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.h | ||
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#ifndef _NODE_DATABASE_ |
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#define _NODE_DATABASE_ |
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#define NUM_FEATURES 8
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#define NUM_FEATURES 17
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/**************************** |
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* Node Information: 5-bit Integer |
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* 3 bits of node type
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* 2 bits of entry information
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*
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* 3 bits of node type
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* 2 bits of entry information
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*
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* Intersection Number stored in bits 6-12. |
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* |
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* Also contains a "feature id": 4 bits in positions 13,14,15,16 |
| ... | ... | |
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* Feature TYPES: |
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* |
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********************************/ |
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#define INTERSECTION_NODE 0
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#define ROAD_NODE 1
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#define MAPPING_MARKER NUM_FEATURES
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#define INTERSECTION_NODE 0
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#define ROAD_NODE 1
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#define MAPPING_MARKER NUM_FEATURES
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//Used when mapping to signify return to previously visited intersection while driving on the wrong side of the road. |
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/******************************** |
| ... | ... | |
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* OFF_RAMP 2 |
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* DOUBLE_C 3 |
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* DOUBLE_T 4 |
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* ROAD 5
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* ROAD 5
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* |
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********************************/ |
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/******************************** |
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* Turn TYPES: |
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* |
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* ISTRAIGHT 0
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* ILEFT 1
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* IRIGHT 2
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* IUTURN 3
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* ISTRAIGHT 0
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* ILEFT 1
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* IRIGHT 2
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* IUTURN 3
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* |
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********************************/ |
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|
| ... | ... | |
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* Road TYPES: |
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* |
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********************************/ |
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#define ROAD_DOUBLE 0
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#define ROAD_SINGLE 1
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#define HIGHWAY 2
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#define ROAD_DOUBLE 0
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#define ROAD_SINGLE 1
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#define HIGHWAY 2
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/******************************** |
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* Intersection ENTRYPOINTS: |
| ... | ... | |
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//DOUBLE_C intersection (Cross Intersection) positions |
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/* |
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CTOP
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CTOP
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CLEFT=======CRIGHT |
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CBOT
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CBOT
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*/ |
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#define CTOP 0 |
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#define CRIGHT 1 |
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#define CBOT 2 |
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#define CLEFT 3 |
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#define CTOP 0
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#define CRIGHT 1
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#define CBOT 2
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#define CLEFT 3
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//DOUBLE_T intersection (T-Junction) positions |
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/* |
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TLEFT=======TRIGHT |
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TMIDDLE
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TMIDDLE
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*/ |
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#define TLEFT 0
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#define TRIGHT 1
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#define TMIDDLE 2
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#define TLEFT 0
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#define TRIGHT 1
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#define TMIDDLE 2
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//SINGLE intersection positions |
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/* |
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/\
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/||\
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/\
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/||\
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SACROSS==========> |
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SUP
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SUP
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*/ |
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#define SACROSS 0
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#define SUP 1
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#define SACROSS 0
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#define SUP 1
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//ON_RAMP and OFF_RAMP intersection positions |
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/* |
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R_LEFT================R_RIGHT |
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R_RAMP
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R_RAMP
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*/ |
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#define R_LEFT 0
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#define R_RIGHT 1
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#define R_RAMP 2
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#define R_LEFT 0
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#define R_RIGHT 1
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#define R_RAMP 2
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// Global variable for the intersection database. |
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int NodeData[NUM_FEATURES]; |
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extern int NodeData[NUM_FEATURES];
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void initializeData(); |
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void initializeData(void);
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// Functions to get data from the Database: |
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int getFeatureId(int key); //Returns value in Feature TYPES (see above) |
Also available in: Unified diff