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 (forward_car != NULL && forward_car->position > -1) {
00041             if (forward_car->position - position < MONITOR_DIST) {
00042                 road->done_flags.wait_all(forward_car->flag, osWaitForever, false);
00043                 
00044                 int diff = forward_car->position - position;
00045                 int maxSafeSpeed = diff - SAFETY_GAP;
00046                 
00047                 speed = std::min(maxSafeSpeed, target_speed);
00048             } else {
00049                 speed = target_speed;   
00050             }
00051         } else {
00052             speed = target_speed;
00053         }
00054 
00055         road->done_flags.set(flag);   
00056     } while( position < 100 );
00057 }
00058 
00059 void AccCar::reset() {
00060     road->done_flags.clear(flag);
00061     
00062     if (thread != NULL) {
00063         thread->terminate();   
00064     }
00065     
00066     thread = new Thread();
00067     thread->start( callback(this, &AccCar::update) );
00068     
00069     this->position = 0;
00070     this->cycle = 0;
00071 }