#ifndef _DEFINES_H
#define _DEFINES_H

#ifndef NULL
#define NULL 0
#endif

//Integer definition
#ifndef int8
	#ifdef __int8
		#define int8 __int8
	#else
		#define int8 char
	#endif
#endif

#ifndef int16
	#ifdef __int16
		#define int16 __int16
	#else
		#define int16 int
	#endif
#endif

#ifndef int32
	#ifdef __int32
		#define int32 __int32
	#else
		#define int32 long
	#endif
#endif

#ifndef int64
	#ifdef __int64
		#define int64 __int64
	#else
		#define int64 long long
	#endif
#endif

//Unsigned
#ifndef uint8
#define uint8 unsigned int8
#endif

#ifndef uint16
#define uint16 unsigned int16
#endif

#ifndef uint32
#define uint32 unsigned int32
#endif

#ifndef uint64
#define uint64 unsigned int64
#endif

//Constants
#define SPEED_PER_PWM 1
#define DISTANCE_PER_VALUE 1
#define TICKS_PER_CM 205.0f
//#define TICKS_PER_CM 90.0f
#define ULTRASONIC_PER_CM 2.0f

#define WIRELESS_ACTIVE false

#define PI 3.14159265358979323846f
#define CYCLES_PER_CORRECTION 20
#define EMPTY_FLOAT 81188.1484f

#define BALL_HELD_INTENSITY 900

#define KEEPER_LEFT_ANGLE 20.0f * PI / 180.0f
#define KEEPER_RIGHT_ANGLE (2 * PI) - (20.0f * PI / 180.0f)

#define COMMAND_BUFFER_SIZE 20

#define DEFAULT_SPEED 200
#define DEFAULT_ROTATION_SPEED 200

#define AREA_BOUNDS_X 20000.0f
#define AREA_BOUNDS_Y 5000.0f

#define WALL_DISTANCE_TOLERANCE 30.0f
#define ENEMY_ROBOT_RADIUS 40.0f

#define HOME_LOC_X -500.0f
#define HOME_LOC_Y 0
#define ENEMY_LOC_X 500.0f
#define ENEMY_LOC_Y 0
#define DEFENCE_L_LOC_X -500.0f
#define DEFENCE_L_LOC_Y 70.0f
#define DEFENCE_R_LOC_X -500.0f
#define DEFENCE_R_LOC_Y -70.0f

#define DISTANCE_TOLERANCE 1.0f
#define ORIENTATION_TOLERANCE 0.1f

#define MAX_OBSTACLE_COUNT 20

#define OBSTACLE_DECAY 100

#define BALL_DIRECTION_FRONT_L 45.0f * PI / 180.0f
#define BALL_DIRECTION_FRONT_R 315.0f * PI / 180.0f

#define WIRELESS_CODE "SPASS!"
enum WirelessCommands
{
	WLESS_CMD_CONFIRM,
	WLESS_CMD_RECIEVED_BALL,
};

//IO Module Names
enum IOModuleNames
{
	//General
	IO_START,

	//Engines
	IO_ENGINE_START = IO_START,

	IO_ENGINE_DRIVE_LEFT = IO_ENGINE_START,
	IO_ENGINE_DRIVE_RIGHT,
	IO_ENGINE_DRIVE_BACK,

	IO_ENGINE_END,

	//Dribbler

	IO_DRIBBLER_START = IO_ENGINE_END,

	IO_DRIBBLER_MAIN = IO_DRIBBLER_START,

	IO_DRIBBLER_END,

	//Kicker

	IO_KICKER_START = IO_DRIBBLER_END,

	IO_KICKER_MAIN = IO_KICKER_START,

	IO_KICKER_END,

	// Aktuator

	IO_AKTUATOR_START = IO_KICKER_END,

	IO_AKTUATOR_MAIN = IO_AKTUATOR_START,

	IO_AKTUATOR_END,

	// Wireless

	IO_WIRELESS_START = IO_AKTUATOR_END,

	IO_WIRELESS_MAIN = IO_WIRELESS_START,

	IO_WIRELESS_END,
	
	//Sensors
	IO_SENSOR_START = IO_WIRELESS_END,

	IO_SENSOR_IR_0_DEG = IO_SENSOR_START,
	IO_SENSOR_IR_30_DEG,
	IO_SENSOR_IR_60_DEG,
	IO_SENSOR_IR_100_DEG,
	IO_SENSOR_IR_180_DEG,
	IO_SENSOR_IR_260_DEG,
	IO_SENSOR_IR_300_DEG,
	IO_SENSOR_IR_330_DEG,
	IO_SENSOR_DISTANCE_0_DEG,
	IO_SENSOR_DISTANCE_90_DEG,
	IO_SENSOR_DISTANCE_180_DEG,
	IO_SENSOR_DISTANCE_270_DEG,
	IO_SENSOR_MOUSE_LEFT,
	IO_SENSOR_MOUSE_RIGHT,

	IO_SENSOR_END,

	//Leds

	IO_LED_START = IO_SENSOR_END,

	IO_LED_MAIN = IO_LED_START,

	IO_LED_END,

	//Displays

	IO_DISPLAY_START = IO_LED_END,

	IO_DISPLAY_MAIN = IO_DISPLAY_START,

	IO_DISPLAY_END,

	//Keyboards

	IO_KEYBOARD_START = IO_DISPLAY_END,

	IO_KEYBOARD_MAIN = IO_KEYBOARD_START,

	IO_KEYBOARD_END,

	//Command Handler

	IO_COMMAND_HANDLER_START = IO_KEYBOARD_END,

	IO_COMMAND_HANDLER_MAIN = IO_COMMAND_HANDLER_START,

	IO_COMMAND_HANDLER_END,

	//Position Tracker

	IO_POSITION_TRACKER_START = IO_COMMAND_HANDLER_END,

	IO_POSITION_TRACKER_MAIN,

	IO_POSITION_TRACKER_END,

	//Obstacle Tracker

	IO_OBSTACLE_TRACKER_START = IO_POSITION_TRACKER_END,

	IO_OBSTACLE_TRACKER_MAIN,

	IO_OBSTACLE_TRACKER_END,

	//Ball Tracker

	IO_BALL_TRACKER_START = IO_OBSTACLE_TRACKER_END,

	IO_BALL_TRACKER_MAIN,

	IO_BALL_TRACKER_END,

	//Navigators

	IO_NAVIGATOR_START = IO_BALL_TRACKER_END,

	IO_NAVIGATOR_MAIN,

	IO_NAVIGATOR_END,

	//Logics

	IO_LOGIC_START = IO_NAVIGATOR_END,

	IO_LOGIC_MAIN,

	IO_LOGIC_END,

	//General
	IO_END = IO_NAVIGATOR_END,
};

#endif