AMiRo-OS

#ifndef AMIRO_MAP

#define AMIRO_MAP

#include <ch.hpp>

#include "global.hpp"

#include <amiroosconf.h>

#define MAX_NODES 20

#define NODE_ATTRIBUTES 4

namespace amiro {

  struct node{

    uint8_t id;

    uint8_t flag;

    types::position pL; //Left

    types::position pR; //Right

    types::position pB; //Back

  };

  class AmiroMap{

  public:

    AmiroMap(Global *global):global{global}{}

    void initialize(int8_t (&config)[MAX_NODES][NODE_ATTRIBUTES]);

    void update();

  private:

    Global *global;

    bool valid = false;

    node *nodeList = NULL;

    node *current = NULL;

    node *next = NULL;

    void uninitialize();

  };

};

#endif /* AMIRO_MAP */