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gen_Car.erl
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gen_Car.erl
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-module(gen_Car).
-behaviour(gen_fsm).
%% API
-export([start/7]).
%% gen_fsm callbacks
-export([init/1, move/2, handle_info/3, terminate/3, wait/2, stop/2,
code_change/4, handle_sync_event/4, handle_event/3]).
%% defines
-define(IM_SERVER, '[email protected]').
-define(IM_MODULE, gen_IM).
-define(ReRequest, 150).
-define(Car_Space,60).
-define(Car_Speed,3).
%%%===================================================================
%%% API
%%%===================================================================
%%%@doc Mode - after_t/before, 1/Speed - ms/Pixel
start({X_Start_Axis,Y_Start_Axis},{X_Dest_Axis,Y_Dest_Axis},Speed,Mode,RM_Direction,RM_PID,Color) ->
gen_fsm:start(?MODULE, [{X_Start_Axis,Y_Start_Axis},{X_Dest_Axis,Y_Dest_Axis},(Speed div ?Car_Speed),Mode,RM_Direction,RM_PID,Color], []).
%%%===================================================================
%%% gen_fsm callbacks
%%%===================================================================
init([{X_Start_Axis,Y_Start_Axis},{X_Dest_Axis,Y_Dest_Axis},Speed,Mode,RM_Direction,RM_PID,Color]) ->
X_Axis = X_Start_Axis,Y_Axis = Y_Start_Axis,
X_Stop_Axis = false,Y_Stop_Axis = false, %Stop_Flag = false
RM_PID!{rm,update,location,{X_Axis,Y_Axis},self()}, %Update Location to RM
%io:format("->~p~n",[{rm,update,location,{X_Axis,Y_Axis},self()}]),
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
{ok, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}.
handle_event(stop, _StateName, StateData) ->
{stop, shutdown, StateData};
handle_event(_Event, StateName, State) ->
{next_state, StateName, State}.
handle_sync_event(_Event, _From, StateName, State) ->
Reply = ok,
{reply, Reply, StateName, State}.
code_change(_OldVsn, StateName, State, _Extra) ->
{ok, StateName, State}.
terminate(_Reason, _StateName, _State) ->
ok.
%%%===================================================================
%%% gen_fsm States
%%%===================================================================
move({timeout,const},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
if
(X_Axis < X_Dest_Axis) -> X_New_Axis = X_Axis + 1; %move toward Destination on X_Axis
(X_Axis > X_Dest_Axis) -> X_New_Axis = X_Axis - 1;
true -> X_New_Axis = X_Axis
end,
if
(Y_Axis < Y_Dest_Axis) -> Y_New_Axis = Y_Axis + 1; %move toward Destination on Y_Axis
(Y_Axis > Y_Dest_Axis) -> Y_New_Axis = Y_Axis - 1;
true -> Y_New_Axis = Y_Axis
end,
case (abs((X_Dest_Axis - X_New_Axis)+(Y_Dest_Axis-Y_New_Axis)) rem ?Car_Speed) of
0 ->
RM_PID!{rm,update,location,{X_Axis,Y_Axis},self()}; %Update Location to RM
%io:format("->~p~n",[{rm,update,location,{X_Axis,Y_Axis},self()}]),
_ ->
ok
end,
case {X_Stop_Axis,Y_Stop_Axis} of
{false,false} ->
if
((X_New_Axis == X_Dest_Axis) and (Y_New_Axis == Y_Dest_Axis)) ->
if
(Mode == before) ->
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
%io:format("->~p~n",[{rm,request,rear_car_pid,self()}]),
case RM_Direction of west -> Deg = 0;east -> Deg = 180;north -> Deg = 270;south -> Deg = 90 end,
{im_server,?IM_SERVER}!{im,request,{X_New_Axis,Y_New_Axis,Deg,Color,RM_Direction},self()}, %Send request to IM
%io:format("->~p~n",[{im,request,{X_New_Axis,Y_New_Axis},self()}]),
{next_state, wait, {X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,noCar,Color}};
true ->
RM_PID!{rm,update,term,self()}, %Send terminate update RM
%io:format("->~p~n",[{rm,update,term,self()}]),
gen_fsm:send_all_state_event(self(), stop), %Terminating
{next_state, stop, {X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,noCar,Color}}
end;
true ->
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
{next_state, move, {X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}
end;
_Else ->
if
((X_New_Axis == X_Stop_Axis) and (Y_New_Axis == Y_Stop_Axis)) ->
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
%io:format("->~p~n",[{rm,request,rear_car_pid,self()}]),
{next_state, stop, {X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,noCar,Color}};
true ->
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
{next_state, move, {X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}
end
end;
move({car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,_,_,Speed,Mode,RM_Direction,RM_PID,Color}) ->
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_New_Stop_Axis,Y_New_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}; %Updating Stop Location
move({car,update,continue},{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,_,_,Speed,Mode,RM_Direction,RM_PID,Color}) ->
{next_state, move,{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,false,false,Speed,Mode,RM_Direction,RM_PID,Color}}; %Disabling Stop Location
move({car,rear_car_pid, Rear_Car_PID},{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) -> %Updating rear car
if
(Rear_Car_PID == noCar) ->
{next_state, move,{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
true ->
Rear_Car_PID!{car,update,continue}, %letting rear car to continue
%io:format("->~p~n",[{car,update,continue}]),
{next_state, move,{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}
end;
move({timeout,exp},{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
{next_state, move,{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}; %Ignoring
move({car,terminate},{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_all_state_event(self(), stop), %Terminating
{next_state, move,{X_New_Axis,Y_New_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}.
%%%//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
wait({car,rear_car_pid, Rear_Car_PID},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,_,Color}) ->
case Rear_Car_PID of
noCar ->
Self = self(), spawn(fun() -> timer(exp,?ReRequest,Self) end), %for checking if new car has generated
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,noCar,Color}};
_Else ->
case RM_Direction of %determine space from car
west -> Space_X = -?Car_Space,Space_Y = 0;
east -> Space_X = ?Car_Space,Space_Y = 0;
north -> Space_X = 0,Space_Y = -?Car_Space;
south -> Space_X = 0,Space_Y = ?Car_Space
end,
Rear_Car_PID!{car,update,stop, {X_Axis + Space_X,Y_Axis + Space_Y}}, %Sending stop location to rear car
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}
end;
wait({timeout,exp},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
RM_Direction,RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
%io:format("->~p~n",[{rm,request,rear_car_pid,self()}]),
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
wait({car,approved},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
if
(Rear_Car_PID =/= noCar) ->
Rear_Car_PID!{car,update,continue}, %letting rear car to continue
%io:format("->~p~n",[{car,update,continue}]),
RM_PID!{rm,update,departure,self()}, %Notifying departure to RM
%io:format("->~p~n",[{rm,update,departure,self()}]),
gen_fsm:send_all_state_event(self(), stop); %Terminating
true ->
RM_PID!{rm,update,departure,self()}, %Notifying departure to RM
%io:format("->~p~n",[{rm,update,departure,self()}]),
gen_fsm:send_all_state_event(self(), stop) %Terminating
end,
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
wait({car,terminate},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_all_state_event(self(), stop), %Terminating
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}.
%%%//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
stop({car,rear_car_pid, Rear_Car_PID},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,_,Color}) ->
case Rear_Car_PID of
noCar ->
Self = self(), spawn(fun() -> timer(exp,?ReRequest,Self) end), %for checking if new car has generated
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,noCar,Color}};
_Else ->
case RM_Direction of %determine space from car
west -> Space_X = -?Car_Space,Space_Y = 0;
east -> Space_X = ?Car_Space,Space_Y = 0;
north -> Space_X = 0,Space_Y = -?Car_Space;
south -> Space_X = 0,Space_Y = ?Car_Space
end,
Rear_Car_PID!{car,update,stop,{X_Axis + Space_X,Y_Axis + Space_Y}}, %Sending stop location to rear car
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}
end;
stop({timeout,exp},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
%io:format("->~p~n",[{rm,request,rear_car_pid,self()}]),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
stop({car,update,continue},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,_,_,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
timer:sleep(200), %Human Delay
if
(Rear_Car_PID =/= noCar) ->
Rear_Car_PID!{car,update,continue}, %letting rear car to continue
%io:format("->~p~n",[{car,update,continue}]),
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,false,false,Speed,Mode,RM_Direction,RM_PID,Color}};
true ->
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,false,false,Speed,Mode,RM_Direction,RM_PID,Color}}
end;
stop({car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
if
((X_New_Stop_Axis =/= X_Stop_Axis) or (Y_New_Stop_Axis =/= Y_Stop_Axis)) ->
if
(Rear_Car_PID =/= noCar) ->
Rear_Car_PID!{car,update,continue}, %letting rear car to continue
%io:format("->~p~n",[{car,update,continue}]),
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_New_Stop_Axis,Y_New_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
true ->
Self = self(), spawn(fun() -> timer(const,Speed,Self) end), %Setting timeout-timer for movemnt
RM_PID!{rm,request,rear_car_pid,self()}, %request RM for rear car pid
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_New_Stop_Axis,Y_New_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}}
end;
true ->
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_New_Stop_Axis,Y_New_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}
end;
stop({car,terminate},{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_all_state_event(self(), stop), %Terminating
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}.
%%%===================================================================
%%% gen_fsm External Events
%%%===================================================================
handle_info({timeout,const}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(), {timeout,const}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(), {car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({timeout,exp}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(), {timeout,exp}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({car,terminate}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(), {car,terminate}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({car,update,continue}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(), {car,update,continue}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({car,rear_car_pid, Rear_Car_PID}, move,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}) ->
gen_fsm:send_event(self(),{car,rear_car_pid, Rear_Car_PID}),
{next_state, move, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Color}};
handle_info({car,rear_car_pid, Rear_Car_PID}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,_,Color}) ->
gen_fsm:send_event(self(), {car,rear_car_pid, Rear_Car_PID}),
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({timeout,exp}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {timeout,exp}),
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,approved}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {car,approved}),
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,terminate}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {car,terminate}),
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,update,stop,{_,_}}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}; %Ignor
handle_info({car,update,continue}, wait,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
{next_state, wait, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}; %Ignor
handle_info({car,rear_car_pid, Rear_Car_PID}, stop,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,_,Color}) ->
gen_fsm:send_event(self(), {car,rear_car_pid, Rear_Car_PID}),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({timeout,exp}, stop,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {timeout,exp}),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,update,continue}, stop,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {car,update,continue}),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}}, stop,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {car,update,stop,{X_New_Stop_Axis,Y_New_Stop_Axis}}),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}};
handle_info({car,terminate}, stop,{X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}) ->
gen_fsm:send_event(self(), {car,terminate}),
{next_state, stop, {X_Axis,Y_Axis,X_Dest_Axis,Y_Dest_Axis,X_Stop_Axis,Y_Stop_Axis,Speed,Mode,RM_Direction,RM_PID,Rear_Car_PID,Color}}.
%%%===================================================================
%%% Internal functions
%%%===================================================================
timer(Mode,Par,PID) ->
receive
{cancel} -> ok
after Par -> PID!{timeout,Mode}
end.
%%%===================================================================
%%% Debug
%%%===================================================================
%{ok,PID} = gen_Car:start({0,0}, {200,200}, 100, before, self()).
%PID!{car,rear_car_pid,noCar}.
%PID!{car,approved}.
%PID!{car,update,stop,{150,150}}.
%PID!{car,update,continue}.
%PID!{car,terminate}.
%process_info(PID).