/// <summary>
/// Update the state of the client vehicle
/// </summary>
/// <param name="worldState"></param>
/// <param name="dt"></param>
public override SimVehicleState Update(WorldState worldState, double dt)
{
try
{
sumDt += dt;
// update world
this.world.UpdateWorld(worldState);
// update value held in sim client
this.ClientVehicle.Update(worldState);
// set vehicle speed check
double speedLock = this.ClientVehicle.CurrentState.Speed;
// vehicle state
VehicleState vs = world.VehicleStateFromSim(this.ClientVehicle.CurrentState);
vs.Timestamp = GetCurrentTimestamp.ts;
// update in ai and all listeners
this.communicator.Update(
vs,
world.VehiclesFromWorld(this.ClientVehicle.CurrentState.VehicleID, vs.Timestamp),
world.ObstaclesFromWorld(this.ClientVehicle.CurrentState.VehicleID, this.ClientVehicle.CurrentState.Position, this.ClientVehicle.CurrentState.Heading.ArcTan, vs.Timestamp),
this.ClientVehicle.CurrentState.Speed,
world.GetLocalRoadEstimate(this.ClientVehicle.CurrentState),
world.GetPathRoadEstimate(this.ClientVehicle.CurrentState));
// check if we're in step mode
lock (runControlClients) {
if (stepMode)
{
foreach (ClientRunControlFacade stepClient in runControlClients.Values)
{
stepClient.Step();
}
}
}
// save persistent info
double maxSpeed = this.ClientVehicle.CurrentState.MaximumSpeed;
bool useMaxSpeed = this.ClientVehicle.CurrentState.UseMaximumSpeed;
Coordinates pos = this.ClientVehicle.CurrentState.Position;
Coordinates heading = this.ClientVehicle.CurrentState.Heading;
bool canMove = this.ClientVehicle.CurrentState.canMove;
// get next state
DynamicsVehicle.VehicleState = this.ClientVehicle.CurrentState;
SimVehicleState updatedState = DynamicsVehicle.Update(dt, this.world);
// modify with persistent info
if (useMaxSpeed)
{
updatedState.Speed = maxSpeed;
}
if (!canMove)
{
updatedState.Position = pos;
updatedState.Heading = heading;
}
// set state
this.ClientVehicle.CurrentState = updatedState;
if (this.ClientVehicle.CurrentState.LockSpeed)
{
this.ClientVehicle.CurrentState.Speed = speedLock;
}
// return updated to sim
return(updatedState);
}
catch (Exception e)
{
Console.WriteLine("Error updating: \n" + e.ToString());
return(null);
}
}