public CarSteering CalculateCarSteering(Map currentMap)
{
CarSteering steering = new CarSteering();
currentPosition = GetNewCurrentPosition(currentMap, currentPosition);
currentMode = GetNewMode(currentPosition);
if (currentMode == Mode.ON_TRACK)
{
steering.speed = DEFAULT_SPEED_IN_MS;
steering.brake = 0.0d;
}
else if (currentMode == Mode.REACHED_DESTINATION)
{
steering.speed = 0.0d;
steering.brake = BREAKING_POWER_ON_DESTINATION;
}
else
{
throw new ApplicationException("unknown mode!");
}
double distanceAndSide = CalculateDistanceAndSideBetweenLineAndPoint(currentPosition.Value, currentMap.car);
double distanceRegulatorValue = distanceRegulator.ProvideObjectCurrentValueToRegulator(distanceAndSide);
double angleRegulatorValue = angleRegulator.ProvideObjectCurrentValueToRegulator(currentPosition.Value.angle);
steering.angle = distanceRegulatorValue + angleRegulatorValue;
return(steering);
}
//handling external events
void CarComunicator_evSpeedInfoReceived(object sender, SpeedInfoReceivedEventArgs args)
{
currentSpeedLocalCopy = args.GetSpeedInfo();
Logger.Log(this, String.Format("new current speed value acquired: {0}", args.GetSpeedInfo()));
//this setter also sends event "evNewSpeedSettingCalculated"
SpeedSteering = regulator.ProvideObjectCurrentValueToRegulator(currentSpeedLocalCopy);
}
void CarComunicator_evSteeringWheelAngleInfoReceived(object sender, SteeringWheelAngleInfoReceivedEventArgs args)
{
double calculatedSteering = regulator.ProvideObjectCurrentValueToRegulator(args.GetAngle());
NewSteeringWheelSettingCalculatedEventHandler newWheelSteeringCalculatedEvent = evNewSteeringWheelSettingCalculated;
if (newWheelSteeringCalculatedEvent != null)
{
newWheelSteeringCalculatedEvent(this, new NewSteeringWheelSettingCalculateddEventArgs(calculatedSteering));
}
}
void CarComunicator_evBrakePositionReceived(object sender, BrakePositionReceivedEventArgs args)
{
//this will also invoke evNewBrakeSettingCalculated event
BrakeSteering = regulator.ProvideObjectCurrentValueToRegulator(args.GetPosition());
}
