//
// Created by nano on 5/9/25.
//

#ifndef ROBOT_H
#define ROBOT_H
#include "../cell/cell.h"
#include "../stack/stack.h"

#define MAZE_SIZE 11

typedef enum {
	NORTH = 0,
	EAST = 1,
	SOUTH = 2,
	WEST = 3
} direction;


typedef struct {
	cell pos;
	direction dir;
} robot;

void turnLeft(robot *r);

void turnRight(robot *r);

void turnAround(robot *r);

void forward(robot *r);

void backward(robot *r);

const char *directionToString(direction dir);

int determineDirection(cell from, cell to);

int determineDirectionFromMove(cell move);

int getStartDirection(cell startCell);

void spin(robot *robot, direction desiredDirection);

int move(robot *r, cell move);

void printMatrix_with_current_pos(int m[][MAZE_SIZE], robot r);

void register_sensor_blockages(robot* r, int sensorInput, int visited[MAZE_SIZE][MAZE_SIZE]);

int followPath_with_blockages(robot *r, stack *path,int visited[MAZE_SIZE][MAZE_SIZE]);

void simple_control();

void printAllMoves();
void parkBackwards(robot *r);
void comm_discard_sensor_data(int timeout);
#endif //ROBOT_H