ModuleState::MODULE_EXITCODE Vehicle::runLinearBicycleModel() {
LinearBicycleModel lbm(getKeyValueConfiguration());
KeyValueDataStore &kvs = getKeyValueDataStore();
while (getModuleState() == ModuleState::RUNNING) {
// Get current ForceControl.
Container c = kvs.get(Container::FORCECONTROL);
ForceControl fc = c.getData<ForceControl>();
cerr << "ForceControl: '" << fc.toString() << "'" << endl;
lbm.accelerate(fc.getAccelerationForce());
lbm.brake(fc.getBrakeForce());
lbm.steer(fc.getSteeringForce());
if (fc.getBrakeLights()) {
cout << "Turn ON brake lights." << endl;
}
else {
}
if (fc.getLeftFlashingLights()) {
cout << "Turn ON left flashing lights." << endl;
}
else {
}
if (fc.getRightFlashingLights()) {
cout << "Turn ON right flashing lights." << endl;
}
else {
}
EgoState es = lbm.computeEgoState();
// Get vehicle data.
VehicleData vd = lbm.getVehicleData();
cerr << "VehicleData: '" << vd.toString() << "'" << endl;
Container container(Container::EGOSTATE, es);
getConference().send(container);
// Send vehicledata.
Container c2(Container::VEHICLEDATA, vd);
getConference().send(c2);
}
return ModuleState::OKAY;
}
ModuleState::MODULE_EXITCODE Vehicle::runLinearBicycleModelNew(const bool &withSpeedController) {
LinearBicycleModelNew lbmn(getKeyValueConfiguration(), withSpeedController);
KeyValueDataStore &kvs = getKeyValueDataStore();
while (getModuleState() == ModuleState::RUNNING) {
// Get current ForceControl.
Container c = kvs.get(Container::VEHICLECONTROL);
VehicleControl vc = c.getData<VehicleControl>();
cerr << "VehicleControl: '" << vc.toString() << "'" << endl;
if (withSpeedController) {
lbmn.speed(vc.getSpeed());
}
else {
lbmn.accelerate(vc.getAcceleration());
}
lbmn.steer(vc.getSteeringWheelAngle());
if (vc.getBrakeLights()) {
cout << "Turn ON brake lights." << endl;
}
if (vc.getLeftFlashingLights()) {
cout << "Turn ON left flashing lights." << endl;
}
if (vc.getRightFlashingLights()) {
cout << "Turn ON right flashing lights." << endl;
}
EgoState es = lbmn.computeEgoState();
// Get vehicle data.
VehicleData vd = lbmn.getVehicleData();
cerr << "VehicleData: '" << vd.toString() << "'" << endl;
Container container(Container::EGOSTATE, es);
getConference().send(container);
// Send vehicledata.
Container c2(Container::VEHICLEDATA, vd);
getConference().send(c2);
}
return ModuleState::OKAY;
}
