#pragma once

/** @file consts.h */

#ifndef W2_BUILD_STR
// is defined by CFLAGS += -DW2_BUILD_STR in makefile
#define W2_BUILD_STR "????????"
#endif

#if !defined W2_HOST_WIN32 && !defined W2_HOST_LINUX
#define W2_HOST_UNKNOWN
#warning "host operating system unknown"
#endif

/** serial baud rate (bit/s) */
#define W2_SERIAL_BAUD 9600
/** size of input (receive) buffer (in bytes) */
#define W2_SERIAL_READ_BUFFER_SIZE 255

/** size of the error handling buffer (in errors, not bytes) */
#define W2_ERROR_BUFFER_SIZE 16
/** size of the serial communication buffer (in messages, not bytes) */
#define W2_SERCOMM_BUFFER_SIZE 16
/** size of mode history buffer */
#define W2_MODE_HISTORY_BUFFER_SIZE 8

/** max logic module execution time in milliseconds */
#define W2_MAX_MODULE_CYCLE_MS 20

/** exponential moving average new measurement weight (double 0-1) */
#define W2_EMA_WEIGHT 0.10

/** minimal time between pings */
#define W2_PING_FREQUENCY 1e3
/** max time between ping and answer */
#define W2_PING_TIMEOUT 5e3

/** default map width/height */
#define W2_MAP_DEFAULT_HEIGHT 5
#define W2_MAP_DEFAULT_WIDTH 5

/** distance too close schmitt trigger low threshold */
#define W2_IO_DISTANCE_CLOSE_THRESHOLD 400
/** distance too close schmitt trigger high threshold */
#define W2_IO_DISTANCE_FAR_THRESHOLD 100
/** go into emergency mode if object still present after n ms */
#define W2_IO_DISTANCE_TOO_CLOSE_TIMEOUT 5e3

/** front-facing distance sensor pinout */
#define W2_FRONT_SENSOR_PIN 5
/** battery voltage sensor pinout */
#define W2_BATTERY_PIN 6
/** side-facing distance sensor pinout */
#define W2_SIDE_SENSOR_PIN 7

/** battery voltage measurement sample count */
#define W2_BATTERY_SAMPLES 10
/** battery full voltage (millivolts) */
#define W2_BATTERY_FULL 5000
/** battery empty voltage (millivolts) */
#define W2_BATTERY_EMPTY 100
/** battery measurement interval (milliseconds) */
#define W2_BATTERY_MEAS_FREQ 10e3
/** battery low level percentage (target charging station) */
#define W2_BATTERY_PERCENTAGE_LOW 30

/** arbitrary grid constants */
#define W2_GRID_CROSSWALK_DISTANCE 400