Colony

#ifndef __INTERSECTION_MAPPING_H__

#define __INTERSECTION_MAPPING_H__

#include "intersectData.h"

/* Data is sent in the following order

 * INT0_NUM OUTEDGE_0 OUTEDGE_1 ... \n

 * INT1_NUM OUTEDGE_0 ... \n

 * ...

 * ...

 */

/* Representation of an edge (road) */

typedef struct {

        char to;        /* Where does this edge lead to? */

        char dist;        /* Where does it come from?        */

} edge;

/* Representation of an intersection on the graph */

typedef struct {

        char type;         /* Note that there are at most 5 intersection types */

        char intNum;        /* What is the intersection number */

        char numOut;        /* Note that we can have no more than 4 outgoing edges */

        char outSeen;        /* The number of the outgoing edges that we have seen for this intersection */

        edge outgoingEdges[4];

} node;

/* A union that is used in wireless transmissions */

typedef union  {

        node n;

        char array[12];

}node_union;

char driveToNextInt(void);

char createEdge(edge* newEdge, int type, int direction);

void initGraph(char* seen, char* seenout);

int createMap(void);

int getNumOut(int type);

int insertEdge(void);

int nextInt(void);

int encodeNode(node n);

void sendIntersectionGraph(void);

extern node intersections[NUM_FEATURES];

#endif