Colony

#ifndef _NODE_DATABASE_

#define _NODE_DATABASE_

#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

 * 

 ****************************/

 /********************************

 *  Feature TYPES:

 *

 ********************************/

#define INTERSECTION_NODE        0

#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:

 *

 *

 *  SINGLE      0

 *  ON_RAMP     1

 *  OFF_RAMP    2

 *  DOUBLE_C    3

 *  DOUBLE_T    4

 *  ROAD                5

 * 

 ********************************/

 /********************************

 *  Turn TYPES:

 *  

 *  ISTRAIGHT        0

 *  ILEFT                1

 *  IRIGHT                2

 *  IUTURN                3

 *

 ********************************/

 /********************************

 *  Road TYPES:

 *

 ********************************/

#define ROAD_DOUBLE        0

#define ROAD_SINGLE        1

#define HIGHWAY                2

/********************************

 *  Intersection ENTRYPOINTS:

 *

 ********************************/

//DOUBLE_C intersection (Cross Intersection) positions

/*

        CTOP

        ||

        ||

        ||

CLEFT=======CRIGHT

        ||

        ||

        ||

        CBOT

*/

#define CTOP 0

#define CRIGHT 1

#define CBOT 2

#define CLEFT 3

//DOUBLE_T intersection (T-Junction) positions

/*

TLEFT=======TRIGHT

        ||

        ||

        ||

        TMIDDLE

*/

#define TLEFT                0                        

#define TRIGHT                1                        

#define TMIDDLE                2

//SINGLE intersection positions

/*

           /\

          /||\

           ||

SACROSS==========>

           ||

           ||

           ||

           SUP

*/

#define SACROSS                0

#define SUP                1

//ON_RAMP and OFF_RAMP intersection positions

/*

R_LEFT================R_RIGHT

            ||        

            ||

            ||

          R_RAMP

*/

#define R_LEFT                0

#define R_RIGHT                1

#define R_RAMP                2

// Global variable for the intersection database.

int NodeData[NUM_FEATURES];

void initializeData();

// Functions to get data from the Database:

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