97 lines
3.7 KiB
C
97 lines
3.7 KiB
C
/**
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* @file track_map.c
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* @brief 赛道地图 — S 型遍历拓扑表
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*
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* 正确的场地结构 (参见 Doc/map.md):
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* - 垄沟沿 X 轴（横向）分布，长 220cm
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* - 左右两端各有纵向端部通道，宽 40cm
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* - 启动区在左下角，入口对齐左端通道
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* - C1 最靠近入口(南侧)，C6 最远(北侧)
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*
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* S 型路径 (以"北=Y递减=地图上方"为参考):
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* 入场→左端通道→右转入C1(→东)→右端到端→左转(朝北)
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* →北行70cm→左转入C2(←西)→左端到端→右转(朝北)
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* →北行70cm→右转入C3(→东)→...
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* →C6(←西)→左端到端→左转(朝南)→南行出场
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*
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* entry_turn_dir: 从纵向通道(朝北)转入垄沟的方向
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* exit_turn_dir: 从垄沟到端后转入纵向通道的方向
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*/
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#include "track_map.h"
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/* =========================================================
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* 硬编码 S 型遍历表
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*
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* 转向方向推导 (北=机器人沿纵向通道前进方向):
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* C1: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
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* C2: 右端通道朝北→左转→朝西入沟; 到左端→右转→朝北
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* C3: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
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* C4: 右端通道朝北→左转→朝西入沟; 到左端→右转→朝北
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* C5: 左端通道朝北→右转→朝东入沟; 到右端→左转→朝北
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* C6: 右端通道朝北→左转→朝西入沟; 到左端→左转→朝南(出场)
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* ========================================================= */
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static const TrackMap_t s_map = {
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.corridors = {
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/* id travel_dir exit_turn entry_turn is_last
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* -- ---------- --------- ---------- ------- */
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{ 0, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C1: →东, 从左端右转入, 到右端左转出 */
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{ 1, TRAVEL_DIR_WEST, TURN_DIR_RIGHT, TURN_DIR_LEFT, false }, /* C2: ←西, 从右端左转入, 到左端右转出 */
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{ 2, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C3: →东 */
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{ 3, TRAVEL_DIR_WEST, TURN_DIR_RIGHT, TURN_DIR_LEFT, false }, /* C4: ←西 */
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{ 4, TRAVEL_DIR_EAST, TURN_DIR_LEFT, TURN_DIR_RIGHT, false }, /* C5: →东 */
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{ 5, TRAVEL_DIR_WEST, TURN_DIR_LEFT, TURN_DIR_LEFT, true }, /* C6: ←西, 从右端左转入, 到左端左转出(朝南出场) */
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},
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.entry_corridor_id = 0,
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.link_distance_m = TRACK_MAP_LINK_DISTANCE_M,
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.corridor_length_m = TRACK_MAP_CORRIDOR_LENGTH_M,
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};
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/* =========================================================
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* API 实现
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* ========================================================= */
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void TrackMap_Init(void)
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{
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/* 静态表，无需运行时初始化 */
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}
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const TrackMap_t* TrackMap_Get(void)
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{
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return &s_map;
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}
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const CorridorDescriptor_t* TrackMap_GetCorridor(uint8_t id)
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{
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if (id >= TRACK_MAP_CORRIDOR_COUNT) {
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return &s_map.corridors[0];
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}
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return &s_map.corridors[id];
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}
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uint8_t TrackMap_GetNextCorridorId(uint8_t current_id)
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{
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if (current_id + 1 >= TRACK_MAP_CORRIDOR_COUNT) {
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return current_id; /* 已是最后一条 */
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}
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return current_id + 1;
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}
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bool TrackMap_IsLastCorridor(uint8_t id)
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{
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if (id >= TRACK_MAP_CORRIDOR_COUNT) return true;
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return s_map.corridors[id].is_last;
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}
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TurnDirection_t TrackMap_GetExitTurnDir(uint8_t id)
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{
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if (id >= TRACK_MAP_CORRIDOR_COUNT) return TURN_DIR_LEFT;
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return s_map.corridors[id].exit_turn_dir;
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}
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TurnDirection_t TrackMap_GetEntryTurnDir(uint8_t id)
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{
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if (id >= TRACK_MAP_CORRIDOR_COUNT) return TURN_DIR_LEFT;
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return s_map.corridors[id].entry_turn_dir;
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}
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