aim4.vehicle
Class BasicAutoVehicle

java.lang.Object
  aim4.vehicle.BasicVehicle
      aim4.vehicle.BasicAutoVehicle

All Implemented Interfaces:

AutoVehicleDriverView, AutoVehicleSimView, VehicleDriverView, VehicleSimView

Direct Known Subclasses:

ProxyVehicle

public class BasicAutoVehicle
extends BasicVehicle
implements AutoVehicleSimView

The basic autonomous vehicle.

Nested Class Summary

Nested classes/interfaces inherited from class aim4.vehicle.BasicVehicle

BasicVehicle.AccelScheduleMovement, BasicVehicle.Movement, BasicVehicle.MovementFactory, BasicVehicle.MovementWithAccel, BasicVehicle.MoveToTargetVelocityMovement, BasicVehicle.NonAccelMovement, BasicVehicle.PhysicalMovement, BasicVehicle.SteeringMovement, BasicVehicle.TrackMovement

Nested classes/interfaces inherited from interface aim4.vehicle.AutoVehicleDriverView

AutoVehicleDriverView.LRFMode

Field Summary

protected int	bitsReceived The number of bits this Vehicle has received.
static double	DEFAULT_TRANSMISSION_POWER The default distance the Vehicle can transmit messages.

Fields inherited from class aim4.vehicle.BasicVehicle

currentTime, movement, spec, vin

Constructor Summary

BasicAutoVehicle(VehicleSpec spec, Point2D pos, double heading, double steeringAngle, double velocity, double targetVelocity, double acceleration, double currentTime)
Construct a vehicle

Method Summary

int	getBitsReceived() Get the number of bits this Vehicle has received.
int	getBitsTransmitted() Get the number of bits this Vehicle has transmitted.
AutoDriver	getDriver() Getter method for the Driver controlling this Vehicle.
DoubleGauge	getFrontVehicleDistanceSensor() Get this Vehicle's gauge of sensors about the distance, in meters, between p1 and p2, both of them are points on the target lane, where p1 is the point projected from the center of the front of the vehicle, and p2 is the nearest point of another vehicle in the front of the vehicle to p1 on the target lane.
DoubleGauge	getFrontVehicleSpeedSensor() Get this Vehicle's gauge of sensors about the speed, in meters per second, of the vehicle in front of the vehicle on the target lane.
DoubleGauge	getIntervalometer() Get this Vehicle's interval-to-vehicle-in-front gauge.
V2IMessage	getLastV2IMessage() Get the last V2I message
DoubleGauge	getLRFAngle() Get this Vehicle's laser range finder angle gauge.
DoubleGauge	getLRFDistance() Get this Vehicle's laser range finder distance gauge.
AutoVehicleDriverView.LRFMode	getLRFMode() Get the Vehicle's laser range finder operating mode.
DoubleGauge	getRearVehicleDistanceSensor() Get this Vehicle's gauge of sensors about the distance, in meters, between p1 and p2, both of them are points on the target lane, where p1 is the point projected from the center of the front of the vehicle, and p2 is the nearest point of another vehicle behind the vehicle to p1 on the target lane.
DoubleGauge	getRearVehicleSpeedSensor() Get this Vehicle's gauge of sensors about the speed, in meters per second, of the vehicle behind the vehicle on the target lane.
Lane	getTargetLaneForVehicleTracking() Return the target lane for vehicle tracking.
double	getTransmissionPower() Get the Vehicle's transmission power.
Queue<V2IMessage>	getV2IOutbox() Get the queue of V2I messages waiting to be delivered from this Vehicle.
boolean	isLRFSensing() Get whether or not the laser range finder is sensing anything.
boolean	isVehicleTracking() Get whether or not the vehicle tracking sensors are sensing anything.
List<I2VMessage>	pollAllMessagesFromI2VInbox() Get the list of all messages currently in the queue of I2V messages waiting to be read by this Vehicle.
void	receive(I2VMessage msg) Adds a message to the incoming queue of messages received from IntersectionManagers.
void	send(V2IMessage msg) Adds a message to the outgoing queue of messages to be delivered to an IntersectionManager.
void	setDriver(AutoDriver driver) Set this Vehicle's Driver.
void	setLRFMode(AutoVehicleDriverView.LRFMode mode) Set the Vehicle's laser range finder operating mode.
void	setLRFSensing(boolean sensing) Set whether or not the laser range finder is sensing anything.
void	setTargetLaneForVehicleTracking(Lane lane) Set the target lane for vehicle tracking.
void	setTransmissionPower(double transmissionPower) Set the Vehicle's transmission power.
void	setVehicleTracking(boolean sensing) Set whether or not the vehicle tracking sensors are sensing anything.

Methods inherited from class aim4.vehicle.BasicVehicle

checkCurrentTime, coast, finalize, gaugeCornerPoints, gaugeHeading, gaugePointAtMiddleFront, gaugePointAtRear, gaugePointBetweenFrontWheels, gaugePosition, gaugeRearLeftCornerPoint, gaugeRearRightCornerPoint, gaugeShape, gaugeTime, gaugeVelocity, getAcceleration, getAccelSchedule, getCenterPoint, getCornerPoints, getEdges, getHeading, getPointAtMiddleFront, getPointAtRear, getPosition, getShape, getShape, getSpec, getSteeringAngle, getVelocity, getVIN, getWheelShapes, move, printState, removeAccelSchedule, setAccelSchedule, setAccelWithMaxTargetVelocity, setMaxAccelWithMaxTargetVelocity, setTargetVelocityWithMaxAccel, setVIN, slowToStop, turnTowardPoint

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface aim4.vehicle.VehicleSimView

checkCurrentTime, getAcceleration, getCenterPoint, getCornerPoints, getEdges, getHeading, getPointAtMiddleFront, getPointAtRear, getPosition, getShape, getShape, getVelocity, getWheelShapes, move, setVIN

Methods inherited from interface aim4.vehicle.VehicleDriverView

coast, gaugeHeading, gaugePointAtMiddleFront, gaugePointAtRear, gaugePointBetweenFrontWheels, gaugePosition, gaugeRearLeftCornerPoint, gaugeRearRightCornerPoint, gaugeShape, gaugeTime, gaugeVelocity, getAccelSchedule, getSpec, getVIN, printState, removeAccelSchedule, setAccelSchedule, setAccelWithMaxTargetVelocity, setTargetVelocityWithMaxAccel, slowToStop, turnTowardPoint

Field Detail

DEFAULT_TRANSMISSION_POWER

public static final double DEFAULT_TRANSMISSION_POWER

The default distance the Vehicle can transmit messages. 250.0 meters.

See Also:

Constant Field Values

bitsReceived

protected int bitsReceived

The number of bits this Vehicle has received.

Constructor Detail

BasicAutoVehicle

public BasicAutoVehicle(VehicleSpec spec,
                        Point2D pos,
                        double heading,
                        double steeringAngle,
                        double velocity,
                        double targetVelocity,
                        double acceleration,
                        double currentTime)

Construct a vehicle

Parameters:

spec - the vehicle's specification

pos - the initial position of the Vehicle

heading - the initial heading of the Vehicle

steeringAngle - the initial steering angle of the Vehicle

velocity - the initial velocity of the Vehicle

targetVelocity - the initial target velocity

acceleration - the initial acceleration of the Vehicle

currentTime - the current time

Method Detail

getDriver

public AutoDriver getDriver()

Getter method for the Driver controlling this Vehicle.

Specified by:

getDriver in interface AutoVehicleDriverView

Specified by:

getDriver in interface VehicleDriverView

Specified by:

getDriver in class BasicVehicle

Returns:

the Driver controlling this Vehicle, or null if none exists.

setDriver

public void setDriver(AutoDriver driver)

Set this Vehicle's Driver.

Specified by:

setDriver in interface VehicleSimView

Parameters:

driver - the new driver to control this Vehicle

getIntervalometer

public DoubleGauge getIntervalometer()

Get this Vehicle's interval-to-vehicle-in-front gauge. This should only be followed by a call to read, except in the actual physical simulator which is allowed to set these values.

Specified by:

getIntervalometer in interface AutoVehicleDriverView

Returns:

the Vehicle's interval-to-vehicle-in-front gauge

setLRFMode

public void setLRFMode(AutoVehicleDriverView.LRFMode mode)

Set the Vehicle's laser range finder operating mode.

Parameters:

mode - the new laser range finder mode

See Also:

AutoVehicleDriverView.LRFMode

getLRFMode

public AutoVehicleDriverView.LRFMode getLRFMode()

Get the Vehicle's laser range finder operating mode.

Specified by:

getLRFMode in interface AutoVehicleDriverView

Returns:

the current operating mode of the laser range finder

See Also:

AutoVehicleDriverView.LRFMode

isLRFSensing

public boolean isLRFSensing()

Get whether or not the laser range finder is sensing anything.

Specified by:

isLRFSensing in interface AutoVehicleDriverView

Returns:

whether or not the laser range finder is sensing anything

setLRFSensing

public void setLRFSensing(boolean sensing)

Set whether or not the laser range finder is sensing anything. This should only be called by the actual physical simulator when it is providing sensing information to the Vehicle.

Specified by:

setLRFSensing in interface AutoVehicleSimView

Parameters:

sensing - whether or not the laser range finder is sensing anything

getLRFAngle

public DoubleGauge getLRFAngle()

Get this Vehicle's laser range finder angle gauge. This should only be followed by a call to read, except in the actual physical simulator which is allowed to set these values.

Returns:

the Vehicle's laser range finder angle gauge

getLRFDistance

public DoubleGauge getLRFDistance()

Get this Vehicle's laser range finder distance gauge. This should only be followed by a call to read, except in the actual physical simulator which is allowed to set these values.

Specified by:

getLRFDistance in interface AutoVehicleDriverView

Returns:

the Vehicle's laser range finder angle gauge

isVehicleTracking

public boolean isVehicleTracking()

Get whether or not the vehicle tracking sensors are sensing anything.

Specified by:

isVehicleTracking in interface AutoVehicleDriverView

Returns:

whether or not the vehicle tracking sensors are sensing anything

setVehicleTracking

public void setVehicleTracking(boolean sensing)

Set whether or not the vehicle tracking sensors are sensing anything.

Specified by:

setVehicleTracking in interface AutoVehicleDriverView

Parameters:

sensing - whether or not the vehicle tracking sensors are sensing anything

setTargetLaneForVehicleTracking

public void setTargetLaneForVehicleTracking(Lane lane)

Set the target lane for vehicle tracking.

Specified by:

setTargetLaneForVehicleTracking in interface AutoVehicleDriverView

Parameters:

lane - the target lane for vehicle tracking

getTargetLaneForVehicleTracking

public Lane getTargetLaneForVehicleTracking()

Return the target lane for vehicle tracking.

Specified by:

getTargetLaneForVehicleTracking in interface AutoVehicleDriverView

Returns:

the target lane for vehicle tracking

getFrontVehicleDistanceSensor

public DoubleGauge getFrontVehicleDistanceSensor()

Get this Vehicle's gauge of sensors about the distance, in meters, between p1 and p2, both of them are points on the target lane, where p1 is the point projected from the center of the front of the vehicle, and p2 is the nearest point of another vehicle in the front of the vehicle to p1 on the target lane. If there is no vehicle in the front on the target lane, the value should be Double.MAX_VALUE.

Specified by:

getFrontVehicleDistanceSensor in interface AutoVehicleDriverView

Returns:

the distance of the vehicle in the front on the target lane.

getRearVehicleDistanceSensor

public DoubleGauge getRearVehicleDistanceSensor()

Get this Vehicle's gauge of sensors about the distance, in meters, between p1 and p2, both of them are points on the target lane, where p1 is the point projected from the center of the front of the vehicle, and p2 is the nearest point of another vehicle behind the vehicle to p1 on the target lane. If there is no vehicle behind on the target lane, the value should be Double.MAX_VALUE.

Specified by:

getRearVehicleDistanceSensor in interface AutoVehicleDriverView

Returns:

the distance of the vehicle behind on the target lane.

getFrontVehicleSpeedSensor

public DoubleGauge getFrontVehicleSpeedSensor()

Get this Vehicle's gauge of sensors about the speed, in meters per second, of the vehicle in front of the vehicle on the target lane. If there is no vehicle in the front on the target lane, the value should be Double.MAX_VALUE.

Specified by:

getFrontVehicleSpeedSensor in interface AutoVehicleDriverView

Returns:

the speed of the vehicle in the front on the target lane.

getRearVehicleSpeedSensor

public DoubleGauge getRearVehicleSpeedSensor()

Get this Vehicle's gauge of sensors about the speed, in meters per second, of the vehicle behind the vehicle on the target lane. If there is no vehicle behind on the target lane, the value should be Double.MAX_VALUE.

Specified by:

getRearVehicleSpeedSensor in interface AutoVehicleDriverView

Returns:

the speed of the vehicle behind on the target lane.

setTransmissionPower

public void setTransmissionPower(double transmissionPower)

Set the Vehicle's transmission power.

Parameters:

transmissionPower - the new transmission power, in meters

getTransmissionPower

public double getTransmissionPower()

Get the Vehicle's transmission power.

Specified by:

getTransmissionPower in interface AutoVehicleDriverView

Returns:

the Vehicle's transmission power, in meters

getV2IOutbox

public Queue<V2IMessage> getV2IOutbox()

Get the queue of V2I messages waiting to be delivered from this Vehicle.

Specified by:

getV2IOutbox in interface VehicleSimView

Returns:

the queue of V2I messages to be delivered from this Vehicle

pollAllMessagesFromI2VInbox

public List<I2VMessage> pollAllMessagesFromI2VInbox()

Get the list of all messages currently in the queue of I2V messages waiting to be read by this Vehicle.

Specified by:

pollAllMessagesFromI2VInbox in interface AutoVehicleDriverView

Returns:

the list of all messages currently in the queue of I2V messages.

send

public void send(V2IMessage msg)

Adds a message to the outgoing queue of messages to be delivered to an IntersectionManager.

Specified by:

send in interface AutoVehicleDriverView

Parameters:

msg - the message to send to an IntersectionManager

receive

public void receive(I2VMessage msg)

Adds a message to the incoming queue of messages received from IntersectionManagers.

Specified by:

receive in interface AutoVehicleDriverView

Parameters:

msg - the message to send to another Vehicle

getBitsReceived

public int getBitsReceived()

Get the number of bits this Vehicle has received.

Specified by:

getBitsReceived in interface AutoVehicleDriverView

Returns:

the number of bits this Vehicle has received

getBitsTransmitted

public int getBitsTransmitted()

Get the number of bits this Vehicle has transmitted.

Specified by:

getBitsTransmitted in interface AutoVehicleDriverView

Returns:

the number of bits this Vehicle has transmitted

getLastV2IMessage

public V2IMessage getLastV2IMessage()

Get the last V2I message

Specified by:

getLastV2IMessage in interface AutoVehicleDriverView

Returns:

the last V2I message