public SimVehicleState Update(double dt, WorldService service)
{
UpdateVehicleState(dt);
TahoeConstraints();
CheckGear();
// send out the vehicle state
operationalStateChannel.PublishUnreliably(GetOperationalSimVehicleState(service));
return simVehicleState;
}
public OperationalSimVehicleState GetOperationalSimVehicleState(WorldService service)
{
TransmissionGear g = TransmissionGear.Neutral;
switch (gear)
{
case '1': g = TransmissionGear.First; break;
case '2': g = TransmissionGear.Second; break;
case '3': g = TransmissionGear.Third; break;
case '4': g = TransmissionGear.Fourth; break;
case 'r': g = TransmissionGear.Reverse; break;
}
double rps2rpm = 60.0 / (2.0 * Math.PI);
double bleed_off_torque = TahoeParams.bleed_off_power / engine_speed;
return new OperationalSimVehicleState(
simVehicleState.Position, simVehicleState.Speed, simVehicleState.Heading.ArcTan, steering_wheel,
g, engine_torque + bleed_off_torque, master_cylinder_pressure, engine_speed * rps2rpm, carMode,
0, false, SimulatorClient.GetCurrentTimestamp);
}
/// <summary>
/// Sets the road network and mission for the car
/// </summary>
/// <param name="roadNetwork"></param>
/// <param name="mission"></param>
public override void SetRoadNetworkAndMission(ArbiterRoadNetwork roadNetwork, ArbiterMissionDescription mission)
{
this.roadNetwork = roadNetwork;
this.mission = mission;
this.roadNetwork.SetSpeedLimits(mission.SpeedLimits);
this.world = new WorldService(this.roadNetwork);
}