Revision 1966
Added test map data encoding to intersectData.c. Fixe a whole bunch of stuff so
that at least this traffic_navigation compiles without warnings. Symlinked to
needed files in linefollow. Changed function declaration style. Added
delclaration of read_line to analog.h. You're welcome. Fixed several #includes.
You're all welcome.
| intersectData.c | ||
|---|---|---|
| 1 | 1 |
#include "intersectData.h" |
| 2 |
#include "lineDrive.h" |
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| 2 |
#include "../linefollowing/lineDrive.h"
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| 3 | 3 |
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int NodeData[NUM_FEATURES]; |
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| 4 | 6 |
/* |
| 5 | 7 |
* This function serves to make the code for the intersection database |
| 6 | 8 |
* as reuseable as possible. This part creates the implementation of the |
| ... | ... | |
| 10 | 12 |
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| 11 | 13 |
// Does nothing if your indmax is out of bounds. |
| 12 | 14 |
void insertNode(int key, int featureid, int intersect_num, int node_type, int node_info){
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if(key < NUM_FEATURES)
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NodeData[key] = (featureid<<12) + (intersect_num<<5) + (node_type<<2) + node_info;
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return;
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if(key < NUM_FEATURES)
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NodeData[key] = (featureid<<12) + (intersect_num<<5) + (node_type<<2) + node_info;
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return;
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| 16 | 18 |
} |
| 17 | 19 |
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| 18 | 20 |
void insertIntersection(int key, int intersect_num, int node_type, int intersection_position){
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if(key < NUM_FEATURES)
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NodeData[key] = (INTERSECTION_NODE<<12) + (intersect_num<<5) + (node_type<<2)
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+ intersection_position;
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return;
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if(key < NUM_FEATURES)
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NodeData[key] = (INTERSECTION_NODE<<12) + (intersect_num<<5) + (node_type<<2)
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+ intersection_position;
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return;
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| 23 | 25 |
} |
| 24 | 26 |
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| 25 | 27 |
void insertRoad(int key, int intersect_num, int node_type, int road_type){
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if(key < NUM_FEATURES)
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NodeData[key] = (ROAD_NODE<<12) + (intersect_num<<5) + (node_type<<2) + road_type;
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return;
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if(key < NUM_FEATURES)
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NodeData[key] = (ROAD_NODE<<12) + (intersect_num<<5) + (node_type<<2) + road_type;
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return;
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} |
| 30 | 32 |
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/* |
| ... | ... | |
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* only one that needs to be rewritten for ech map. |
| 35 | 37 |
* |
| 36 | 38 |
*/ |
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/**********************************************************************NEEDS TO BE FIXED*/ |
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| 38 | 39 |
void initializeData(){
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//insert all intersections that are in the map. |
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//THIS DATA FOR THE DEMO MAP |
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/* insertNode(0, INTERSECTION_NODE, DOUBLE_C, TMIDDLE); |
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insertNode(1, ROAD_NODE, ROAD, ROAD_SINGLE); |
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insertNode(2, INTERSECTION_NODE, DOUBLE_C, TMIDDLE); |
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insertNode(4,ROAD_NODE,ROAD,HIGHWAY); |
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insertNode(5,INTERSECTION_NODE,DOUBLE_C,TMIDDLE); |
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insertNode(8,ROAD_NODE,ROAD,ROAD_SINGLE); |
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insertNode(10,ROAD_NODE,ROAD,ROAD_SINGLE); |
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insertNode(16,INTERSECTION_NODE,DOUBLE_C, TMIDDLE); |
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*/ return; |
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//insert all intersections that are in the map. |
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//THIS DATA FOR THE DEMO MAP |
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insertIntersection(0, 1, SINGLE, SACROSS); |
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insertIntersection(1, 1, SINGLE, SUP); |
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insertIntersection(2, 2, SINGLE, SUP); |
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insertIntersection(3, 2, SINGLE, SACROSS); |
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insertIntersection(4, 3, DOUBLE_C, CLEFT); |
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insertIntersection(5, 3, DOUBLE_C, CTOP); |
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insertIntersection(6, 3, DOUBLE_C, CRIGHT); |
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insertIntersection(7, 3, DOUBLE_C, CBOT); |
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insertIntersection(8, 5, DOUBLE_T, TLEFT); |
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insertIntersection(9, 5, DOUBLE_T, TMIDDLE); |
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insertIntersection(10, 5, DOUBLE_T, TRIGHT); |
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insertIntersection(11, 6, ON_RAMP, R_LEFT); |
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insertIntersection(12, 6, ON_RAMP, R_RAMP); |
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insertIntersection(13, 6, ON_RAMP, R_RIGHT); |
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insertIntersection(14, 4, OFF_RAMP, R_RIGHT); |
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insertIntersection(15, 4, OFF_RAMP, R_RAMP); |
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insertIntersection(16, 4, OFF_RAMP, R_LEFT); |
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return; |
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| 50 | 60 |
} |
| 51 | 61 |
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| 52 | 62 |
// Functions to get data from the Database: |
| 53 | 63 |
|
| 54 | 64 |
int getFeatureId(int key) |
| 55 | 65 |
{
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if(key < NUM_FEATURES)
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return (NodeData[key]>>12)&15;
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else return -1;
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if(key < NUM_FEATURES)
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return (NodeData[key]>>12)&15;
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else return -1;
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| 59 | 69 |
} |
| 60 | 70 |
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| 61 | 71 |
int getIntersectType(int key){
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key]>>2)&7;
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else return -1;
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key]>>2)&7;
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else return -1;
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| 65 | 75 |
} |
| 66 | 76 |
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| 67 | 77 |
int getIntersectPos(int key){
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key])&3;
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else return -1;
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key])&3;
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else return -1;
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| 71 | 81 |
} |
| 72 | 82 |
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| 73 | 83 |
int getRoadType(int key){
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if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
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return (NodeData[key]>>2)&7;
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else return -1;
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if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
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return (NodeData[key]>>2)&7;
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else return -1;
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| 77 | 87 |
} |
| 78 | 88 |
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| 79 | 89 |
int getRoadInfo(int key){
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if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
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return (NodeData[key])&3;
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else return -1;
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if(key < NUM_FEATURES && getFeatureId(key) == ROAD_NODE)
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return (NodeData[key])&3;
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else return -1;
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| 83 | 93 |
} |
| 84 | 94 |
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int getIntersectNum(int key){
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key]>>5)&127;
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else return -1;
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if(key < NUM_FEATURES && getFeatureId(key) == INTERSECTION_NODE)
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return (NodeData[key]>>5)&127;
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else return -1;
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| 89 | 99 |
} |
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