/**
 * @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;
}