chapter 03 exercise partial solution

udemy-cpp/exc01/AdConstants.h

@@ -5,10 +5,12 @@
 
 namespace Ad
 {
-namespace Constants
+namespace Consts
 {
 
 constexpr std::int32_t EGO_VEHICLE_ID = -1;
+constexpr std::size_t VEHICLES_PER_LANE = 2;
+constexpr std::int8_t VISUALIZE_STEP = 20;
 
 } // namespace Constants
 } // namespace Ad

udemy-cpp/exc01/AdFunctions.cc

@@ -1,6 +1,8 @@
 #include <cmath>
 #include <cstdint>
 #include <iostream>
+#include <random>
+#include <algorithm>
 
 #include "AdConstants.h"
 #include "AdFunctions.h"
@@ -10,6 +12,7 @@ namespace Ad
 namespace Utils
 {
 
+/* kph_to_mps: converts kmph to meters/second */
 constexpr float kph_to_mps(const float kph)
 {
     return 0.2778 * kph;
@@ -20,26 +23,131 @@ constexpr float kph_to_mps(const float kph)
 namespace Data
 {
 
+/* init_ego_vehicle: initializes ego vehicle */
 Types::Vehicle init_ego_vehicle()
 {
     return Types::Vehicle{
-        .id = Constants::EGO_VEHICLE_ID,
+        .id = Consts::EGO_VEHICLE_ID,
         .lane = Types::Lane::Center,
         .speed_mps = Utils::kph_to_mps(135),
-        .rel_distance_m = 0,
+        .rel_dist_m = 0,
         };
 }
 
+/* init_vehicle_array: initialize an array of vehicles */
+template <std::size_t N>
+static void init_vehicle_array(std::array<Types::Vehicle, N> &arr, int32_t start_id, Types::Lane lane)
+{
+    /* init random generators */
+    std::mt19937 rng(std::random_device{}());
+    std::uniform_real_distribution<double> speed(-150, 150);
+    std::uniform_real_distribution<double> dist_gen(0, Consts::VISUALIZE_STEP);
+
+    double dist = static_cast<double> (-Consts::VISUALIZE_STEP) * (arr.size() / 2 + 1);
+
+    for (int32_t i = 0; i < arr.size(); i++)
+        arr[i] = Types::Vehicle{
+            .id = start_id++,
+            .lane = lane, 
+            .speed_mps = Utils::kph_to_mps(speed(rng)),
+            .rel_dist_m = (dist += Consts::VISUALIZE_STEP + dist_gen(rng))
+            };
+}              
+
+/* init_vehicles: initializes vehicles */
+Types::NeighborVehicles init_vehicles()
+{
+    auto nv = Types::NeighborVehicles{};
+
+    int32_t id = 0;
+    init_vehicle_array(nv.left_lane, id, Types::Lane::Left);
+    init_vehicle_array(nv.center_lane, (id += nv.left_lane.size()), Types::Lane::Center);
+    init_vehicle_array(nv.right_lane, (id += nv.right_lane.size()), Types::Lane::Right);
+
+    return nv;
+}
+
+
+
 } // namespace Ad::Data
 
 namespace Visualize
 {
 
-void print_vehicle(const Types::Vehicle vehicle)
+/* print_lane: prints lane, helper function for print vehicle */
+void print_lane(const Types::Lane lane)
+{
+    #define if_lane(LANE) if (lane == Types::Lane::LANE) std::cout << #LANE; else
+    if_lane(Left)
+    if_lane(Center)
+    if_lane(Right)
+    /* else */
+    std::cout << "Unknown";
+}
+
+/* print_vehicle: prints vehicle */
+void print_vehicle(const Types::Vehicle &vehicle)
 {
     std::cout << "Vehicle " << vehicle.id << '\n';
+    std::cout << "Lane : ";
+    print_lane(vehicle.lane);
+    std::cout << '\n';
     std::cout << "speed : " << vehicle.speed_mps << " m/s\n";
-    std::cout << "distance : " << vehicle.rel_distance_m << " m\n";
+    std::cout << "distance : " << vehicle.rel_dist_m << " m\n";
+}
+
+/* print_vehicle_array: helper function for print_neghbor_vehicles */
+template <size_t N>
+static void print_vehicle_array(const std::array<Types::Vehicle, N> &arr)
+{
+    for (int32_t i = 0; i < arr.size(); i++) {
+        print_vehicle(arr[i]);
+        std::cout << '\n';
+    }
+}
+
+/* print_neghbor_vehicles: print neghbor vehicles information */
+void print_neighbor_vehicles(const Types::NeighborVehicles &vehicles)
+{
+    print_vehicle_array(vehicles.left_lane);
+    print_vehicle_array(vehicles.center_lane);
+    print_vehicle_array(vehicles.right_lane);
+}
+
+/* print_scene: prints scene
+ * very rough implementation */
+void print_scene(const Types::Vehicle &ego_vehicle, 
+                 const Types::NeighborVehicles &vehicles)
+{
+    /* TODO : sort NeighborVehicles arrays */
+    double min_dist_d = std::min({vehicles.left_lane[0].rel_dist_m, 
+                                 vehicles.center_lane[0].rel_dist_m,
+                                 vehicles.right_lane[0].rel_dist_m});
+
+    double max_dist_d = std::max({vehicles.left_lane.back().rel_dist_m, 
+                                 vehicles.center_lane.back().rel_dist_m,
+                                 vehicles.right_lane.back().rel_dist_m});
+
+    int32_t min_dist = std::floor(min_dist_d / Consts::VISUALIZE_STEP) * Consts::VISUALIZE_STEP; 
+    int32_t max_dist = std::ceil(max_dist_d / Consts::VISUALIZE_STEP) * Consts::VISUALIZE_STEP; 
+
+    int32_t li, ci, ri, count;
+    li = ci = ri = Consts::VEHICLES_PER_LANE - 1;
+    std::cout << "          L   C   R\n";
+    for (int32_t dist = max_dist; dist >= min_dist; dist -= Consts::VISUALIZE_STEP) {
+        printf("%8d| ", dist);
+        char c;
+#define HANDLE_LANE(lane, li) \
+        for (count = 0; li >= 0 && vehicles.lane[li].rel_dist_m >= dist-Consts::VISUALIZE_STEP; count++, li--) \
+            ; \
+        c = !count ? ' ' : (count > 1) ? '0' + count : (vehicles.lane[li+1].speed_mps >= 0) ? 'v' : '^'; \
+        std::cout << c << " | "
+        HANDLE_LANE(left_lane, li);
+        HANDLE_LANE(center_lane, ci);
+        HANDLE_LANE(right_lane, ri);
+        std::cout << '\n';
+    }
+
 }
 
 } // namespace Ad::Visualize

udemy-cpp/exc01/AdFunctions.h

@@ -11,12 +11,18 @@ namespace Utils
 
 namespace Data
 {
-    Types::Vehicle init_ego_vehicle();
+    Types::Vehicle          init_ego_vehicle();
+    Types::NeighborVehicles init_vehicles();
 } // namespace Ad::Data
 
 namespace Visualize
 {
-    void print_vehicle(const Types::Vehicle vehicle);
+    void print_vehicle(const Types::Vehicle &vehicle);
-} // namespace Ad::Visualize
 
+    void print_neighbor_vehicles(const Types::NeighborVehicles &vehicles);
+
+    void print_scene(const Types::Vehicle &ego_vehicle, 
+                     const Types::NeighborVehicles &vehicles);
+
+} // namespace Ad::Visualize
 } // namespace Ad

udemy-cpp/exc01/AdTypes.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <cstdint>
+#include <array>
 
 #include "AdConstants.h"
 
@@ -22,7 +23,14 @@ struct Vehicle
     std::int32_t id;
     Lane lane;
     double speed_mps;
-    double rel_distance_m;
+    double rel_dist_m;
+};
+
+struct NeighborVehicles
+{
+    std::array<Vehicle, Consts::VEHICLES_PER_LANE> left_lane;
+    std::array<Vehicle, Consts::VEHICLES_PER_LANE> center_lane;
+    std::array<Vehicle, Consts::VEHICLES_PER_LANE> right_lane;
 };
 
 } // namespace Ad::Types

udemy-cpp/exc01/main.cc

@@ -8,7 +8,14 @@
 int main()
 {
     auto ego_vehicle = Ad::Data::init_ego_vehicle();
+    auto vehicles = Ad::Data::init_vehicles();
+
     Ad::Visualize::print_vehicle(ego_vehicle);
+    std::cout << '\n';
+
+    Ad::Visualize::print_neighbor_vehicles(vehicles);
+
+    Ad::Visualize::print_scene(ego_vehicle, vehicles);
 
     return 0;
 }