81 lines
2.7 KiB
C
81 lines
2.7 KiB
C
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/**
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* @file track_map.h
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* @brief 赛道地图 — 固化 S 型遍历拓扑
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*
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* 地图不做全局坐标定位，只回答三个问题：
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* 1. 从第 N 条沟完成后，下一条是第几条？
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* 2. 这次该往哪转？(左/右)
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* 3. 当前是不是最后一条沟？
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*/
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#ifndef TRACK_MAP_H
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#define TRACK_MAP_H
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#include <stdint.h>
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#include <stdbool.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* =========================================================
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* 常量
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* ========================================================= */
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#define TRACK_MAP_CORRIDOR_COUNT 6 /* 总共 6 条垄沟 */
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#define TRACK_MAP_LINK_DISTANCE_M 0.70f /* 沟间距 (中心到中心) */
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#define TRACK_MAP_CORRIDOR_LENGTH_M 2.20f /* 垄沟标称长度 */
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/* =========================================================
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* 枚举
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* ========================================================= */
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/** 沟内行驶方向 */
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typedef enum {
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TRAVEL_DIR_POSITIVE = 0, /* 从左端到右端 (→) */
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TRAVEL_DIR_NEGATIVE = 1 /* 从右端到左端 (←) */
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} TravelDirection_t;
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/** 转向方向 */
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typedef enum {
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TURN_DIR_LEFT = +1, /* 逆时针 (CCW), w > 0 */
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TURN_DIR_RIGHT = -1 /* 顺时针 (CW), w < 0 */
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} TurnDirection_t;
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/* =========================================================
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* 数据结构
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* ========================================================= */
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/** 单条垄沟描述 */
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typedef struct {
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uint8_t id; /* 0-5 */
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TravelDirection_t travel_dir; /* 本沟行驶方向 */
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TurnDirection_t exit_turn_dir; /* 出沟时的转向方向 */
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TurnDirection_t entry_turn_dir; /* 入沟时的转向方向 */
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bool is_last; /* 是否为最后一条沟 */
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} CorridorDescriptor_t;
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/** 完整赛道地图 */
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typedef struct {
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CorridorDescriptor_t corridors[TRACK_MAP_CORRIDOR_COUNT];
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uint8_t entry_corridor_id; /* 入场后第一条沟 = 0 */
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float link_distance_m; /* 连接段标称距离 */
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float corridor_length_m; /* 垄沟标称长度 */
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} TrackMap_t;
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/* =========================================================
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* API
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* ========================================================= */
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void TrackMap_Init(void);
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const TrackMap_t* TrackMap_Get(void);
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const CorridorDescriptor_t* TrackMap_GetCorridor(uint8_t id);
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uint8_t TrackMap_GetNextCorridorId(uint8_t current_id);
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bool TrackMap_IsLastCorridor(uint8_t id);
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TurnDirection_t TrackMap_GetExitTurnDir(uint8_t id);
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TurnDirection_t TrackMap_GetEntryTurnDir(uint8_t id);
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#ifdef __cplusplus
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}
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#endif
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#endif /* TRACK_MAP_H */
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