AccCar.cpp

00001 //#include "AccCar.h"
00002 //#include "signal_wrapper.h"
00003 //
00004 //// Update is running at 1000ms (1 second cycles)
00005 //#define TICK 1000
00006 //
00007 //// Acc monitors 17 meters ahead
00008 //#define MONITOR_DIST 17
00009 //
00010 //// Acc maintains a safety gap of 2 meters
00011 //#define SAFETY_GAP 2
00012 //
00013 //
00014 //extern int car_position;
00015 //
00016 //AccCar::AccCar(int id) {
00017 //    this->id = id;   
00018 //    
00019 //    // Include any other necessary initialization
00020 //    // ...
00021 //    // ...
00022 //    
00023 //    thread = NULL; // Initialize thread to null, since the starting of the simulation is done in reset(-)
00024 //}
00025 //
00026 //int AccCar::acc_is_simulating()
00027 //{
00028 //    return acc_simulation;
00029 //}
00030 //
00031 //void AccCar::update_pos()
00032 //{
00033 //            // where should we be? in case we have already been adjusting our speed
00034 //        int assigned_position = this->position+this->assigned_speed;
00035 //        
00036 //        int desired_speed;
00037 //        int desired_position;
00038 //        
00039 //        if( assigned_position >= ( car_position - SAFETY_GAP ) )
00040 //        {
00041 //            // no we can not find the max speed we can go
00042 //            // find the speed we can safely go this will ALWAYS be SAFETY_GAP or more in the negative direction
00043 //            int speed_diff = car_position - (assigned_position + SAFETY_GAP);
00044 //            assert(speed_diff <= SAFETY_GAP);
00045 //            // set desired speed 
00046 //            desired_speed = speed_diff + this->assigned_speed;
00047 //            // adjust our speed to not collide
00048 //            desired_position = desired_speed + this->position;
00049 //               
00050 //            //printf(" adjusted max speed to not collide %d -> %d \r\n",desired_position,desired_speed);
00051 //        }
00052 //        // last condition saying we can go assigned speed
00053 //        else if( assigned_position <=  (car_position - SAFETY_GAP ) )
00054 //        {
00055 //            desired_position = this->assigned_speed + this->position;
00056 //            desired_speed = this->assigned_speed;
00057 //            //printf("max speed!!! %d -> %d \r\n",desired_position,desired_speed);
00058 //        }
00059 //        // crash, we should not enter
00060 //        else
00061 //        {
00062 //            assert(0);
00063 //        }
00064 //        
00065 //        this->position = desired_position;
00066 //        this->speed = desired_speed;
00067 //}
00068 //
00069 //void AccCar::update() {
00070 //    while (true) {
00071 //        
00072 //        // wait for the signal from the main thread to update
00073 //        uint32_t flags = wait_for_signal( ACC_SIGNAL );
00074 //        if( flags == ACC_SIGNAL )
00075 //        {
00076 //            update_pos();
00077 //        }
00078 //        else
00079 //        {
00080 //            assert(0);    
00081 //        }
00082 //        
00083 //        if(this->position >= ROADLENGTH)
00084 //        {
00085 //            // notify to end simulation and terminate yourself
00086 //            acc_simulation = 0;
00087 //            send_signal( ACC_UPDATE_MAIN_SIGNAL );
00088 //            assert( thread->terminate() == MBED_SUCCESS );
00089 //        }
00090 //
00091 //        // return to car thread he will notify main
00092 //        send_signal( ACC_UPDATE_MAIN_SIGNAL );
00093 //    }
00094 //}
00095 //
00096 //void AccCar::reset(int speed) {
00097 //    // handle any necessary coordination with main thread
00098 //    
00099 //    // reset any other attributes that may be necessary
00100 //    // ...
00101 //    // ...
00102 //    
00103 //    if (thread != NULL) {   // Clear out the existing thread, if it exists, since we don't know how long it has waited for
00104 //        delete thread;
00105 //    }
00106 //    
00107 //    thread = new Thread();                         // Create a new thread for the car
00108 //    thread->start( callback(this, &AccCar::update) ); // Start the thread with the car's update method
00109 //    
00110 //    acc_simulation = 1;
00111 //    this->position = 0;
00112 //    this->speed = speed;
00113 //    this->assigned_speed = speed;
00114 //}