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/**
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 * Copyright (c) 2007 Colony Project
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 *
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 *
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 *
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 **/
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/**
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 * @file sensor_matrix.h
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 * @brief Definitions for sensor matrices
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 *
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 * Contains functions and declarations for using sensor matrices.
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 *
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 * @author Brian Coltin, Colony Project, CMU Robotics Club
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 **/
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#ifndef SENSOR_MATRIX_H
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#define SENSOR_MATRIX_H
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/**
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 * @defgroup sensormatrix Sensor Matrix
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 * @brief the robot sensor matrix
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 *
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 * These functions and structures are used for localization
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 * to determine the relative directions of robots.
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 *
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 * @{
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 **/
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#define MAXIMUM_XBEE_ID                0x10
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#define READING_UNKNOWN                0xFF
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typedef struct
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{
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        /* direction of max reading */
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        unsigned char dir;
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        /* estimated distance */
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        unsigned char dist;
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} SensorReading;
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/**
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 * @struct SensorMatrix
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 *
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 * A sensor matrix.
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 **/
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//TODO: the order of member variables in this struct should be changed in case the compile packs the struct
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// In order to achieve the best packing, the variables should be listed in order of decreasing memory size.
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// Thus, pointers should be first, followed by int, followed by char.
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typedef struct
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{
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        /**
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         * The number of robots in the token ring.
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         **/
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        int numJoined;
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        /**
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         * The element representing a robot is true if that robot
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         * is in the token ring and false otherwise.
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         **/
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        unsigned char joined[MAXIMUM_XBEE_ID];
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        // on the bayboard, we don't include the matrix to save memory.
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#ifndef BAYBOARD
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        /**
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         * The matrix. Each row represents the readings of one
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         * robot.
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         **/
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        SensorReading matrix[MAXIMUM_XBEE_ID][MAXIMUM_XBEE_ID];
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#endif
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} SensorMatrix;
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/**@brief Create a sensor matrix **/
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void sensor_matrix_create(void);
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/**@brief Set a reading in a sensor matrix **/
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void sensor_matrix_set_reading(int observer, int robot, SensorReading reading);
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/**@brief Get a reading in a sensor matrix **/
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SensorReading * sensor_matrix_get_reading(int observer, int robot);
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/**@brief Set whether the robot is in the token ring **/
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void sensor_matrix_set_in_ring(int robot, int in);
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/**@brief Get whether the robot is in the sensor ring **/
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int sensor_matrix_get_in_ring(int robot);
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/**@brief Get the number of robots which have joined the token ring **/
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int sensor_matrix_get_joined(void);
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/**@brief Get the maximum size of the sensor matrix **/
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int sensor_matrix_get_size(void);
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/** @} **/ //end defgroup
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#endif
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