public RealCar(CarController parent)
{
Controller = parent;
CarInfo = new CarInformations();
IsAlertBrakeActive = false;
//regulators and communicator initiation
CarComunicator = new RealCarCommunicator(this); // = new RealCarCommunicator(this);
SpeedRegulator = new PIDSpeedRegulator(this);
//SpeedRegulator = new FakeSpeedRegulator();
//SteeringWheelAngleRegulator = new SimpleSteeringWheelRegulator(this);
SteeringWheelAngleRegulator = new PIDSteeringWheelAngleRegulator(this);
//SteeringWheelAngleRegulator = new FakeSteeringWheelRegulator();
BrakeRegulator = new PIDBrakeRegulator(this);
CarComunicator.InitRegulatorsEventsHandling(); //TODO: REFACTOR THIS SHIT!!! //for now this is needed, because reagulators does not exists when communicator constructor is invoked
//internal event handling initialization
evAlertBrake += new EventHandler(ExampleFakeCar_evAlertBrake);
evTargetSpeedChanged += new TargetSpeedChangedEventHandler(ExampleFakeCar_evTargetSpeedChanged);
evTargetSteeringWheelAngleChanged += new TargetSteeringWheelAngleChangedEventHandler(ExampleFakeCar_evTargetSteeringWheelAngleChanged);
}
public void SetTargetWheelAngle(double targetAngle)
{
TargetSteeringWheelAngleChangedEventHandler temp = evTargetSteeringWheelAngleChanged;
if (temp != null)
{
temp(this, new TargetSteeringWheelAngleChangedEventArgs(targetAngle));
}
}
public void SetTargetWheelAngle(double angle)
{
CarInfo.TargetWheelAngle = angle;
TargetSteeringWheelAngleChangedEventHandler temp = evTargetSteeringWheelAngleChanged;
if (temp != null)
{
temp(this, new TargetSteeringWheelAngleChangedEventArgs(angle));
}
}
