behaviorSystem.h

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#ifndef BEHAVIORSYSTEM_H_
#define BEHAVIORSYSTEM_H_

#define BEHAVIOR_TASK_PRIORITY          (BACKGROUND_TASK_PRIORITY + 1)
#define BEHAVIOR_TASK_PERIOD            50

typedef struct Beh {
        int32 tv;                       
        int32 rv;                       
        boolean active;     
} Beh;

extern const Beh behInactive;

// behavior system
//TODO Should brief be more specific?
void behaviorSystemInit(void (*behaviorTask)(void* parameters), uint32 stackSize);


void motorSetBeh(Beh* behPtr);


uint8 behGetTv(Beh* behPtr);


void behSetTvRv(Beh* behPtr, int32 tv, int32 rv);


void behSetTv(Beh* behPtr, int32 tv);


void behSetRv(Beh* behPtr, int32 rv);


uint8 behGetRv(Beh* behPtr);


uint8 behIsActive(Beh* behPtr);


void behSetActive(Beh* behPtr);


void behSetInactive(Beh* behPtr);


boolean buttonModeRGB(uint8* modePtr, uint8 modeRed, uint8 modeGreen, uint8 modeBlue);

Beh* behSubsume(Beh* behOutPtr, Beh* behInLoPtr, Beh* behInHighPtr);
#endif /* BEHAVIORSYSTEM_H_ */