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#include <messages/set_motors.h>

#include <messages/query_encoders.h>

#include <messages/query_linesensor.h>

#include <messages/sonar_distance.h>

#include <messages/sonar_toggle.h>

#include <messages/sonar_set_scan.h>

#define PI 3.14159265

#define NUM_LINESENSORS 8

// Distance, pixels, from center of robot to the linesensors.

#define LNSNSR_D 20

                                         world_state state);

            void paint(wxDC& dc);

            void set_sonar_visual(bool on);

        private:

            float absolute_to_mps(int absolute_speed);

                                     messages::query_encoders::Response&);

            bool query_linesensor_callback(messages::query_linesensor::Request&,

                                     messages::query_linesensor::Response&);

            bool handle_sonar_toggle(messages::sonar_toggle::Request  &req,

                                     messages::sonar_toggle::Response &res);

            bool handle_sonar_set_scan(messages::sonar_set_scan::Request  &req,

                              double robot_theta, wxMemoryDC& sonar_dc);

            void update_linesensor(const wxImage& lines_image, int x, int y,

                                   double theta);

            int old_front_dx;

            int old_front_dy;

            int old_back_dx;

            // A vector of the 8 linesensor readings

            std::vector<unsigned int> linesensor_readings;

            // Each scout has a unique id number, which is also displayed on its image.

            int scout_id;

            ros::ServiceServer set_pen_srv;

            ros::ServiceServer query_encoders_srv;

            ros::ServiceServer query_linesensor_srv;

            ros::ServiceServer toggle_sonar_srv;

            ros::ServiceServer set_sonar_srv;