AccCar.cpp

00001 #include "AccCar.h"
00002 #include <stdlib.h>
00003 #include <algorithm>
00004 
00005 #define TICK 1000
00006 #define MONITOR_DIST 17
00007 #define SAFETY_GAP 2
00008 
00009 AccCar::AccCar(int id, Road* road, int flag) {
00010     this->id = id;
00011     this->road = road;
00012     this->flag = flag;
00013     
00014     waited = false;
00015         
00016     this->thread = NULL;
00017 }
00018 
00019 void AccCar::set_forward_car(AccCar* car) {
00020     this->forward_car = car;   
00021 }
00022 
00023 void AccCar::set_target_speed(int speed) {
00024     this->target_speed = speed;
00025     this->speed = speed;   
00026 }
00027 
00028 void AccCar::update() {
00029     do {
00030         ThisThread::sleep_for(TICK);
00031         road->go_flags.wait_all(flag);
00032         cycle++;
00033                 
00034         position = position + speed;
00035         
00036         if (cycle % 5 == 0) {
00037             target_speed = rand() % 11 + 5;
00038         }
00039         
00040         if( position < 54 ) {       
00041             if (forward_car != NULL && forward_car->position > -1) {
00042                 if (forward_car->position - position < MONITOR_DIST && forward_car->position < 55) {
00043                     road->done_flags.wait_all(forward_car->flag, osWaitForever, false);
00044                     
00045                     int diff = forward_car->position - position;
00046                     int maxSafeSpeed = diff - SAFETY_GAP;
00047                     
00048                     speed = std::min(maxSafeSpeed, target_speed);
00049                 } else {
00050                     speed = target_speed;   
00051                 }
00052             } else {
00053                 speed = target_speed;
00054             }
00055             
00056             int distance_to_intersection = 54 - position;
00057             speed = std::min(distance_to_intersection, speed);
00058                   
00059         } else if( position == 54 ) {
00060             if( waited) {
00061                 speed = road->intersection->attemptEnterIntersection(this->id); 
00062             } else {
00063                 speed = 0;   
00064                 waited = true;
00065                 road->intendToEnter(this->id); 
00066             }
00067         } else if( position < 56 ) {
00068             speed = 1;
00069         } else {
00070             if( position == 56 ) {
00071                 road->intersection->leaveIntersection(); 
00072             }
00073             
00074             if (forward_car != NULL && forward_car->position > -1) {
00075                 if (forward_car->position - position < MONITOR_DIST ) {
00076                     road->done_flags.wait_all(forward_car->flag, osWaitForever, false);
00077                     
00078                     int diff = forward_car->position - position;
00079                     int maxSafeSpeed = diff - SAFETY_GAP;
00080                     
00081                     speed = std::min(maxSafeSpeed, target_speed);
00082                 } else {
00083                     speed = target_speed;   
00084                 }
00085 
00086             } else {
00087                 speed = target_speed;
00088             }
00089         } 
00090         
00091         road->done_flags.set(flag);   
00092     } while( position < 100 );
00093 }
00094 
00095 void AccCar::reset() {
00096     road->done_flags.clear(flag);
00097     
00098     if (thread != NULL) {
00099         thread->terminate();   
00100     }
00101     
00102     thread = new Thread();
00103     thread->start( callback(this, &AccCar::update) );
00104     
00105     this->position = 0;
00106     this->cycle = 0;
00107 }