/*----------------------------------------------------------------------------*/
/* Copyright (c) FIRST 2014-2016. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#pragma once

/*  Constants */
#define LOG_DEBUG __FILE__, __FUNCTION__, __LINE__, DEBUG_TYPE
#define LOG_INFO __FILE__, __FUNCTION__, __LINE__, INFO_TYPE
#define LOG_ERROR __FILE__, __FUNCTION__, __LINE__, ERROR_TYPE
#define LOG_CRITICAL __FILE__, __FUNCTION__, __LINE__, CRITICAL_TYPE
#define LOG_FATAL __FILE__, __FUNCTION__, __LINE__, FATAL_TYPE
#define LOG_DEBUG __FILE__, __FUNCTION__, __LINE__, DEBUG_TYPE

/*   Enumerated Types */

/** debug levels */
enum dprint_type {
  DEBUG_TYPE,
  INFO_TYPE,
  ERROR_TYPE,
  CRITICAL_TYPE,
  FATAL_TYPE
};

/** debug output setting */
typedef enum DebugOutputType_enum {
  DEBUG_OFF,
  DEBUG_MOSTLY_OFF,
  DEBUG_SCREEN_ONLY,
  DEBUG_FILE_ONLY,
  DEBUG_SCREEN_AND_FILE
} DebugOutputType;

/*  Enumerated Types */

/* Utility functions */

/* debug */
void SetDebugFlag(DebugOutputType flag);
void dprintf(const char *tempString, ...); /* Variable argument list */

/* set FRC ranges for drive */
double RangeToNormalized(double pixel, int range);
/* change normalized value to any range - used for servo */
float NormalizeToRange(float normalizedValue, float minRange, float maxRange);
float NormalizeToRange(float normalizedValue);

/* system utilities */
void ShowActivity(char *fmt, ...);
double ElapsedTime(double startTime);

/* servo panning utilities */
class Servo;
double SinPosition(double *period, double sinStart);
void panInit();
void panInit(double period);
void panForTarget(Servo *panServo);
void panForTarget(Servo *panServo, double sinStart);

/* config file read utilities */
int processFile(char *inputFile, char *outputString, int lineNumber);
int emptyString(char *string);
void stripString(char *string);