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/*
 * Project: S.Ha.R.K.
 *
 * Coordinators:
 *   Giorgio Buttazzo    <giorgio@sssup.it>
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *
 * Authors     :
 *   Paolo Gai           <pj@gandalf.sssup.it>
 *   Massimiliano Giorgi <massy@gandalf.sssup.it>
 *   Luca Abeni          <luca@gandalf.sssup.it>
 *   (see the web pages for full authors list)
 *
 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
 *
 * http://www.sssup.it
 * http://retis.sssup.it
 * http://shark.sssup.it
 */


/**
 ------------
 CVS :        $Id: auto.h,v 1.1.1.1 2004-05-24 18:03:39 giacomo Exp $

 File:        $File$
 Revision:    $Revision: 1.1.1.1 $
 Last update: $Date: 2004-05-24 18:03:39 $
 ------------
**/

/*
 * Copyright (C) 2000 Marco Dallera and Marco Fiocca
 *
 * This program 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 2 of the License, or
 * (at your option) any later version.
 *
 * This program 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 this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */

/*
 *              AUTO
 *
 * Another Unuseful Track simulatOr
 *
 * Authors: Marco Dallera
 *          Marco Fiocca
 *
 */

/* ------------------- */
/*  Useful structures  */
/* ------------------- */

#ifndef __CAR_H_

#define __CAR_H_

#include <modules/cabs.h>
#include <kernel/func.h>
#include <kernel/model.h>
#include <kernel/types.h>
#include <drivers/keyb.h>
#include <drivers/glib.h>
#include <semaphore.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "const.h"

#define degree_to_rad(a) ((M_PI/180.0)*(a))
#define rad_to_degree(a) ((180.0/M_PI)*(a))

typedef struct {
  int x;
  int y;
} point;

typedef struct {
  float x,y;
} point_f;

typedef struct {
  float mod;
  float phase;
} vector;

typedef struct {
  point_f pos;
  float orient;
} car_status;

typedef struct {
  int left_border;
  int right_border;
  int distance;
  float curve;
  point opps_list[MAX_CAR_NUMBER];
  int opps_number;
  int collision;
  int flag;
} road_info;

typedef struct {
  int left,center,right;
} road_strip;

typedef struct {
  PID sensor_pid,control_pid;
  int number;
  char driver[MAX_DRIVER_NAME_LENGTH];
  float max_speed, min_acc, max_acc;
  float rage;
  CAB road_status_cab;
  CAB car_status_cab;
  int color;
} car_params;

typedef struct {
  char name[MAX_TRACK_NAME_LENGTH];     // il nome del file
  point pole_pos;               // la posizione di partenza
  float pole_orient;    // la direzione di partenza
  int lap;                      // il senso di marcia: CLOCK, ANTICLOCK
  int selected;         // it's a flag marking the actually selected track
} track;

typedef struct {
  int min;
  int sec;
  int dec;
} time;

extern car_params cars[MAX_CAR_NUMBER];
extern char track_img[TRACK_WIDTH*TRACK_HEIGHT];
extern track track_list[TRACK_NUMBER];

/* ---------------------------------------- */
/*  Functions definition                    */
/* ---------------------------------------- */

/* CABs R/W functions */
int set_car_status(car_status, CAB);    // sends the new status according to the control law
car_status get_car_status(CAB);                 // reads car status from a CAB
int set_road_info(road_info, CAB);              // sends the new road informations
road_info get_road_info(CAB);                   // reads road status values from a CAB

/* Keyboard functions */
void keyb_handler();
void endfun(KEY_EVT *);
void my_close(void *);

/* Display functions */
void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
void cmd_display();

/* Closing function */
void byebye();
void error_msg();

/* Tasks */
TASK sensor();                  // Camera car task
TASK control();                 // Car controller task
TASK manual();                  // Manual driving task
TASK actuator();                // Graphic drawing task
TASK info();                    // Car informations display task

/* Tasks management */
void hard_car_create();
void soft_car_create();
void killcar();

/* Tracks management */
int track_init();

#endif