example2.tex

\begin{uppaalcode}[caption={Heavily customized listing.},
  label={lst:example2},
  captionpos=b, % put caption at the bottom of the listing
  float, % make it "float", prevents page-breaks in listing
  frame=shadowbox, rulesepcolor=\color{lightgray},
  numbers=left,numberstyle=\tiny,numbersep=3mm,
  xleftmargin=5mm]
int lIZERO = 0;   // note the characters l, I, 0 and O
int distance = 5; // approximated distance between cars
int velocityEgo, velocityFront; /* approximated velocities */
int accelerationEgo, accelerationFront; /** acceleration */
void updateDiscrete() {
    int velNew, velOld = velocityFront - velocityEgo;
    velocityEgo = velocityEgo + accelerationEgo;
    velocityFront = velocityFront + accelerationFront;
    velNew = velocityFront - velocityEgo;
    if (distance > maxSensorDistance) {
        distance = maxSensorDistance + 1;
    } else { // $d \approx \sum_i \frac{v_i+v_{i+1}}{2}\Delta t$
        distance += (velOld + velNew)/2;
    }
}
\end{uppaalcode}