1.0

App/nav/track_map.c

@@ -0,0 +1,78 @@
+/**
+ * @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;
+}