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 RealCar(DefaultCarController parent)
{
System.Threading.Thread.CurrentThread.Priority = System.Threading.ThreadPriority.Highest;
Controller = parent;
CarInfo = new CarInformations();
IsAlertBrakeActive = false;
deviceManager = DeviceManager.GlobalDeviceManager;
CarComunicator = new RealCarCommunicator(this);
SpeedRegulator = new PIDSpeedRegulator(this);
SteeringWheelAngleRegulator = new PIDSteeringWheelAngleRegulator(this);
BrakeRegulator = new SimpleBrakeRegulator(this);
CarComunicator.InitRegulatorsEventsHandling(); //TODO: REFACTOR THIS SHIT!!! //for now this is needed, because reagulators does not exists when communicator constructor is invoked
InternalEventHandlingInitialization();
}
public RealCar(DefaultCarController parent)
{
System.Threading.Thread.CurrentThread.Priority = System.Threading.ThreadPriority.Highest;
Controller = parent;
CarInfo = new CarInformations();
IsAlertBrakeActive = false;
deviceManager = DeviceManager.GlobalDeviceManager;
CarComunicator = new RealCarCommunicator(this);
SpeedRegulator = new PIDSpeedRegulator(this);
SteeringWheelAngleRegulator = new PIDSteeringWheelAngleRegulator(this);
BrakeRegulator = new SimpleBrakeRegulator(this);
CarComunicator.InitRegulatorsEventsHandling(); //TODO: REFACTOR THIS SHIT!!! //for now this is needed, because reagulators does not exists when communicator constructor is invoked
InternalEventHandlingInitialization();
}
public SafeRS232Controller(RealCarCommunicator comm, SafeRS232Communicator safeRS232Communicator) //TODO: IT SHOULD NOT RELY ON RealCarCommunicator but on ICarCommunicator //its untestable now
{
communicator = comm;
RS232 = safeRS232Communicator;
}
//TODO: IT SHOULD NOT RELY ON RealCarCommunicator but on ICarCommunicator //its untestable now
public SafeRS232Controller(RealCarCommunicator comm, SafeRS232Communicator safeRS232Communicator)
{
communicator = comm;
RS232 = safeRS232Communicator;
}
public SafeRS232Controller(RealCarCommunicator comm, SafeRS232Communicator safeRS232Communicator) //TODO: IT SHOULD NOT RELY ON RealCarCommunicator but on ICarCommunicator //its untestable now
{
communicator = comm;
RS232 = safeRS232Communicator;
}
public RS232Controller(RealCarCommunicator comm)
{
communicator = comm;
}
public GearboxController(USB4702 _extentionCardCommunicator, RealCarCommunicator comunicator)
{
extentionCardCommunicator = _extentionCardCommunicator;
realCarCommunicator = comunicator;
}
