/*
 * Copyright 1996-2024 Cyberbotics Ltd.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     https://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

/**********************************************************************************/
/* Description:  Webots C programming interface for communicating with the        */
/*               remote control library                                           */
/**********************************************************************************/

#ifndef WB_REMOTE_CONTROL_H
#define WB_REMOTE_CONTROL_H

#define WB_USING_C_API
#include "camera_recognition_object.h"
#include "radar_target.h"
#include "types.h"

#ifdef __cplusplus
extern "C" {
#endif

void *wb_remote_control_custom_function(void *);

// Sensor functions (values read by the controller)
void wbr_robot_battery_sensor_set_value(double value);

void wbr_accelerometer_set_values(WbDeviceTag tag, const double *values);
void wbr_camera_recognition_set_object(WbDeviceTag tag, const WbCameraRecognitionObject *objects, int object_number);
void wbr_compass_set_values(WbDeviceTag tag, const double *values);
void wbr_distance_sensor_set_value(WbDeviceTag tag, double value);
void wbr_gps_set_values(WbDeviceTag tag, const double *values);
void wbr_gps_set_speed(WbDeviceTag tag, const double speed);
void wbr_gps_set_velocity_vector(WbDeviceTag tag, const double *values);
void wbr_gyro_set_values(WbDeviceTag tag, const double *values);
void wbr_inertial_unit_set_value(WbDeviceTag tag, double value);
void wbr_light_sensor_set_value(WbDeviceTag tag, double value);
void wbr_microphone_set_buffer(WbDeviceTag tag, const unsigned char *buffer, int size);
void wbr_motor_set_position_feedback(WbDeviceTag tag, double value);
void wbr_motor_set_force_feedback(WbDeviceTag tag, double value);
void wbr_motor_set_torque_feedback(WbDeviceTag tag, double value);
void wbr_position_sensor_set_value(WbDeviceTag tag, double value);
void wbr_radar_set_targets(WbDeviceTag tag, const WbRadarTarget *targets, int target_number);
void wbr_touch_sensor_set_value(WbDeviceTag tag, double value);
void wbr_touch_sensor_set_values(WbDeviceTag tag, const double *values);

// TODO doc required
void wbr_display_save_image(WbDeviceTag tag, int id, int width, int height, unsigned char *image);

void wbr_camera_set_image(WbDeviceTag tag, const unsigned char *image);
unsigned char *wbr_camera_get_image_buffer(WbDeviceTag tag);

// Actuator functions (values written by the controller)
typedef struct WbrInterface {
  // mandatory functions :
  struct {
    bool (*wbr_start)(const char *);
    void (*wbr_stop)();
    bool (*wbr_has_failed)();
    void (*wbr_stop_actuators)();
    int (*wbr_robot_step)(int);
  } mandatory;

  // user custom function to communicate data
  void *(*wbr_custom_function)(void *);

  // optional functions (if they are used but not defined it will print a warning) :
  void (*wbr_robot_battery_set_sampling_period)(int sampling_period);

  void (*wbr_set_sampling_period)(WbDeviceTag tag, int sampling_period);
  void (*wbr_camera_set_fov)(WbDeviceTag tag, double fov);
  void (*wbr_camera_set_exposure)(WbDeviceTag tag, double exposure);
  void (*wbr_camera_set_focal_distance)(WbDeviceTag tag, double focal_distance);
  void (*wbr_led_set)(WbDeviceTag tag, int state);
  void (*wbr_pen_set_ink_color)(WbDeviceTag tag, int color, double density);
  void (*wbr_pen_write)(WbDeviceTag tag, bool write);
  void (*wbr_speaker_emit_sample)(WbDeviceTag tag, const void *data, int size);

  void (*wbr_motor_set_force_sampling_period)(WbDeviceTag tag, int sampling_period);
  void (*wbr_motor_set_torque_sampling_period)(WbDeviceTag tag, int sampling_period);
  void (*wbr_motor_set_position)(WbDeviceTag tag, double position);
  void (*wbr_motor_set_acceleration)(WbDeviceTag tag, double acceleration);
  void (*wbr_motor_set_velocity)(WbDeviceTag tag, double velocity);
  void (*wbr_motor_set_force)(WbDeviceTag tag, double force);
  void (*wbr_motor_set_torque)(WbDeviceTag tag, double torque);
  void (*wbr_motor_set_available_force)(WbDeviceTag tag, double available_force);
  void (*wbr_motor_set_available_torque)(WbDeviceTag tag, double available_torque);
  void (*wbr_motor_set_control_pid)(WbDeviceTag tag, double p, double i, double d);

  void (*wbr_display_set_color)(WbDeviceTag tag, int color);
  void (*wbr_display_set_alpha)(WbDeviceTag tag, double alpha);
  void (*wbr_display_set_opacity)(WbDeviceTag tag, double opacity);

  void (*wbr_display_draw_pixel)(WbDeviceTag tag, int x, int y);
  void (*wbr_display_draw_line)(WbDeviceTag tag, int x1, int y1, int x2, int y2);
  void (*wbr_display_draw_rectangle)(WbDeviceTag tag, int x, int y, int width, int height);
  void (*wbr_display_draw_oval)(WbDeviceTag tag, int cx, int cy, int a, int b);
  void (*wbr_display_draw_polygon)(WbDeviceTag tag, const int *x, const int *y, int size);
  void (*wbr_display_draw_text)(WbDeviceTag tag, const char *txt, int x, int y);
  void (*wbr_display_fill_rectangle)(WbDeviceTag tag, int x, int y, int width, int height);
  void (*wbr_display_fill_oval)(WbDeviceTag tag, int cx, int cy, int a, int b);
  void (*wbr_display_fill_polygon)(WbDeviceTag tag, const int *x, const int *y, int size);

  // TODO these functions are not like the API, documentation required
  void (*wbr_display_image_new)(WbDeviceTag tag, int id, int width, int height, const void *data, int format);
  void (*wbr_display_image_copy)(WbDeviceTag tag, int id, int x, int y, int width, int height);
  void (*wbr_display_image_delete)(WbDeviceTag tag, int id);
  void (*wbr_display_image_paste)(WbDeviceTag tag, int id, int x, int y);
  void (*wbr_display_image_save)(WbDeviceTag tag, int id);

} WbrInterface;

#ifdef __cplusplus
}
#endif

#endif /* WB_REMOTE_CONTROL_H */