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412 lines (358 loc) · 11.3 KB
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/**********************************************************
*Copyright(c) Automation Excellence Class
*FileName: Traffic.c
*Author: YJH
*Date: 2017/08/31
*Description: 交通相关各种初始化以及基本操作
*Others: 无
*Function List:
*History:
1.Date:
Author:
Modification:
2.
**********************************************************/
#include "Traffic.h"
#include "Head.h"
#define Node_Num 15 //只有15个结点，16为了数组定义
#define Road_NumMax 4 //定义最大路口数目
#define RoadType_Num 3 //定义车道种类数目
#define Road_Width 24 //定义车道宽 一个车道宽+一条白线宽
#define AtoR 0.01745329 // 角度转弧度乘数因子
// 地图的邻接矩阵
const int Map[Node_Num][Node_Num] = {
// 0 1 2 3 4 5 6 7 8 9 A B C D E
{0,0,0, 1,0,0,0, 0,0,0,0, 0,0,0,0}, //0
{0,0,0, 0,1,0,0, 0,0,0,0, 0,0,0,0}, //1
{0,0,0, 0,0,0,0, 0,1,0,0, 0,0,0,0}, //2
{1,0,0, 0,0,1,0, 0,0,0,0, 0,0,0,0}, //3
{0,1,0, 0,0,1,0, 0,0,0,0, 0,0,0,0}, //4
{0,0,0, 1,1,0,1, 1,0,0,0, 0,0,0,0}, //5
{0,0,0, 0,0,1,0, 0,0,0,0, 1,0,0,0}, //6
{0,0,0, 0,0,1,0, 0,1,0,0, 0,0,0,0}, //7
{0,0,1, 0,0,0,0, 1,0,1,0, 0,1,0,0}, //8
{0,0,0, 0,0,0,0, 0,1,0,0, 0,0,0,0}, //9
{0,0,0, 0,0,0,0, 0,0,0,0, 1,0,0,0}, //10
{0,0,0, 0,0,0,1, 0,0,0,1, 0,1,0,1}, //11
{0,0,0, 0,0,0,0, 0,1,0,0, 1,0,1,0}, //12
{0,0,0, 0,0,0,0, 0,0,0,0, 0,1,0,0}, //13
{0,0,0, 0,0,0,0, 0,0,0,0, 1,0,0,0}, //14
};
// 路口种类
const int TypeRoad[Node_Num] =
// 0 1 2 3 4 5 6 7 8 9 A B C D E
{3,3,3, 2,2,0,2, 2,0,3,3, 0,1,3,3};
/*************************************************
*Function: void TrafficInit(void);
*Description: 整个交通系统的初始化
*Calls: // 被本函数调用的函数清单
*Input: mode : 无;
*Output: 错误信息
*Return:
*Others: 初始化道路角度，红路灯，四个十字路口
*************************************************/
void TrafficInit(_Crossroad Intersection[])
{
int i;
for (i = 0; i <= Node_Num; i++)
{
//初始化种类和数目
Intersection[i].type = TypeRoad[i];
Intersection[i].num = Road_NumMax - Intersection[i].type;
//初始化角度
switch(TypeRoad[i])
{
/*十字路口初始化*/
case 0:
if (i == 5)
{
Intersection[i].arc = 45;
} else
{
Intersection[i].arc = 0;
}
break;
case 1:
case 3:
Intersection[i].arc = 0;
break;
/*45°弯道初始化*/
case 2:
if (i == 4) Intersection[i].arc = 45;
if (i == 7) Intersection[i].arc = 135;
if (i == 6) Intersection[i].arc = 225;
if (i == 3) Intersection[i].arc = 315;
break;
}
//初始化红绿灯
//初始化道路
RoadInit(& Intersection[i],i);
}
}
/*************************************************
*Function: void RoadInit(void);
*Description: 整个道路系统的初始化
*Calls: // 被本函数调用的函数清单
*Input: mode : 无;
*Output: 错误信息
*Return:
*Others: 初始化的为四个十字路口信息
*************************************************/
void RoadInit(_Crossroad * Inter,const int InterNum)
{
int i; // 车道循环变量
int j; // 左转右转直行车道循环变量
_CAR * Tail;
//每个路口节点的第二车道坐标信息
const int Road_Location[15][4][2] = {
{{191,0}, {0,0}, {0,0}, {0,0} },
{{458,0}, {0,0}, {0,0}, {0,0} },
{{789,0}, {0,0}, {0,0}, {0,0} },
{{115,150}, {180,196}, {0,0}, {0,0} },
{{382,150}, {425,229}, {0,0}, {0,0} },
{{313,238}, {363,340}, {258,389}, {207,288} },
{{191,474}, {148,396}, {0,0}, {0,0} },
{{430,390}, {351,431}, {0,0}, {0,0} },
{{713,354}, {824,389}, {789,500}, {677,465} },
{{1024,465},{0,0}, {0,0}, {0,0} },
{{0,605}, {0,0}, {0,0}, {0,0} },
{{115,570}, {225,605}, {190,716}, {80,681} },
{{712,570}, {824,605}, {677,681}, {0,0} },
{{1024,681},{0,0}, {0,0}, {0,0} },
{{115,768}, {0,0}, {0,0}, {0,0} }
};
/*int Link[Node_Num][Node_Num] = {
// 0 1 2 3 4 5 6 7 8 9 A B C D E
{0,0,0, 1,0,0,0, 0,0,0,0, 0,0,0,0}, //0
{0,0,0, 0,1,0,0, 0,0,0,0, 0,0,0,0}, //1
{0,0,0, 0,0,0,0, 0,1,0,0, 0,0,0,0}, //2
{1,0,0, 0,0,1,0, 0,0,0,0, 0,0,0,0}, //3
{0,1,0, 0,0,1,0, 0,0,0,0, 0,0,0,0}, //4
{0,0,0, 1,1,0,1, 1,0,0,0, 0,0,0,0}, //5
{0,0,0, 0,0,1,0, 0,0,0,0, 1,0,0,0}, //6
{0,0,0, 0,0,1,0, 0,1,0,0, 0,0,0,0}, //7
{0,0,1, 0,0,0,0, 1,0,1,0, 0,1,0,0}, //8
{0,0,0, 0,0,0,0, 0,1,0,0, 0,0,0,0}, //9
{0,0,0, 0,0,0,0, 0,0,0,0, 1,0,0,0}, //10
{0,0,0, 0,0,0,1, 0,0,0,1, 0,1,0,1}, //11
{0,0,0, 0,0,0,0, 0,1,0,0, 1,0,1,0}, //12
{0,0,0, 0,0,0,0, 0,0,0,0, 0,1,0,0}, //13
{0,0,0, 0,0,0,0, 0,0,0,0, 1,0,0,0}, //14
};*/
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].end = InterNum;
}
switch(Inter->type) {
// 十字路口
case 0:
// 初始化道路角度和中点坐标
if (!Inter->arc) //非特殊角度十字路口
{
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
// 初始化道路角度
Inter->Road[i][j].arc = (i * 90 + 180) % 360;
// 初始化停车线中点坐标
if (i & 1) // 道路标号为奇数，即道路为东西方向
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0];
Inter->Road[i][j].y = Road_Location[InterNum][i][1] + ((j - 1) * Road_Width) * (sgn(sin(AtoR * Inter->Road[i][j].arc)));
} else // 道路标号为偶数，即道路为南北方向
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0] + ((j - 1) * Road_Width) * (sgn(cos(AtoR * Inter->Road[i][j].arc)));
Inter->Road[i][j].y = Road_Location[InterNum][i][1];
}
// 初始化停车线可见状态
Inter->Road[i][j].sight = 1;
// 构建并链接首尾节点 并初始化标识符
if (Tail = (_CAR *) malloc(sizeof(_CAR)) == NULL)
{
delay(5000);
//return 0;
}
Inter->Road[i][j].drive_flag = Tail->drive_flag = -2;
Inter->Road[i][j].prev = NULL;
Inter->Road[i][j].next = Tail;
Tail->prev = &Inter->Road[i][j];
Tail->next = NULL;
}
} else // 特殊角度十字路口
{
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
// 初始化道路角度
Inter->Road[i][j].arc = (i * 90 + 225) % 360;
// 初始化停车线中点坐标
Inter->Road[i][j].x = Road_Location[InterNum][i][0] + ((j - 1) * Road_Width) * (sgn(cos(AtoR * Inter->Road[i][j].arc)));
Inter->Road[i][j].y = Road_Location[InterNum][i][1] + ((j - 1) * Road_Width) * (sgn(sin(AtoR * Inter->Road[i][j].arc)));
// 初始化停车线可见状态
Inter->Road[i][j].sight = 1;
// 构建并链接首尾节点 并初始化标识符
if (Tail = (_CAR *) malloc(sizeof(_CAR)) == NULL)
{
delay(5000);
//return 0;
}
Inter->Road[i][j].drive_flag = Tail->drive_flag = -2;
Inter->Road[i][j].prev = NULL;
Inter->Road[i][j].next = Tail;
Tail->prev = &Inter->Road[i][j];
Tail->next = NULL;
}
}
break;
// 丁字路口
case 1:
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
// 初始化道路角度
Inter->Road[i][j].arc = ((i == 0) ? 180 : (i == 1) ? 270 : 90);
// 初始化停车线中点坐标
if (i != 0) // 1，2号道路为东西方向
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0];
Inter->Road[i][j].y = Road_Location[InterNum][i][1] + ((j - 1) * Road_Width) * (sgn(sin(AtoR * Inter->Road[i][j].arc)));
} else // 0号道路为南北方向
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0] + ((j - 1) * Road_Width) * (sgn(cos(AtoR * Inter->Road[i][j].arc)));
Inter->Road[i][j].y = Road_Location[InterNum][i][1];
}
// 初始化停车线可见状态
Inter->Road[i][j].sight = 1;
// 构建并链接首尾节点 并初始化标识符
if (Tail = (_CAR *) malloc(sizeof(_CAR)) == NULL)
{
delay(5000);
//return 0;
}
Inter->Road[i][j].drive_flag = Tail->drive_flag = -2;
Inter->Road[i][j].prev = NULL;
Inter->Road[i][j].next = Tail;
Tail->prev = &Inter->Road[i][j];
Tail->next = NULL;
}
break;
// 45°弯道
case 2:
// 初始化道路角度
switch(InterNum)
{
case 3:
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[0][j].arc = 180;
Inter->Road[1][j].arc = 315;
}
break;
case 4:
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[0][j].arc = 180;
Inter->Road[1][j].arc = 45;
}
break;
case 6:
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[0][j].arc = 0;
Inter->Road[1][j].arc = 225;
}
break;
case 7:
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[0][j].arc = 270;
Inter->Road[1][j].arc = 135;
}
break;
}
// 初始化停车线中点坐标以及停车线可见状态
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0] + ((j - 1) * Road_Width) * (sgn(cos(AtoR * Inter->Road[i][j].arc)));
Inter->Road[i][j].y = Road_Location[InterNum][i][1] + ((j - 1) * Road_Width) * (sgn(sin(AtoR * Inter->Road[i][j].arc)));
// 初始化停车线可见状态
Inter->Road[i][j].sight = 0;
// 构建并链接首尾节点 并初始化标识符
if (Tail = (_CAR *) malloc(sizeof(_CAR)) == NULL)
{
delay(5000);
//return 0;
}
Inter->Road[i][j].drive_flag = Tail->drive_flag = -2;
Inter->Road[i][j].prev = NULL;
Inter->Road[i][j].next = Tail;
Tail->prev = &Inter->Road[i][j];
Tail->next = NULL;
}
break;
// 出地图路口
case 3:
// 初始化道路角度
switch(InterNum)
{
// 北方出地图车道
case 0:
case 1:
case 2:
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].arc = 0;
}
break;
// 东方出地图车道
case 9:
case 13:
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].arc = 90;
}
break;
// 南方出地图车道
case 14:
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].arc = 180;
}
break;
// 西方出地图车道
case 10:
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].arc = 270;
}
break;
}
// 初始化停车线中点坐标以及停车线可见状态
for (i = 0; i < Inter->num; i++)
for (j = 0; j < RoadType_Num; j++)
{
Inter->Road[i][j].x = Road_Location[InterNum][i][0] + ((j - 1) * Road_Width) * (sgn(cos(AtoR * Inter->Road[i][j].arc)));
Inter->Road[i][j].y = Road_Location[InterNum][i][1] + ((j - 1) * Road_Width) * (sgn(sin(AtoR * Inter->Road[i][j].arc)));
// 初始化停车线可见状态
Inter->Road[i][j].sight = 0;
// 构建并链接首尾节点 并初始化标识符
if (Tail = (_CAR *) malloc(sizeof(_CAR)) == NULL)
{
delay(5000);
//return 0;
}
Inter->Road[i][j].drive_flag = Tail->drive_flag = -2;
Inter->Road[i][j].prev = NULL;
Inter->Road[i][j].next = Tail;
Tail->prev = &Inter->Road[i][j];
Tail->next = NULL;
}
break;
}
}