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Revision 1908

Added by Priyanka Deo over 13 years ago

reorganized stuff in intersectData. made new function getTurningIntersect
that can be used to input directly into dan's code. made new functions to get
information about road nodes stored int he intersection database. eventually
should convert it to the node database.

View differences:

trunk/code/projects/traffic_navigation/intersectData.h
10 10 
 * Also contains a "feature id": 4 bits in positions 13,14,15,16
11 11 
 *
12 12 
 ****************************/
13 

  		




  13
  14
  
    
 


  		




  14
  15
  
    
 /********************************


  		




  
  16
  
    
 *  Feature TYPES:


  		




  
  17
  
    
 *


  		




  
  18
  
    
 ********************************/


  		




  
  19
  
    
#define INTERSECTION_NODE	(0 << 12)


  		




  
  20
  
    
#define ROAD_NODE		(1 << 12)


  		




  
  21
  
    
 


  		




  
  22
  
    
 /********************************


  		




  15
  23
  
    
 *  Intersection TYPES:


  		




  16
  24
  
    
 *


  		




  17
  25
  
    
 ********************************/


  		




  ......




  22
  30
  
    
#define INTERSECTION_OFF_RAMP 	(2 << 2)


  		




  23
  31
  
    
#define INTERSECTION_DOUBLE_C	(3 << 2)


  		




  24
  32
  
    
#define INTERSECTION_DOUBLE_T	(4 << 2)


  		




  25
  
  
    
#define INTERSECTION_ROAD	(5 << 2) /*placeholder for all roads atm, until we come up with a better solution */


  		




  
  33
  
    
#define ROAD			(5 << 2) /*placeholder for all roads atm, until we come up with a better solution */


  		




  26
  34
  
    

  		




  27
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 /********************************


  		




  
  36
  
    
 *  Intersection Types in lineDrive.h:


  		




  
  37
  
    
 *


  		




  
  38
  
    
 ********************************/


  		




  
  39
  
    
#define DOUBLE		0


  		




  
  40
  
    
#define SINGLE		1


  		




  
  41
  
    
#define ON_RAMP		2


  		




  
  42
  
    
#define OFF_RAMP	3


  		




  
  43
  
    

  		




  
  44
  
    
 /********************************


  		




  28
  45
  
    
 *  Turn TYPES:


  		




  29
  46
  
    
 *


  		




  30
  47
  
    
 ********************************/


  		




  ......




  34
  51
  
    
#define IRIGHT		2


  		




  35
  52
  
    
#define IUTURN		3


  		




  36
  53
  
    

  		




  
  54
  
    
 /********************************


  		




  
  55
  
    
 *  Road TYPES:


  		




  
  56
  
    
 *


  		




  
  57
  
    
 ********************************/


  		




  
  58
  
    
#define ROAD_DOUBLE	0


  		




  
  59
  
    
#define ROAD_SINGLE	1


  		




  
  60
  
    
#define HIGHWAY		2


  		




  37
  61
  
    

  		




  38
  62
  
    
/********************************


  		




  39
  63
  
    
 *  Intersection ENTRYPOINTS:


  		




  ......




  86
  110
  
    
int IntersectData[NUM_FEATURES];


  		




  87
  111
  
    

  		




  88
  112
  
    
void initializeData();


  		




  89
  
  
    
void insertIntersection(int key, int featureid, int intersect_type, int intersect_position);


  		




  
  113
  
    
void insertNode(int key, int featureid, int node_type, int node_info);


  		




  90
  114
  
    

  		




  91
  115
  
    
// Functions to get data from the Database:


  		




  92
  
  
    
int getIntersectType(int entry);


  		




  93
  
  
    
int getIntersectPos(int entry);


  		




  94
  
  
    
int getFeatureId(int entry);


  		




  
  116
  
    
int getIntersectType(int key);


  		




  
  117
  
    
int getTurningIntersect(int key);


  		




  
  118
  
    
int getIntersectPos(int key);


  		




  
  119
  
    
int getFeatureId(int key);


  		




  95
  120
  
    
int getTurnIntType(int intersectiontype);


  		




  
  121
  
    
int getRoadType(int key);


  		




  
  122
  
    
int getRoadInfo(int key);


  		




  96
  123
  
    

  		




  97
  124
  
    
#endif


  		












  

    
      trunk/code/projects/traffic_navigation/main.c
    
  





  226
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	//Code to choose path through intersection goes in this while loop


  		




  227
  227
  
    
	//But here's the code to handle wireless while in the intersection...


  		




  228
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	start();


  		




  229
  
  
    
	turn(getTurnIntType(getIntersectType(0)), turnDir);


  		




  
  229
  
    
	turn(getTurningIntersect(0), turnDir);


  		




  230
  230
  
    
	while(doDrive(200) != FINISHED){


  		




  231
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		dataLength = 0;


  		




  232
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		packet = NULL;


  		












  

    
      trunk/code/projects/traffic_navigation/intersectData.c
    
  





  11
  11
  
    
	//insert all intersections that are in the map.


  		




  12
  12
  
    
	//THIS DATA FOR THE DEMO MAP


  		




  13
  13
  
    
	


  		




  14
  
  
    
	insertIntersection(0, 0, INTERSECTION_DOUBLE_C, TMIDDLE);


  		




  15
  
  
    
	insertIntersection(1, 1, INTERSECTION_ROAD, TMIDDLE);


  		




  16
  
  
    
	insertIntersection(2, 2, INTERSECTION_ROAD, TMIDDLE);


  		




  17
  
  
    
	insertIntersection(3, 3, INTERSECTION_ROAD, TMIDDLE);


  		




  18
  
  
    
	insertIntersection(4, 4, INTERSECTION_ROAD, TMIDDLE);


  		




  
  14
  
    
	insertNode(0, INTERSECTION_NODE, INTERSECTION_DOUBLE_C, TMIDDLE);


  		




  
  15
  
    
	insertNode(1, ROAD_NODE, ROAD, ROAD_DOUBLE);


  		




  
  16
  
    
	insertNode(2, ROAD_NODE, ROAD, ROAD_DOUBLE);


  		




  
  17
  
    
	insertNode(3, ROAD_NODE, ROAD, ROAD_DOUBLE);


  		




  
  18
  
    
	insertNode(4, ROAD_NODE, ROAD, ROAD_DOUBLE);


  		




  19
  19
  
    
	return;


  		




  20
  20
  
    
}


  		




  21
  21
  
    

  		




  ......




  28
  28
  
    

  		




  29
  29
  
    

  		




  30
  30
  
    
// Does nothing if your indmaex is out of bounds.


  		




  31
  
  
    
void insertIntersection(int key, int featureid, int intersect_type, int intersect_position){


  		




  
  31
  
    
void insertNode(int key, int featureid, int node_type, int node_info){


  		




  32
  32
  
    
//	if (key < sizeof(IntersectData)/sizeof(int))


  		




  33
  33
  
    
	if(key < NUM_FEATURES)


  		




  34
  
  
    
	  IntersectData[key] = (featureid << 12) + intersect_type + intersect_position;


  		




  
  34
  
    
	  IntersectData[key] = featureid + node_type + node_info;


  		




  35
  35
  
    
	return;


  		




  36
  36
  
    
}


  		




  37
  37
  
    

  		




  38
  38
  
    
// Functions to get data from the Database:


  		




  39
  39
  
    
//@TODO:Add some checks to make sure the key is less than NUM_FEATURES


  		




  40
  40
  
    
//	also: figure out what to do when this happens.


  		




  
  41
  
    
//	Add checks to see if we call getIntersect...() on intersections


  		




  
  42
  
    
//	and getRoad...() on roads.


  		




  41
  43
  
    

  		




  42
  44
  
    
int getIntersectType(int key){


  		




  43
  45
  
    
	return (IntersectData[key])&28; // 28 == 11100;


  		




  44
  46
  
    
}


  		




  45
  47
  
    

  		




  46
  
  
    
int getIntersectPos(int key){


  		




  47
  
  
    
	return (IntersectData[key])&3;


  		




  48
  
  
    
}


  		




  49
  
  
    
int getFeatureId(int key)


  		




  50
  
  
    
{


  		




  51
  
  
    
	return (IntersectData[key] >> 12)&0xF;


  		




  52
  
  
    
}


  		




  53
  
  
    
#include "lineDrive.h"


  		




  54
  
  
    
int getTurnIntType(int intersectiontype)


  		




  55
  
  
    
{


  		




  56
  
  
    
	switch(intersectiontype)


  		




  
  48
  
    
int getTurningIntersect(int key){


  		




  
  49
  
    
	switch(getIntersectType(key))


  		




  57
  50
  
    
	{


  		




  58
  51
  
    
		case INTERSECTION_SINGLE:


  		




  59
  52
  
    
			return SINGLE;


  		




  ......




  65
  58
  
    
		case INTERSECTION_OFF_RAMP:


  		




  66
  59
  
    
			return OFF_RAMP;


  		




  67
  60
  
    
	}


  		




  
  61
  
    
}


  		




  68
  62
  
    

  		




  
  63
  
    
int getIntersectPos(int key){


  		




  
  64
  
    
	return (IntersectData[key])&3;


  		




  69
  65
  
    
}


  		




  
  66
  
    
int getFeatureId(int key)


  		




  
  67
  
    
{


  		




  
  68
  
    
	return (IntersectData[key])&61440;  // 61220 == (15<<12);


  		




  
  69
  
    
}


  		




  
  70
  
    
int getRoadType(int key){


  		




  
  71
  
    
	return (IntersectData[key])&28;  // 28 == 11100;


  		




  
  72
  
    
}


  		




  
  73
  
    
int getRoadInfo(int key){


  		




  
  74
  
    
	return (IntersectData[key])&3;


  		




  
  75
  
    
}


  		




  
  76
  
    

  		












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