/* -*- Mode: Text -*- */

/********************************************************************\
* File: source_grid.hs                                               *
* Date: 11/28/1997                                                   *
* Author: Cem Unsal                                                  *
*         Robotics Institute, Carnegie-Mellon University             *
*         unsal@ri.cmu.edu                                           *
*                                                                    *
* Description:                                                       *
* Vehicle Source with updates for grid cell definitions.             *
* Adapted from Smart-AHS (ver. 0.6) file 'source.hs'.                *
*                                                                    * 
* External C functions: <none>                                       *
*                                                                    *
* This file is distributed under the conditions described in the     *
* file 'CONDITIONS' which should accompany this file.                *
*                                                                    *
* This file must also be accompanied by the file 'UCBCOPY'.          *
\********************************************************************/
  
#ifndef SAHS_SOURCE_HS
#define SAHS_SOURCE_HS

type Source
{
        output  number gxp;          // vehicle's global x position
                number gyp;          // vehicle's global y position
                number gzp;          // vehicle's global z position
                Section section;     // vehicle's section
                Segment segment;     // vehicle's segment
                Lane   lane;         // vehicle's lane
                number rxp;          // vehicle's road x position
                number ryp;          // vehicle's road y position
                number rzp;          // vehicle's road z position
                number lyp;          // vehicle's lane y position
                number vgam11;       // vehicle to global alignment matrix
                number vgam12;
                number vgam13;
                number vgam21;
                number vgam22;
                number vgam23;
                number vgam31;
                number vgam32;
                number vgam33;

        Cell scell;
                
        state   number period;
                continuous number duration;
                number vehiclesToCreate;
                Vehicle new_av;
                CellCreator mycc;

        export        newVehicle;

        discrete idle, start {duration' = 1;};

        setup
          do
          {
            mycc := ccc;
          };

        transition
          idle -> start {mycc:finished}
          // To make sure that all cells are created.
            define
            {
              set(Cell) candidates
                    := {cc : cc in Cells
                           | x(cc) <= gxp and x(cc)+cs(cc) > gxp and
                             y(cc) <= gyp and y(cc)+cs(cc) > gyp}; 
            }
            do
            {
               scell := minel c in candidates : 1;
            },

           start -> start {newVehicle}
           when duration >= period and vehiclesToCreate > 0
             define
             {
               Vehicle tnew_av := create(Vehicle, source := self); 
             }
             do
             {
               duration := 0;
               vehiclesToCreate := vehiclesToCreate - 1;
               new_av := tnew_av;
               vset(scell) := vset(scell) + {tnew_av};
             };
}

#endif // SAHS_SOURCE_HS