#ifndef GARCIA_UTIL_H
#define GARCIA_UTIL_H

/* This header file defines public interface to control the robot. */
/* The robot is controlled through acpGarcia class provided by */
/* acroname inside the Brainstem API. Here we use pure C function to */
/* take the place of the complicated acpGarcia class to do the same */
/* function. */

/* To use the Garcia robot, user should call init() first in the start */
/* of his code. When user's program is about to quit, user should call destroy() */
/* function. */


/* Any question related to Garcia.cpp and garcia.h should be reported to
   pway@cs.dartmouth.edu(Wei Pan)   */


#ifdef __cplusplus
extern "C" {
#endif

  // This is a blocking function, which means that the function
  // will not return before the robot finish the walk.
  // The float is the distance the user want to robots to move.
  // The unit of the distance is ADJUSTABLE, currently it is centimeter.
  //! param f  the distance to go, negative number for backward.
  //! return a status value, 0 means success, otherwise failure(may be robots are blocked by wall so they can't move)
  int GarciaWalk(float);

  // This is also a blocking function. The robot will turn acording to
  // the angle value the user pass in as a parameter. The current unit is
  // rad. So PI means turn 180 degrees.
  // param f the angel to turn, negative number for counter-clockwise
  // return a status value, 0 means success, otherwise failure(may be robots are blocked by wall so they can't move)
  int GarciaTurn(float);


  // The following two functions is the non-blocking version of the up two
  // functions, which means they will return immediately after you call them.
  // The robot will execute the movement concurrently.
  // If you call them multiple times, the robot will queue each movement and
  // execute them in FIFO order. 
  int GarciaTurnN(float);

  int GarciaWalkN(float);

  // This function is to stop all movements of the robot and clear the movement
  // queue. The robot stop immediately when you call it.
  void GarciaStop();
  
  
  // NOTICE: The upper two function will return a value indicating the status
  //         of the robots. 0 means works fine. Otherwise there is a problem.
  // The return value and problems has a relation:
  /*
     Please refer to
      brainstem/aCommon/aErr.h
     for full list of error codes meanings.
  */
  
  

  // Before the program, please call init(), and pass in the
  // laptop server address, so there is a heart beat thread which will
  // connect to the server address every certain time interval.
  // The two following constant defines the properties of the heart beat thread:  // the HEARTBEAT_PORT is the port for the server to receive the heart beat.
  
#define HEARTBEAT_INTERVAL 60
#define HEARTBEAT_PORT 5656

  //! param c the ip address of the server side code,
  //         ( this IP address will be used to send back a HEARTBEAT signal.)
  void init(char*);
  // Before your program quit, please call destroy()
  void destroy();


  
  // parameters for GarciaRangeData()
#define FRONT_RANGE_LEFT 1
#define FRONT_RANGE_RIGHT 2
#define SIDE_RANGE_LEFT 3
#define SIDE_RANGE_RIGHT 4
#define REAR_RANGE_LEFT 5
#define REAR_RANGE_RIGHT 6
#define BATTERY 7

  // Garcia has 8 rangers, however, we here only use 6 of them. Pass in which ranger
  // you want to set type to REAR_RANGE_LEFT or SIDE_RANGE_LEFT, it will return the range
  // information.
  //! param type see #define
  //! return a reading from sensors
  float GarciaRangeData (int type);  


#ifdef __cplusplus
}
#endif



#endif