79 lines
2.6 KiB
C
79 lines
2.6 KiB
C
|
/**
|
||
|
|
* @file track_map.c
|
||
|
|
* @brief 赛道地图 — S 型遍历拓扑表
|
||
|
|
*
|
||
|
|
* S 型路径:
|
||
|
|
* C1(→) → 左转 → 连接 → 左转 → C2(←) → 右转 → 连接 → 右转 →
|
||
|
|
* C3(→) → 左转 → 连接 → 左转 → C4(←) → 右转 → 连接 → 右转 →
|
||
|
|
* C5(→) → 左转 → 连接 → 左转 → C6(←) → 左转 → 出场
|
||
|
|
*/
|
||
|
|
|
||
|
|
#include "track_map.h"
|
||
|
|
|
||
|
|
/* =========================================================
|
||
|
|
* 硬编码 S 型遍历表
|
||
|
|
* ========================================================= */
|
||
|
|
static const TrackMap_t s_map = {
|
||
|
|
.corridors = {
|
||
|
|
/* id travel_dir exit_turn entry_turn is_last
|
||
|
|
* -- ---------- --------- ---------- ------- */
|
||
|
|
{ 0, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C1: → 到右端后左转 */
|
||
|
|
{ 1, TRAVEL_DIR_NEGATIVE, TURN_DIR_RIGHT, TURN_DIR_RIGHT, false }, /* C2: ← 到左端后右转 */
|
||
|
|
{ 2, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C3: → */
|
||
|
|
{ 3, TRAVEL_DIR_NEGATIVE, TURN_DIR_RIGHT, TURN_DIR_RIGHT, false }, /* C4: ← */
|
||
|
|
{ 4, TRAVEL_DIR_POSITIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, false }, /* C5: → */
|
||
|
|
{ 5, TRAVEL_DIR_NEGATIVE, TURN_DIR_LEFT, TURN_DIR_LEFT, true }, /* C6: ← 最后一条, 左转出场 */
|
||
|
|
},
|
||
|
|
.entry_corridor_id = 0,
|
||
|
|
.link_distance_m = TRACK_MAP_LINK_DISTANCE_M,
|
||
|
|
.corridor_length_m = TRACK_MAP_CORRIDOR_LENGTH_M,
|
||
|
|
};
|
||
|
|
|
||
|
|
/* =========================================================
|
||
|
|
* API 实现
|
||
|
|
* ========================================================= */
|
||
|
|
|
||
|
|
void TrackMap_Init(void)
|
||
|
|
{
|
||
|
|
/* 静态表，无需运行时初始化 */
|
||
|
|
}
|
||
|
|
|
||
|
|
const TrackMap_t* TrackMap_Get(void)
|
||
|
|
{
|
||
|
|
return &s_map;
|
||
|
|
}
|
||
|
|
|
||
|
|
const CorridorDescriptor_t* TrackMap_GetCorridor(uint8_t id)
|
||
|
|
{
|
||
|
|
if (id >= TRACK_MAP_CORRIDOR_COUNT) {
|
||
|
|
return &s_map.corridors[0];
|
||
|
|
}
|
||
|
|
return &s_map.corridors[id];
|
||
|
|
}
|
||
|
|
|
||
|
|
uint8_t TrackMap_GetNextCorridorId(uint8_t current_id)
|
||
|
|
{
|
||
|
|
if (current_id + 1 >= TRACK_MAP_CORRIDOR_COUNT) {
|
||
|
|
return current_id; /* 已是最后一条 */
|
||
|
|
}
|
||
|
|
return current_id + 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool TrackMap_IsLastCorridor(uint8_t id)
|
||
|
|
{
|
||
|
|
if (id >= TRACK_MAP_CORRIDOR_COUNT) return true;
|
||
|
|
return s_map.corridors[id].is_last;
|
||
|
|
}
|
||
|
|
|
||
|
|
TurnDirection_t TrackMap_GetExitTurnDir(uint8_t id)
|
||
|
|
{
|
||
|
|
if (id >= TRACK_MAP_CORRIDOR_COUNT) return TURN_DIR_LEFT;
|
||
|
|
return s_map.corridors[id].exit_turn_dir;
|
||
|
|
}
|
||
|
|
|
||
|
|
TurnDirection_t TrackMap_GetEntryTurnDir(uint8_t id)
|
||
|
|
{
|
||
|
|
if (id >= TRACK_MAP_CORRIDOR_COUNT) return TURN_DIR_LEFT;
|
||
|
|
return s_map.corridors[id].entry_turn_dir;
|
||
|
|
}
|