map.h

#ifndef __MAP_H
#define __MAP_H

#define MAP_WIDTH               30      
#define MAP_HEIGHT              21      
#define MAP_CELL_SIZE           100     
#define MAP_PLAYGROUND_WIDTH_MM (MAP_WIDTH*MAP_CELL_SIZE)       
#define MAP_PLAYGROUND_HEIGHT_MM        (MAP_HEIGHT*MAP_CELL_SIZE)      
#define MAP_NOT_IN_MAP          255     
#define MAP_WALL                254     
#define MAP_WALL_CSPACE         253     
#define MAP_PATH                252     
#define MAP_START               251     
#define MAP_GOAL                250     
#define MAP_NEW_OBSTACLE        249     
#define MAP_NEW_OBSTACLE_CSPACE 248     
#define MAP_FREE                0x00    
#define MAP_FLAG_NO_FLAG        0
#define MAP_FLAG_WALL           1
#define MAP_FLAG_PATH           2
#define MAP_FLAG_START          4
#define MAP_FLAG_GOAL           8
#define MAP_FLAG_ERROR          255

#define SHM_MAP_KEY     555             
// Some macros useful to convert from Graph coordonates to robot field
#define GRAPHX2FIELD(x)         ((x+0.5)/10.0)  
#define GRAPHY2FIELD(y)         ((abs(y-MAP_HEIGHT)-0.5)/10.0) 
#ifdef __cplusplus
extern "C" {
#endif 
typedef unsigned char MapCellValue;             
typedef unsigned char MapCellFlag;              
//TODO change to 
typedef struct MapCell {
       MapCellFlag flag;
       MapCellValue value;
} MapCell;


typedef struct _Map {
        MapCell cells[MAP_HEIGHT][MAP_WIDTH];
        
} Map; 
void ShmapClearOldPath(void);
void ShmapAllFreeSpace(void);
int ShmapInit(int init_flag);
void ShmapFree(void);
void ShmapDt(void);
int ShmapIsMapInit(void);

int ShmapPoint2Cell_X(double x);
int ShmapPoint2Cell_Y(double y);

double ShmapCell2Point_X(int x);
double ShmapCell2Point_Y(int y);


int ShmapSetCellValue(int x, int y, MapCellValue value);
int ShmapSetPointValue(double x_m, double y_m, MapCellValue value);

MapCellValue ShmapGetCellValue(int x, int y);
MapCellValue ShmapGetPointValue(double x_m, double y_m);

int ShmapSetCellFlag(int x, int y, MapCellFlag value);
int ShmapSetPointFlag(double x_m, double y_m, MapCellFlag value);

MapCellFlag ShmapGetCellFlag(int x, int y);
MapCellFlag ShmapGetPointFlag(double x_m, double y_m);

int ShmapIsCellInMap(int x, int y);
int ShampIsPointInMap(double x_m, double y_m);

void ShmapUpdateTmpObstacles(unsigned char val);

int ShmapIsFreeCell(int x, int y);
int ShmapIsFreePoint(double x_m, double y_m);

int ShmapSetRectangleType(double x1, double y1, double x2, double y2, MapCellValue cell);

#ifdef __cplusplus
}
#endif 

#endif //__MAP_H_

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