#ifndef _CONTROL_H
#define _CONTROL_H

#include <glib.h>

typedef enum { ACCELERATING, ROLLING, BRAKING } accel_t;
typedef enum { TURN_HARD_LEFT, TURN_LEFT, TURN_STRAIGT, TURN_RIGHT, TURN_HARD_RIGHT } turn_t;

typedef enum { BOLDER, CRATER, MARTIAN } object_t;

struct object;
typedef struct object object;

struct vehicle;
typedef struct vehicle vehicle;

struct telemetry;
typedef struct telemetry telemetry;

struct map;
typedef struct map map;

struct trial;
typedef struct trial trial;

typedef unsigned int timestamp;



struct object {
	object_t type;
	double x, y, rad;
	double dir, speed;
};

struct vehicle {
	accel_t accel;
	turn_t turn;
	double x, y;
	double dir, speed;
};

struct telemetry {
	timestamp ts;
	vehicle vehicle;
	GArray objects;
};

struct map {
	float dx, dy;
	timestamp limit;
	float min_sensor, max_sensor;
	float max_speed, max_turn, max_turn_hard;

	GList solid_objects;
};

struct trial {
	map map;
	timestamp last_ts;
	GList telemetry_data;
	vehicle vehicle; /* our view */
};

/* trial */
trial *trial_new();
void trial_reset_run(trial *trial);
void trial_wait_for_start(trial *trial);
void trial_check_input(trial *trial);
void trial_wait_for_input(trial *trial);
void trial_free(trial *trial);

#endif