added the vel increment: include/graphics.h

	wrapped-up task creation:   include/utils.h
	global variable for desired velocity:   include/vehicle.h
	modified:   src/graphics.c
	modified:   src/main.c
	modified:   src/pathplanner.c
	modified:   src/utils.c

include/graphics.h

@@ -10,4 +10,7 @@ void drawNCars(int x);
 /* Prints the number of deadline-misses in the interface */
 void drawNDmiss();
 
+/* Prints the specified reference velocity of existing cars in the city */
+void drawGVel(double vel);
+
 #endif

include/utils.h

@@ -2,6 +2,7 @@
 #include <types.h>
 
 #include "task.h"
+#include "tlmanager.h"
 
 #ifndef UTILS_H
 #define UTILS_H
@@ -71,4 +72,8 @@ void chooseCarDelete(int *r, vehicle_t *c, rt_task_par_t *p);
 
 void checkWhosOut(int *r, vehicle_t *c, rt_task_par_t *p);
 
+void task_createTrafficLight(tl_manager_arg *man_arg, rt_task_par_t *tl_manager_par, int period, int deadline, int prioriti);
+
+void task_createVehicle(vehicle_t *cars, rt_task_par_t *carsPrms, int period, int deadline, int prioriti);
+
 #endif

include/vehicle.h

@@ -18,6 +18,10 @@
 #define	PID_KI	2000.0
 #define	V_REF	20.0
 
+// VELOCITY BOUNDARIES
+#define MAX_VEL_CAR	25
+#define MIN_VEL_CAR	0
+
 /***** Real-Time Task *****/
 void *vehicle(void *myVehi);
 /* drives the car, do the planning

src/graphics.c

@@ -4,6 +4,7 @@
 
 #include "utils.h"
 #include "tlgraphics.h"
+#include "vehicle.h"
 
 pthread_mutex_t dmiss_lock;
 int deadline_misses;
@@ -90,18 +91,43 @@ void drawNCars(int x){
 		50, color, -1);
 }
 
+/* Prints the specified reference velocity of existing cars in the city */
+void drawGVel(double vel) {
+	char s[2];
+	int color;
+	snprintf(s, sizeof(int), "%d", (int)vel);
+
+	if(vel <= (MAX_VEL_CAR / 3)) 
+		color = INFO_GREEN;
+	else if (vel <= (2 * MAX_CARS) / 3)
+		color = INFO_YEL;
+	else
+		color = INFO_RED;
+
+	rectfill(screen, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 50, 248,
+		(N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 70, 260, STAT_BG);
+	textout_centre_ex(screen, font, s, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
+		250, color, -1);
+
+}
+
+
 /* Sets up the display and interface*/
 void initStatDisplay(){
 	// char* desc, insert, delete;
 	const char *desc	= "WELCOME IN CITY, A SIMULATION PROGRAM THAT AIMS TO SIMULATE A URBAN AREA.";
 	const char *insert	= "TO ADD A NEW CAR, PRESS 'n'.";
 	const char *delete	= "TO DELETE AN EXISTING CAR, PRESS 'd'.";
+	const char *incVel 	= "TO INCREASE VELOCITY, PRESS UP KEY";
+	const char *decVel 	= "TO DECREASE VELOCITY, PRESS DOWN KEY";
 	const char *nCars1	= "NUMBER OF";
 	const char *nCars2	= "CARS";
 	const char *nCars3	= "IN THE CITY:";
 	const char *nDmiss1	= "NUMBER OF";
 	const char *nDmiss2 = "DEADLINE";
 	const char *nDmiss3	= "MISSES:";
+	const char *nGVel1	= "GLOBAL";
+	const char *nGVel2	= "VELOCITY";
 	int dmiss = 0;
 	char s[4];
 
@@ -114,6 +140,8 @@ void initStatDisplay(){
 		(N_BLOCKS_Y*BLOCK_W + (N_BLOCKS_Y+1)*STREET_W+15), INFO_COL, -1);
 	textout_ex(screen, font, insert, 20, (N_BLOCKS_Y*BLOCK_W + (N_BLOCKS_Y+1)*STREET_W+35), INFO_GREEN, -1);
 	textout_ex(screen, font, delete, 20, (N_BLOCKS_Y*BLOCK_W + (N_BLOCKS_Y+1)*STREET_W+45), INFO_RED, -1);
+	textout_ex(screen, font, incVel, 20, (N_BLOCKS_Y*BLOCK_W + (N_BLOCKS_Y+1)*STREET_W+55), INFO_RED-1, -1);
+	textout_ex(screen, font, decVel, 20, (N_BLOCKS_Y*BLOCK_W + (N_BLOCKS_Y+1)*STREET_W+65), INFO_RED-2, -1);
 
 	textout_centre_ex(screen, font, nCars1, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
 		20, INFO_COL, -1);
@@ -128,7 +156,14 @@ void initStatDisplay(){
 	textout_centre_ex(screen, font, nDmiss3, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
 		150, INFO_COL, -1);
 
+	textout_centre_ex(screen, font, nGVel1, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
+		230, INFO_COL, -1);
+	textout_centre_ex(screen, font, nGVel2, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
+		240, INFO_COL, -1);
+
 	drawNCars(0);
+	drawGVel(0);
+
 	snprintf(s, sizeof(int), "%d", dmiss);
 	textout_centre_ex(screen, font, s, (N_BLOCKS_X*BLOCK_W + (N_BLOCKS_X+ 1)*STREET_W) + 60,
 		160, INFO_GREEN, -1);

src/main.c

@@ -13,11 +13,15 @@ extern pthread_mutex_t screen_lock;
 extern pthread_mutex_t dmiss_lock;
 extern int deadline_misses;
 
+double Vgr;
+
 int main(int argc, char const *argv[])
 {
 	vehicle_t 		cars[MAX_CARS];
 	rt_task_par_t 	carsPrms[MAX_CARS];
 
+	Vgr = V_REF;
+
 	char	scan;
 	char 	carCounter = 0;
 	char 	isPressed = 1;
@@ -35,7 +39,8 @@ int main(int argc, char const *argv[])
 	tl_manager_arg man_arg;
 	man_arg.tl_matrix = tl_matrix;
 	rt_task_par_t tl_manager_par;
-	task_create(&tl_init, &tl_manager, NULL, &man_arg, &tl_manager_par, 4000, 1000, 3);
+	// task_create(&tl_init, &tl_manager, NULL, &man_arg, &tl_manager_par, 4000, 1000, 3);
+	task_createTrafficLight(&man_arg, &tl_manager_par, 4000, 1000, 3);
 	/***************************************/
 
 	/******* Under Test Vehicle-Task *******/
@@ -52,7 +57,8 @@ int main(int argc, char const *argv[])
 			if (scan == KEY_N && carCounter < MAX_CARS) {
 				readyCar = 0;
 				while(carsPrms[readyCar].isActive) readyCar++;
-				task_create(initVehicle, moveVehicle, termVehicle, &cars[readyCar], &carsPrms[readyCar], 40, 40, 2);
+				task_createVehicle(&cars[readyCar], &carsPrms[readyCar], 40, 40, 2);
+				// task_create(initVehicle, moveVehicle, termVehicle, &cars[readyCar], &carsPrms[readyCar], 40, 40, 2);
 				carCounter++;
 			}
 
@@ -63,6 +69,18 @@ int main(int argc, char const *argv[])
 				carCounter--;
 			}
 
+			/** if UP key is pressed all the vehicle will increase its velocity **/
+			if(scan == KEY_UP) {
+				Vgr = (Vgr >= MAX_VEL_CAR) ? MAX_VEL_CAR : Vgr + 1;
+				drawGVel(Vgr);
+			}
+
+			/** if DOWN key is pressed all the vehicle will decrease its velocity **/
+			if (scan == KEY_DOWN) {
+				Vgr = (Vgr <= MIN_VEL_CAR) ? MIN_VEL_CAR : Vgr - 1;
+				drawGVel(Vgr);
+			}
+
 			drawNCars(carCounter);	
 		}
 

src/pathplanner.c

@@ -6,6 +6,8 @@
 #include "vehicle.h"
 
 
+extern double Vgr;
+
 void keepCertainDistanceFromBlock(vehicle_t *c, const int safeDistance) {
 	if (c->ds.dsts[RIGHT_DST] > safeDistance) {
 		if (c->ds.dsts[RIGHT_DST] < SMAX) {
@@ -233,7 +235,7 @@ void check2turnAround(vehicle_t *c, imfeatures_t *imf){
 		(imf->stCorner.y[0]/2 + imf->stCorner.y[1]/2)] == BLOCK_COL)
 	{	
 		c->planner.w0 = fabs(imf->stCorner.y[0] - imf->stCorner.y[1]);	// compute x0 to generate a half circle trajectory
-		printf("y[0] %d, y[1] %d\n", imf->stCorner.y[0], imf->stCorner.y[1]);
+		// printf("y[0] %d, y[1] %d\n", imf->stCorner.y[0], imf->stCorner.y[1]);
 		if (c->planner.w0 > (STREET_W - 5.0)) {								// 5 is a tolerance
 			c->planner.w0 /= 2.0;												// compute x0 to generate a half circle trajectory
 			c->planner.w0 -= (imf->stCorner.y[1] - HRES / 2);					// compute x0 to generate a half circle trajectory
@@ -263,7 +265,7 @@ char pathPlanner(vehicle_t *c) {
 		}
 		/***********************************/
 	} else { 
-		c->Vr = V_REF;							// it needs to return going again
+		c->Vr = Vgr;							// it needs to return going again
 
 		analyzeCameraFrame(c, &imf);			// analyzes the current frame captured
 
@@ -277,7 +279,7 @@ char pathPlanner(vehicle_t *c) {
 				}
 
 				else
-					c->Vr = V_REF;
+					c->Vr = Vgr;
 			}
 		}
 		/************************************/

src/utils.c

@@ -5,6 +5,7 @@
 #include "utils.h"
 #include "tlgraphics.h"
 #include "types.h"
+#include "vehicle.h"
 
 /* copy int elements from source to destination */
 void cpyPnts(int *source, int *destination, const int N) {
@@ -47,3 +48,10 @@ void checkWhosOut(int *r, vehicle_t *c, rt_task_par_t *p) {
 }
 
 
+void task_createTrafficLight(tl_manager_arg *man_arg, rt_task_par_t *tl_manager_par, int period, int deadline, int prioriti) {
+	task_create(&tl_init, &tl_manager, NULL, man_arg, tl_manager_par, period, deadline, prioriti);
+}
+
+void task_createVehicle(vehicle_t *cars, rt_task_par_t *carsPrms, int period, int deadline, int prioriti){
+	task_create(initVehicle, moveVehicle, termVehicle, cars, carsPrms, period, deadline, prioriti);
+}