Colony

#ifndef _NODE_DATABASE_

#define _NODE_DATABASE_

#define NUM_FEATURES 17

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

 * 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

//Used when mapping to signify return to previously visited intersection while driving on the wrong side of the road.

#define MAPPING_MARKER      NUM_FEATURES

// intersection number for unused and meaningless barcodes

#define UNUSED_INTER        0

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

 *  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.

extern int NodeData[NUM_FEATURES];

void initializeData(void);

// 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