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/*************************const.h*******************************/

// constants and new types declaration

#include <kernel/func.h>

#define CST

#define NO_SPRITE 8

#define GRAPH

#define SENSOR

#define MAX_CAR 10

#define MAX_TL 3

#define S_POINT 4

#define PERIOD_CAR 135000 //period for K62 350MHZ

//#define PERIOD_CAR 87000 //period for PIII 733MHZ

#define SPERIOD_CAR 13000

#define SCAR_WCET 4300

#define SECOND 1000000

#define TL_WCET    200

#define CAM_WCET   200

#define GAUGE_WCET 200

#define ARROW_WCET 100

//#define CAR_WCET  7700 //wcet for PIII 733MHZ

#define CAR_WCET  12400  //wcet for K62 350MHZ

#define ROW 30

#define COL 30

#define NCAR 24

#define W 640

#define H 480

#define SH 12

#define SW 12

#define MAX_DIST 50.0

#define NORM_DIST 15.0

#define COLL_DIST 25.0

#define MIN_SPEED 0.0

#define NORM_SPEED 4.0

#define MAX_SPEED 6.0

#define MAX_LOOK 50

#define LOOK_ANGLE 70

#define DIST_ANGLE 90

#define CORR_FACT 0.7

#define FRANTIC 0.0

#define POS_RAND

#define OBL_START 1

#define DEG_TO_RAD(x) ((float)x)/180.0*3.14

#define RAD_TO_DEG(x) ((float)x)/3.14*180.0

#define RANDDIR       (rand()%3-1)

#define L 0

#define R 1

#define U 2

#define D 3

#define DRAW 1

#define CANCEL 0

#define VERTICAL 1

#define HORIZONTAL 0

#define STEER_LEFT 1

#define STEER_RIGHT -1

#define STRAIGHT 0

#define CAMX 670

#define CAMY 120

#define MAPX 8

#define MAPY 113

#define FREE 0

#define STOP 1

#define CAR 2

/*data types*/

typedef struct car_d {

  int number;

  float xpos,ypos;

  int xp,yp;

  float dist_obs,dist_sem;

  float speed,middle,front,rear,somma;

  int angle,sat;

  char collision,boom,correggi,incrocio;

  char dir,running;

  struct car_d *next;

} car_data;

typedef struct {

  int x,y;

} point;

typedef struct {

  char vpos,hpos,tl_name[8];

  point l,r,u,d;

  PID pid;

  DWORD period;

} tl_data;

typedef struct {

  int xpos,ypos,angles;

} starting_set;