/* events.h
 *
 * This header file describes the sates and events the robot will encounter. Note
 * the list has been kept relatively short, partly as the result of our efforts to
 * reduce software complexity but primarily due to the simplification of our 
 * mechanical design. 
 */

#ifndef EVENTS_H
#define EVENTS_H

/* ----------------------------- States ------------------------------ */
typedef enum { 
		kStateFindingCenter = 0,
		kStateReversing,
		kStatePoweringUp,
		kStateShootBalls
}StateType;

/* ----------------------------- Events ----------------------------- */
typedef enum { 
		kEventCenterAdjustment = 0,
		kEventTimerExpired,
		kEventActiveBeaconChanged
} EventType;

// From the event handler we occassionally need to pass two pieces of information,
// rather than just the event (as is the case with the shared byte model). Here,
// we pack the event and an optional event parameter into a word and use the appropriate
// accessors to retrieve the relevant portions.
#define SET_EVENT(word, event)	((word) = ((word) | (((event) & 0xFF) << 8)))
#define SET_PARAM(word, param)	((word) = ((word) | ((param) & 0xFF)))
#define GET_EVENT(word)		  	(((word) >> 8) & 0xFF)
#define GET_PARAM(word)			((word) & 0xFF);

#endif // EVENTS_H