#pragma once

typedef enum {
	DUI_CMD_NULL,
	DUI_CMD_SIGN,
	DUI_CMD_SPEED,
	DUI_CMD_STEER,
} dui_e_cmd;

typedef enum {
	DUI_SIGN_NONE, /** @brief no sign */
	DUI_SIGN_STOP, /** @brief stop (set speed to 0) */
	DUI_SIGN_LEFT, /** @brief turn left (set steer to -1) */
	DUI_SIGN_RIGHT, /** @brief turn right (set steer to +1) */
	DUI_SIGN_SPEED_LIMIT_LOW, /** @brief slow down (speed limit 0.5) */
	DUI_SIGN_SPEED_LIMIT_HIGH, /** @brief full speed (speed limit 1.0) */
	DUI_SIGN_LIGHT_STOP, /** @brief traffic light red (set speed to 0) */
	DUI_SIGN_LIGHT_FLOOR_IT, /** @brief traffic light orange (set speed to 2 temporarily) */
	DUI_SIGN_LIGHT_GO, /** @brief traffic light green (keep current speed) */
} dui_e_sign;

typedef struct {
	float steer; /** @brief steer value (-1 is left, +1 is right) */
	float speed; /** @brief speed (0-15) */
	dui_e_sign current_sign; /** @brief last seen sign */
	float speed_mod; /** @brief global speed multiplier */
} dui_state_t;

/** @brief non blocking read byte */
unsigned char uart_read();
/** @brief read and apply cmd to state */
void handle_cmd(unsigned char cmd, dui_state_t *state);
/** @brief apply state to motors */
void apply_state(dui_state_t* state);