Colony

/**

 * @file robot.h

 * @author Colony Project

 *

 * @brief Manages simulated robots.

 *

 * Contains structures and function prototypes used

 * for managing robots in the simulator.

 **/

#ifndef __ROBOT_H__

#define __ROBOT_H__

#include "robot_shared.h"

typedef struct PoseType

{

        float x,y; /* position of robot in environment */

        float theta; /* orientation of robot in environment */

} Pose;

typedef struct RobotType

{

        // the id is 0 if the robot hasn't been created

        int id;

        int pid;

        int sharedMemID; /* id for shared memory object */

        Pose pose; /* position in environment */

        RobotShared* shared;

        /* add other sensors, etc here */

} Robot;

int robots_initialize(void);

int robot_create(char *execname);

int robot_destroy(int id);

void robot_iterator_reset(void);

Robot* robot_iterator_next(void);

void* robot_event_loop(void* arg);

void* logger_step_loop(void* arg);

#endif