#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 */