/ - Diff - Colony - Robotics Club

Revision 1958

Added by Priyanka Deo about 13 years ago

Added more functionality to database for mapping things.

     #ifndef _NODE_DATABASE_
     #define _NODE_DATABASE_
     #define NUM_FEATURES 5
     #define NUM_FEATURES 8
     /****************************
      * Node Information: 5-bit Integer
      * 	3 bits of node type
      * 	2 bits of entry information
+     *
      * Intersection Number stored in bits 6-12.
+     *
      * Also contains a "feature id": 4 bits in positions 13,14,15,16
+     *
-...
+     *
      ********************************/
     #define INTERSECTION_NODE	0
     #define ROAD_NODE		1
     #define ROAD_NODE			1
     #define MAPPING_MARKER		NUM_FEATURES
     //Used when mapping to signify return to previously visited intersection while driving on the wrong side of the road.
      /********************************
      *  Node TYPES:
-...
      *  OFF_RAMP    2
      *  DOUBLE_C    3
      *  DOUBLE_T    4
+     *
      *  ROAD		5
+     *
      ********************************/
      /********************************
      *  More Node TYPES:
+     *
      ********************************/
     #define ROAD	    5
     	/*placeholder for all roads atm, until we come up with a better solution */
      /********************************
      *  Turn TYPES:
+     *
      *  ISTRAIGHT		0
      *  ISTRAIGHT	0
      *  ILEFT		1
      *  IRIGHT		2
      *  IUTURN		3
-...
      ********************************/
     //DOUBLE_C intersection (Cross Intersection) positions
     //use T-Junction positions
     /*
     	CTOP
     	||
     	||
     	||
     CLEFT=======CRIGHT
     	||
     	||
     	||
     	CBOT
     */
     #define CTOP 0
     #define CRIGHT 1
     #define CBOT 2
     #define CLEFT 3
     //DOUBLE_T intersection (T-Junction) positions
     /*
-...
     int NodeData[NUM_FEATURES];
     void initializeData();
     void insertNode(int key, int featureid, int node_type, int node_info);
     void insertIntersection(int key, int intserction_type, int intersection_position);
     void insertRoad(int key, int node_type, int road_type);
     // Functions to get data from the Database:
     int getFeatureId(int key);
     int getIntersectType(int key);
     int getIntersectPos(int key);
     int getRoadType(int key);
     int getRoadInfo(int key);
     int getFeatureId(int key); //Returns value in Feature TYPES (see above)
     int getIntersectType(int key); //Returns value in Node TYPE (values 0-4) (see above)
     int getIntersectPos(int key); //Returns value in Intersect ENTRYPOINTS (see above)
     int getRoadType(int key);  //Returns value in Node TYPE (values 5) (see above)
     int getRoadInfo(int key);  //Returns value in Road TYPES (see above)
     int getIntersectNum(int key); //Returns number of intersection
     #endif

     /*
      * This function serves to make the code for the intersection database
      * as reuseable as possible. This part initializes the data and is the
      * only one that needs to be rewritten for each map.
+     *
      */
     void initializeData(){
     	//insert all intersections that are in the map.
     	//THIS DATA FOR THE DEMO MAP
     	insertNode(0, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(1, ROAD_NODE, ROAD, ROAD_SINGLE);
     	insertNode(2, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(4,ROAD_NODE,ROAD,HIGHWAY);
     	insertNode(5,INTERSECTION_NODE,DOUBLE_C,TMIDDLE);
     	insertNode(8,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(10,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(16,INTERSECTION_NODE,DOUBLE_C, TMIDDLE);
     	return;
+    }
     /*
      * This function serves to make the code for the intersection database
      * as reuseable as possible. This part creates the implementation of the
      * database that can be copied over for all projects.
+     *
      */
     // Does nothing if your indmax is out of bounds.
     void insertNode(int key, int featureid, int node_type, int node_info){
     //	if (key < sizeof(IntersectData)/sizeof(int))
     void insertNode(int key, int featureid, int intersect_num, int node_type, int node_info){
     	if(key < NUM_FEATURES)
     	  NodeData[key] = (featureid<<12) + (node_type<<2) + node_info;
     	  NodeData[key] = (featureid<<12) + (intersect_num<<5) + (node_type<<2) + node_info;
     	return;
+    }
     void insertIntersection(int key, int node_type, int intersection_position){
     void insertIntersection(int key, int intersect_num, int node_type, int intersection_position){
     	if(key < NUM_FEATURES)
     	   NodeData[key] = (INTERSECTION_NODE<<12) + (node_type<<2)
     	   NodeData[key] = (INTERSECTION_NODE<<12) + (intersect_num<<5) + (node_type<<2)
     	       + intersection_position;
     	return;
+    }
     void insertRoad(int key, int node_type, int road_type){
     void insertRoad(int key, int intersect_num, int node_type, int road_type){
     	if(key < NUM_FEATURES)
     	   NodeData[key] = (ROAD_NODE<<12) + (node_type<<2) + road_type;
     	   NodeData[key] = (ROAD_NODE<<12) + (intersect_num<<5) + (node_type<<2) + road_type;
     	return;
+    }
     /*
      * This function serves to make the code for the intersection database
      * as reuseable as possible. This part initializes the data and is the
      * only one that needs to be rewritten for ech map.
+     *
      */
     /**********************************************************************NEEDS TO BE FIXED*/
     void initializeData(){
     	//insert all intersections that are in the map.
     	//THIS DATA FOR THE DEMO MAP
     /*	insertNode(0, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(1, ROAD_NODE, ROAD, ROAD_SINGLE);
     	insertNode(2, INTERSECTION_NODE, DOUBLE_C, TMIDDLE);
     	insertNode(4,ROAD_NODE,ROAD,HIGHWAY);
     	insertNode(5,INTERSECTION_NODE,DOUBLE_C,TMIDDLE);
     	insertNode(8,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(10,ROAD_NODE,ROAD,ROAD_SINGLE);
     	insertNode(16,INTERSECTION_NODE,DOUBLE_C, TMIDDLE);
     */	return;
+    }
     // Functions to get data from the Database:
     //@TODO:Add some checks to make sure the key is less than NUM_FEATURES
     //	also: figure out what to do when this happens.
     //	Add checks to see if we call getIntersect...() on intersections
     //	and getRoad...() on roads.
     int getFeatureId(int key)
+    {
-...
     int getIntersectType(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     	  return (NodeData[key]>>2)&3;
     		return (NodeData[key]>>2)&7;
     	else return -1;
+    }
     int getIntersectPos(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     	  return (NodeData[key])&3;
     		return (NodeData[key])&3;
     	else return -1;
+    }
     int getRoadType(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
     	  return (NodeData[key]>>2)&3;
     		return (NodeData[key]>>2)&7;
     	else return -1;
+    }
     int getRoadInfo(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
     	  return (NodeData[key])&3;
     		return (NodeData[key])&3;
     	else return -1;
+    }
     int getIntersectNum(int key){
     	if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
     		return (NodeData[key]>>5)&127;
     	else return -1;
+    }

+     *
      */
     /******************************Random Num Gen Version of validTurns*/
     #define GET16(s)( ((s)&0x8000)>>16 ) /*gets the 16 bit*/
     #define GET14(s)( ((s)&0x2000)>>14 ) /*gets the 14thbit*/
     #define GET13(s)( ((s)&0x1000)>>13 ) /*you get the idea*/
     #define GET11(s)( ((s)&0x400)>>11 )
     #define CYCLES 10 /*the number of reseeds i perform before finally extracting my ranodm number*/
     #define SHIFT(s)( (s)<<1)
     #define RESEED(s)( (s)=( ( ((GET16(s)^GET14(s))^GET13(s))^GET11(s) ) | SHIFT(s) ) )/*reseeding the first bit of the number with bits from the number*/
     unsigned int seed = 0xC0FFEE;
     int randomNumGen(int max){
     	int a = 0;
     	int b = 0xBEEF;
     	seed++;
     	return seed%4;
+    }
     /******************************Random Num Gen Version of validTurns*/
     /*
     int randomNumGen(int max){
     	return rtc_get() % max;

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Revision 1958