#pragma once
#include <stdio.h>
#include <rosbuzz/buzz_utility.h>
#include <rosbuzz/buzzuav_closures.h>
#include <rosbuzz/buzz_update.h>
#include <buzz/buzzdebug.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <iostream>
#include <stdint.h>
#include <map>

using namespace std;
namespace buzz_utility
{
struct pos_struct
{
  double x, y, z;
  pos_struct(double x, double y, double z) : x(x), y(y), z(z){};
  pos_struct()
  {
  }
};
typedef struct pos_struct Pos_struct;
struct rb_struct
{
  double r, b, latitude, longitude, altitude;
  rb_struct(double la, double lo, double al, double r, double b)
    : latitude(la), longitude(lo), altitude(al), r(r), b(b){};
  rb_struct()
  {
  }
};
typedef struct rb_struct RB_struct;

struct neiStatus
{
  uint gps_strenght = 0;
  uint batt_lvl = 0;
  uint xbee = 0;
  uint flight_status = 0;
};
typedef struct neiStatus neighbors_status;

struct neitime
{
  uint64_t nei_hardware_time;
  uint64_t nei_logical_time;
  uint64_t node_hardware_time;
  uint64_t node_logical_time;
  double nei_rate;
  double relative_rate;
  int age;
  neitime(uint64_t nht, uint64_t nlt, uint64_t mht, uint64_t mlt, double nr, double mr)
    : nei_hardware_time(nht)
    , nei_logical_time(nlt)
    , node_hardware_time(mht)
    , node_logical_time(mlt)
    , nei_rate(nr)
    , relative_rate(mr){};
  neitime()
  {
  }
};
typedef struct neitime neighbor_time;

uint16_t* u64_cvt_u16(uint64_t u64);

int buzz_listen(const char* type, int msg_size);
int make_table(buzzobj_t* t);
int buzzusers_reset();
int create_stig_tables();

void in_msg_append(uint64_t* payload);

uint64_t* obt_out_msg();

void update_sensors();

int buzz_script_set(const char* bo_filename, const char* bdbg_filename, int robot_id);

int buzz_update_set(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size);

int buzz_update_init_test(uint8_t* UP_BO_BUF, const char* bdbg_filename, size_t bcode_size);

void buzz_script_step();

void buzz_script_destroy();

int buzz_script_done();

int update_step_test();

int get_robotid();

int get_swarmsize();

buzzvm_t get_vm();

void set_robot_var(int ROBOTS);

void set_ca_on_var(int CA_ON);

int get_inmsg_size();

std::vector<uint8_t*> get_inmsg_vector();

std::string get_bvmstate();
}