neighbors.h

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#ifndef NEIGHBORS_H_
#define NEIGHBORS_H_

/******** Defines ********/

#define NEIGHBOR_PERIOD_DEFAULT                 330
#define NEIGHBOR_TIMEOUT_ROUNDS                 4
#define OBSTACLE_TIMEOUT_ROUNDS                 2
#define NEIGHBOR_MAX                                    10

/*
 * TODO: IR: Do these really need to be removed???? It seems like they are kinda necessary
 * and I don't know what would replace them.
 */
//#define NEIGHBOR_MESSAGE_TIME_3BYTES  34
//#define NEIGHBOR_MESSAGE_TIME_4BYTES  51
//#define NEIGHBOR_XMIT_MIN_DELAY               (NEIGHBOR_MESSAGE_TIME_4BYTES + 10)
/* REMOVES END */
#define NEIGHBOR_XMIT_MIN_DELAY         50

#define ROBOT_ID_NULL                                   0
#define ROBOT_ID_MIN                                    1
#define ROBOT_ID_MAX                                    80
#define ROBOT_ID_ALL                                    0xFF

#define MAX_PARENT_ID                                   0x7F

// nbr radio messages - low-level system that underpins nbrnbr data and nbrData messages
#define NBR_RADIO_MESSAGES_MAX                                  16
#define NBR_RADIO_MESSAGES_SENDER_ID_IDX                0
#define NBR_RADIO_MESSAGES_LENGTH_IDX                   1
#define NBR_RADIO_MESSAGES_DATA_IDX                             2
#define NBR_RADIO_MESSAGE_DATA_LENGTH                   (RADIO_COMMAND_MESSAGE_DATA_LENGTH - NBR_RADIO_MESSAGES_DATA_IDX)

// nbr data messages
#define NBR_DATA_IR_IDX_MAX                     7
#define NBR_DATA_IR_BITS_MAX                    (IR_COMMS_MESSAGE_BIT_LENGTH_MAX)

#define NBR_DATA_RF_PACKETS_MAX                 4
#define NBR_DATA_RF_IDX_PER_PACKET              NBR_RADIO_MESSAGE_DATA_LENGTH
#define NBR_DATA_RF_IDX_MAX                     (NBR_RADIO_MESSAGE_DATA_LENGTH * NBR_DATA_RF_PACKETS_MAX)
#define NBR_DATA_RF_BITS_MAX                    (NBR_DATA_RF_IDX_MAX * 8)

#define NBR_DATA_TYPE_IR                0
#define NBR_DATA_TYPE_RF                1

#define NBR_ANGLE_HISTORY                               3
#define NBR_ANGLE_MAX_DELTA_PER_ROUND   (MILLIRAD_PI / 4)

/******** Structs ********/


typedef struct NbrData {
        const char * name;              
        uint8 value;                    
        uint8 size;                             
        uint8 idx;                              
        uint8 type;                             
        struct NbrData* nextPtr;
} NbrData;


//TODO Add field documentation
typedef struct NbrMsgRadioNbrData {
        uint8 ID;                                                                       
        uint32 timeStamp;                                                       
        uint8 length;                                                           
        uint8 data[NBR_RADIO_MESSAGE_DATA_LENGTH];      
} NbrMsgRadioNbrData;


//TODO add field documentation
typedef struct NbrMsgRadio {
        const char* name;
        uint8 length;
        uint8 data[NBR_RADIO_MESSAGE_DATA_LENGTH];
        NbrMsgRadioNbrData dataNbr[NEIGHBOR_MAX];
        RadioCmd radioCmd;
        struct NbrMsgRadio* nextPtr;
} NbrMsgRadio;


//TODO Fill in missing field documentation
typedef struct Nbr {
        uint8 ID;                                                                                               
        int16 bearing;                                                                                  
        int16 orientation;                                                                              
        int16 range;                                                                                    
        int16 bearingHistory[NBR_ANGLE_HISTORY];                                
        int16 orientationHistory[NBR_ANGLE_HISTORY];                    
        boolean orientationValid;                                                               
        uint32 updateTime;                                                                              
        uint32 updateRound;                                                                             
        uint8 orientationsBitsMatrix[IR_COMMS_NUM_OF_RECEIVERS];
        uint8 rangeBits[IR_COMMS_NUM_OF_RECEIVERS];                             
        uint8 receiverBits;                                                                             
        uint8 orientationBits;                                                                  
        uint8 signalBits;                                                                               
        boolean active;                                                                                 
        uint8 messages[NBR_DATA_IR_IDX_MAX];                                    
        NbrMsgRadioNbrData* radioMessagePtr;                                    
} Nbr;


//TODO Add field documentation
typedef struct NbrDatabase {
        Nbr nbrs[NEIGHBOR_MAX];                                         
        uint8 nbrsSize;                                                         
        uint32 round;                                                           
        char message[IR_COMMS_MESSAGE_LENGTH_MAX];      
} NbrDatabase;


//TODO: Double check brief
//TODO Add field documentation
typedef struct NbrList {
        Nbr* nbrs[NEIGHBOR_MAX];        
        uint8 size;                                     
} NbrList;


//TODO add field documentation
typedef struct IRRangeData {
        uint8 orientationsBitsMatrix[IR_COMMS_NUM_OF_RECEIVERS];        
        uint8 rangeBits[IR_COMMS_NUM_OF_RECEIVERS];                                     
        uint8 receiverBits;                                                                                     
        uint8 rangeBitCount;                                                                            
        uint32 updateRound;                                                                                     
} IRRangeData;



/******** Functions ********/


void neighborsInit(uint32 neighbor_period);


void neighborsDisable(void);


void neighborsXmitEnable(boolean neighbor_xmit_enable_arg);


void neighborsSetPeriod(uint32 neighbor_period_arg);


void neighborsSetTimeoutRounds(uint8 timeoutRounds, uint8 minActive, uint8 maxInactive);


uint32 neighborsGetPeriod(void);


//TODO: Should this stay in the header file?
void neighborsAddReceiveCallback(void(*receiveCallbackArg)(NbrDatabase* ndPtr));


void neighborsGetMutex(void);


void neighborsPutMutex(void);


uint32 neighborsGetRound(void);


boolean neighborsNewRoundCheck(uint32* roundOldPtr);


void neighborsIgnore(uint8 neighborID);

uint8 irObstaclesGetBits(void);


uint8* irObstaclesGetRangeBits(void);


uint8* irObstaclesGetBitMatrix(void);


int16 irObstaclesGetBearing(void);



int8 irObstaclesGetBearingBitVector(void);

void obstacleExcludeNbrs(NbrList* nbrListPtr, uint8* obstacleBitsGroupPtr, uint8* obstacleBitsCountPtr, int16* obstacleBearingPtr);


void obstaclePrint(void);

uint32 pseudoRandNumGen(uint32 init, uint32 seed);


// basic nbr functions

uint8 nbrGetID(Nbr* nbrPtr);


int32 nbrGetBearing(Nbr* nbrPtr);


int32 nbrGetOrientation(Nbr* nbrPtr);


int32 nbrGetRange(Nbr* nbrPtr);


boolean nbrGetOrientationValid(Nbr* nbrPtr);


uint8 nbrGetRangeBits(Nbr* nbrPtr);


uint8 nbrGetReceiverBits(Nbr* nbrPtr);


uint8 nbrGetTransmitterBits(Nbr* nbrPtr);


uint32 nbrGetUpdateTime(Nbr* nbrPtr);


uint32 nbrGetUpdateRound(Nbr* nbrPtr);


void nbrPrint(Nbr* nbr);


void nbrPrintData(Nbr* nbr, uint32 round);


boolean nbrIsRobot(Nbr* nbrPtr);


boolean nbrIsBeacon(Nbr* nbrPtr);


//TODO: implement or delete?
boolean nbrIsCharger(Nbr* nbrPtr);

//TODO: Create nbrMsgRadio header file?
// nbr radio messages

void nbrMsgRadioCreate(NbrMsgRadio* nbrMsgRadioPtr, const char* name);


void nbrMsgRadioSet(NbrMsgRadio* nbrMsgRadioPtr, char* dataPtr, uint8 length);


NbrMsgRadioNbrData* nbrMsgRadioGetNbr(NbrMsgRadio* nbrMsgRadioPtr, Nbr* nbrPtr);


void nbrMsgRadioPrint(NbrMsgRadio* nbrMsgRadioPtr, Nbr* nbrPtr);


// low-level function.  Used internally TODO: so should it be removed from the header file?
Nbr* nbrsGetWithID(uint8 nbrID);

#endif /* NEIGHBORS_H_ */