[chore] projet structure
This commit is contained in:
Tiago Batista Cardoso
248
src/map.h
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248
src/map.h
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#ifndef MAP_H
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#define MAP_H
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#include <assert.h>
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#include <stdbool.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <SDL.h>
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#include "pervasives.h"
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#include "hept_ffi.h"
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#include "globals_types.h"
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#define MAX_ROAD_COUNT 50 /* maximum number of roads */
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#define MAX_WAYP_COUNT 50 /* maximum number of waypoints */
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#define MAX_TL_COUNT Globals__trafnum /* maximum number of traffic lights */
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#define MAX_STOP_COUNT 50 /* maximum number of stops */
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#define MAX_OBST_COUNT Globals__obstnum /* maximum number of obstacles */
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#define MAX_ITI_COUNT Globals__itinum /* maximum number of itinerary steps */
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/*
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* =========================================================================
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* Reference system
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* =========================================================================
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*/
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/** Size of the Carthesian space (in cm) */
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#define MIN_X 0
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#define MIN_Y 0
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#define MAX_X 600
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#define MAX_Y 300
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/** Precision of comparison between points */
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#define EPS 0.001
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/** Type of points used, in a Carthesian space */
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/** see @code{positionTy} in kcg_types.h */
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float toradian(float);
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/*
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* =========================================================================
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* Car size
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* =========================================================================
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*/
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/**
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* Car plan with o-point is the position of camera
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*
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* +---------------+
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* | SC |SB |
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* |----------o----| SA
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* | |SD |
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* +---------------+
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*
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* Dimensions defined as constants in kcg_const.h
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* #define SA (kcg_lit_float64(3.0))
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* #define SB (kcg_lit_float64(3.0))
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* #define SD (kcg_lit_float64(3.0))
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* #define SC (kcg_lit_float64(7.0))
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*/
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#define CAR_WIDTH (SB+SD)
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#define CAR_HALF_WIDTH SB
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/*
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* =========================================================================
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* Colors
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* =========================================================================
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*/
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/** Color type @code{colorTy} defined in @see{kcg_types.h} */
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/** True colors used
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* defined in @see{kcg_const.h} as constants of SCADE
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*
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* extern const colorTy AMBER;
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* extern const colorTy GRAY;
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* extern const colorTy CYAN;
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* extern const colorTy MAGENTA;
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* extern const colorTy YELLOW;
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* extern const colorTy BLUE;
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* extern const colorTy GREEN;
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* extern const colorTy RED;
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*/
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/** Symbolic colors used for road, points, etc */
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#define COL_ROADLINE Globals__blue
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#define COL_ROADLEFT Globals__cyan
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#define COL_ROADRIGHT Globals__magenta
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#define COL_WAYPOINT Globals__green
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#define COL_STOP Globals__red
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#define COL_OUT Globals__gray
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/** String colors used to print */
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#define STR_ROADLINE "blue"
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#define STR_ROADLEFT "cyan"
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#define STR_ROADRIGHT "magenta"
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#define STR_WAYPOINT "yellow"
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#define STR_STOP "red"
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#define STR_TLIGHT "orange"
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#define STR_OUT "gray"
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/*
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* =========================================================================
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* Road segments and points
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* =========================================================================
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*/
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/** Kind of road segments */
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typedef enum {
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RD_LINE_1 = 0, /* linear road, one direction */
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RD_LINE_2, /* linear road, two directions */
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RD_ARC, /* arc road, one direction */
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RD_OTHER /* INTERNAL USE ONLY */
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} road_kind_t;
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/** Dimensions used for road (in cm) */
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#define RD_SIZE_LINE 1.0
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#define RD_SIZE_LINE2 2.0
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#define RD_SIZE_HALF_WIDTH 10.0 /* 10.0 in simulator version */
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#define RD_SIZE_WAYPOINT 1.0 /* the size of the half of the ruban */
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#define RD_SIZE_STOP 1.0
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/** Dimensions for traffic lights (in cm) */
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#define TL_NUMBER 5
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#define TL_VIEW 50.0
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#define TL_COSDIR 0.5
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#define STP_AFTER 3.0
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/** Speeds */
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#define SPEED_MIN 20
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#define SPEED_MAX 40
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typedef Globals__phase phase_t;
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/** Road segment */
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typedef struct {
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road_kind_t kind; /* kind to select informations */
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Globals__color color; /* color used on the middle line */
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float dir_x, dir_y; /* direction vector/sense for line/arc (x) */
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int max_speed; /* maximal speed */
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union {
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struct { /* parameters for a linear road */
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Globals__position startp; /* on the middle line */
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Globals__position endp; /* on the middle line */
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} line;
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struct { /* parameters for a arc road */
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Globals__position center; /* the circle center */
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float radius; /* the circle radius (in cm) */
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float start_angle; /* start and stop angles */
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float end_angle;
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} arc;
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} u;
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} road_t;
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/** Waypoint used to consult the map */
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typedef struct {
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int road; /* road identifier */
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Globals__position position; /* on the middle line of the road */
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} waypoint_t;
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/** Stop point used to signal a traffic light */
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typedef struct {
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int road; /* road identifier */
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int sema; /* traffic light identifier */
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Globals__position position; /* on the middle line of a road */
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} stop_t;
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/** Traffic lights: added road reference to type
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* @code{paramTLTy_City} defined in @see{kcg_tpes.h} */
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typedef struct {
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Globals__param_tlight tl;
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int road; /* road identifier that the tlight controls */
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} tlight_t;
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typedef Globals__param_obst obst_t;
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typedef Globals__itielt iti_t;
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typedef Globals__position position_t;
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/*
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* =========================================================================
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* Maps
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* =========================================================================
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*/
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/** One map contains roads, waypoints, traffic lights and stop points */
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typedef struct {
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char name[255]; /* Name of the map */
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char graphics[255]; /* Path to graphics file (bmp) */
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char guide[255]; /* Path to guide file (bmp) */
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phase_t init_phase; /* Initial phase of the robot */
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road_t *road_arr; /* Roads */
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int tlight_sz; /* Road count */
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waypoint_t *wayp_arr; /* Waypoints */
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int road_sz; /* Waypoint count */
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tlight_t *tlight_arr; /* Traffic lights */
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int wayp_sz; /* Traffic light count */
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stop_t *stop_arr; /* Stops */
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int stop_sz; /* Stop count */
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obst_t *obst_arr; /* Obstacles */
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int obst_sz; /* Obstacle count */
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iti_t *iti_arr; /* Itinerary */
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int iti_sz; /* Itinerary step count */
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} map_t;
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extern map_t *map;
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void map_load(const char *); /* parse and load global map file */
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void map_destroy(); /* free the map loaded via load_map() */
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/*
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* =========================================================================
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* Functions exported to the Heptagon side
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* =========================================================================
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*/
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typedef struct asset_wav {
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SDL_AudioSpec spec;
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Uint8 *buffer;
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Uint32 size;
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} asset_wav_t;
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extern asset_wav_t collision, wrong_dir, exit_road, light_run, speed_excess;
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extern SDL_AudioDeviceID audio_device;
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DECLARE_HEPT_FUN_NULLARY(Map,
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read_obstacles,
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Globals__param_obsts obst);
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DECLARE_HEPT_FUN_NULLARY(Map,
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read_traffic_lights,
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Globals__param_tlights tlights);
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DECLARE_HEPT_FUN_NULLARY(Map,
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read_itinerary,
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Globals__itielts iti);
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DECLARE_HEPT_FUN(Map,
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lookup_pos,
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(Globals__position),
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Globals__map_data data);
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DECLARE_HEPT_FUN(Map,
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soundEffects,
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(Globals__event, Globals__status),);
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#endif /* MAP_H */
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