// 
// definitions.h
//
// General type defitions should be stored in here to facilitate access to multiple files.
//

// Motor commands
//typedef enum {NONE, STOP, FWD_HI, FWD_MED, FWD_LO, ARC_L_LO, ARC_R_LO, ARC_L_MED, ARC_R_MED, ARC_L_HI, ARC_R_HI, REV_LO, REV_MED, TURN_L, TURN_R} motor_cmd;

typedef struct                  
{
    unsigned char enable;				// Is Behaviour Enabled?
    unsigned char active;				// Is Behaviour Firing?
    unsigned char priority;				// Currently assigned behavioural priority
    int output_l;						// desired command for Left motor 
    int output_r;						// desired command for Right motor 
    unsigned char precision;			// Enhanced precision mode for angles. (permits the passing of non-normalized values.)
    unsigned char type;
}
BehaviourInfo;

// Declare Rotate new message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    int angle;							// INPUT: Requested angle of rotation
    unsigned char type;					// INPUT: Absolute or Relative rotation?
    unsigned char scan;					// INPUT: Keep an eye for the candle as we rotate?
    unsigned char status;				// OUTPUT: Did we find the candle?
}
RotateMessage;

// Declare Forward message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    int lenght;							// INPUT: Direction/distance to travel? (0 for continuous)
    unsigned char ignore_door;			// INPUT: Should we report door or just ignore it?
    unsigned char status;				// OUTPUT: Why did we return? (i.e. Obstacle in front, moved enough, door frame?)
}
ForwardMessage;

// Declare Follow message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    unsigned char side;					// INPUT: Which side to follow on?
    unsigned char ignore_door;			// INPUT: Should we report door or just ignore it?
    unsigned char status;				// OUTPUT: Why did we return? (i.e. Obstacle in front, end of wall, door frame?)
}
FollowMessage;

// Declare Align message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    unsigned char type;					// INPUT: Which side to align to?
    unsigned char status;				// OUTPUT: What was the result (TRUE if aligned, FALSE if failed)
}
AlignMessage;


// Declare GoAt message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    int x;								// INPUT
    int y;								// INPUT
    unsigned int theta;					// INPUT: Desired Coordinates
}
GoAtMessage;

// Declare Extinguish message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    unsigned char extinguished;			// OUTPUT: Candle out?
}
ExtinguishMessage;

// Declare Search message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    unsigned char status;			// OUTPUT: Was the candle found?
    unsigned char side;				// INPUT: Which side to scan on? (for Room #4 case)
}
SearchMessage;

// Declare Arbitrator message type with data
typedef struct                  
{
    MessageControlBlock mcb;
    unsigned char id;
    BehaviourInfo info;
}
ArbitrateMessage;

// Declare the run-time configuration structure
typedef struct
{
	unsigned char dummy;		// Just in case of EEPROM corruption
	unsigned char f_p;
	unsigned char f_d;
	unsigned char Kp;
	unsigned char Ki;
	unsigned char Kd;
	unsigned char line_threshold;
	unsigned char scm_exposure_h;
	unsigned char scm_exposure_l;
	unsigned char scm_threshold;
	unsigned char scm_min_size;	
}
ConfigData;