node_list.h

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/*
 * This file is part of Caddy.
 *
 *  Caddy is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.
 *
 *  Caddy is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with Caddy.  If not, see <http://www.gnu.org/licenses/>.
 */
#ifndef NODELIST_H_
#define NODELIST_H_

#include <stdint.h>
#include <stdbool.h>

#define NUM_NODES       43

#define START_NODE      0

#define START_HEADING   -64

#define STOP_NODE       42

#define BALL_NODE_MIN   1

#define BALL_NODE_MAX   20

#define JUNCTION_MIN    21

#define JUNCTION_MAX    41

#define NUM_BALL_NODES  (BALL_NODE_MAX - BALL_NODE_MAX + 1)


#define MAX_ADJ_NODES   3

#define N_WEST          -41

#define S_EAST          87

#define BONUS_BALL_1    24

#define BONUS_BALL_2    30

#define SENSOR_NODE     37

#define BB1_HEADING     32

#define BB2_HEADING     -96

#define NUM_FIXED_GOALS    3

#define NUM_RANDOM_GOALS   3

#define NUM_GOALS          NUM_FIXED_GOALS + NUM_RANDOM_GOALS

typedef struct GraphNode
{
    uint8_t numAdjNodes;
    uint8_t adjNodes[MAX_ADJ_NODES];
    uint8_t adjCosts[MAX_ADJ_NODES];
    int8_t adjHeadings[MAX_ADJ_NODES];
} GraphNodeType;


inline bool isJunction( uint8_t nodeNum );
uint8_t getCostToNode(GraphNodeType *node, uint8_t nodeNum);
uint8_t getNodeAtHeading(GraphNodeType *node, int8_t heading);
inline bool isBallNode( uint8_t nodeNum );
void getNode( uint8_t nodeNum, GraphNodeType *node );


#endif // #ifndef NODELIST_H_