#ifndef _PROJECT_H_
#define _PROJECT_H_

#include <conio.h>
#include <unistd.h>
#include <dsensor.h>
#include <dmotor.h>
#include <dbutton.h>
#include <sys/time.h>
#include <stdlib.h>
#include <sys/tm.h>

/* robot control */
#define FWD_SPEED    MAX_SPEED
#define REV_SPEED    MAX_SPEED
#define PRIO_AVOID   PRIO_LOWEST+2
#define PRIO_EXPLORE PRIO_LOWEST+2
#define PRIO_RESOLVE PRIO_LOWEST+3
#define PROX_THRESH  0x30
#define IDLE   0
#define SIGNAL 1

pid_t pid0, pid1, pid2, pid3, pid4, pid5;
int ready = 1;
unsigned proximity = 0, cur_pri = PRIO_LOWEST, phase = IDLE, detecting = 0;

/* GA parameters */
#define state_bits  3
#define states      8
#define action_bits 2
#define popsize     5
#define generations 10
#define iterations  100
#define choose      50
#define mutate      1
#define crossover_num (int)(0.4*popsize)
#define mutate_num    (int)(0.4*popsize)
#define ctrl_bits     (states<<1)*(state_bits+action_bits)

unsigned state = 0;
int fitness = 0;

typedef struct controller_t {
   int fsa[ctrl_bits];
   int fitness;
} controller;

int cur_rank[popsize];
int new_rank[popsize + crossover_num + mutate_num];
controller* cur_pop[popsize];
controller* new_pop[popsize + crossover_num + mutate_num];
int new_popsize;
controller *cur_ctrl;

void decode(controller *, int *, int *, int, int);
void init_arrays();
void free_arrays();
void rank_ctrl();
void rank_ctrl_new();
int  select_ctrl();
void crossover_ctrl();
void mutate_ctrl();
void select_next_generation();
void init_new_generation();
void move_forward();
void turn_left();
void turn_right();
void reverse();
void stop(int sleep);
wakeup_t turn(wakeup_t);
wakeup_t finish(wakeup_t);
wakeup_t collision(wakeup_t);
int  resolve();
int  explore();
int  ticker();
int  signal();
int  avoid();
void simulate(controller *);
void set_control(controller *);
controller* get_control();
void motor_control(int, int, int, int, int);
#endif