rand() % interval + MIN_SPEED);
+ car15.reset(rand() % interval + MIN_SPEED);
+
+ stopwatch.reset();
+
+ int waitTime1 = 0;
+
+ do {
+ int enterRoad1 = -1;
+ int enterCross1 = -1;
+
+ if (numberCycles == 0) {
+ // first car enters unconditionally
+ AccCar *car1 = q1.back();
+ enterRoad1 = car1->id;
+ road1.add_acc_car(car1, car1->id);
+ q1.pop_back();
+ waitTime1 = rand() % 4;
+ }
+ else {
+ if (q1.size() > 0) {
+ if (waitTime1 == 0) {
+ AccCar *car1 = q1.back();
+ if (car1->forward_car->position - 2 >= car1->speed) {
+ road1.add_acc_car(car1, car1->id);
+ enterRoad1 = car1->id;
+ q1.pop_back();
+ waitTime1 = rand() % 4;
+ }
+ } else {
+ waitTime1 = waitTime1 - 1;
+ }
+ }
+ }
+
+ road1.let_cars_update();
+ road1.wait_for_car_update();
+ // ------------------------------------------------------------------
+ // Timing statistics logic, do not modify
+ totalUpdateTime += stopwatch.read_ms();
+ numberCycles++;
+ stopwatch.reset();
+ // ------------------------------------------------------------------
+
+ if (car11.position == STOP) {
+ enterCross1 = 1;
+ } else if (car12.position == STOP) {
+ enterCross1 = 2;
+ } else if (car13.position == STOP) {
+ enterCross1 = 3;
+ } else if (car14.position == STOP) {
+ enterCross1 = 4;
+ } else if (car15.position == STOP) {
+ enterCross1 = 5;
+ }
+ lcd.cls();
+ if (enterRoad1 == -1 && enterCross1 == -1) {
+ lcd.printf("x, x\n");
+ } else if (enterRoad1 == -1) {
+ lcd.printf("x, %d\n", enterCross1);
+ } else if (enterCross1 == -1) {
+ lcd.printf("%d, x\n", enterRoad1);
+ } else {
+ lcd.printf("%d, %d\n", enterRoad1, enterCross1);
+ }
+
+ pc.printf("Car 1 on road 1: position %d, speed %d\r\n", car11.position, car11.speed);
+ pc.printf("Car 2 on road 1: position %d, speed %d\r\n", car12.position, car12.speed);
+ pc.printf("Car 3 on road 1: position %d, speed %d\r\n", car13.position, car13.speed);
+ pc.printf("Car 4 on road 1: position %d, speed %d\r\n", car14.position, car14.speed);
+ pc.printf("Car 5 on road 1: position %d, speed %d\r\n", car15.position, car15.speed);
+
+ } while (lastCar1->position <= ROADLENGTH);
+ car11.stop();
+ car12.stop();
+ car13.stop();
+ car14.stop();
+ car15.stop();
+ communication->stop();
+
+ // ----------------------------------------------------------------------
+ // Timing statistics printout, do not modify
+ pc.printf("Average update cycle took: %fms \r\n", (totalUpdateTime*1.0)/(numberCycles*1.0));
+ totalUpdateTime = 0;
+ numberCycles = 0;
+ // ----------------------------------------------------------------------
+}
Han Yan
