/* LICENSE:
  =========================================================================
    CMPack'04 Source Code Release for OPEN-R SDK 1.1.5-r2 for ERS7
    Copyright (C) 2004 Multirobot Lab [Project Head: Manuela Veloso]
    School of Computer Science, Carnegie Mellon University
    All rights reserved.
  ========================================================================= */

#ifndef _WMDebug_H_
#define _WMDebug_H_

#include "DogTypes.h"

// Enumerate the valid list of shapes
static const uchar WMD_SQUARE=0;
static const uchar WMD_HOLLOW_SQUARE=1;
static const uchar WMD_CIRCLE=2;
static const uchar WMD_HOLLOW_CIRCLE=3;
static const uchar WMD_DIAMOND=4;
static const uchar WMD_HOLLOW_DIAMOND=5;
static const uchar WMD_UP_TRIANGLE=6;
static const uchar WMD_UP_HOLLOW_TRIANGLE=7;
static const uchar WMD_DOWN_TRIANGLE=8;
static const uchar WMD_DOWN_HOLLOW_TRIANGLE=9;
// and others...

struct WMDebug {
  float x;
  float y;
  uchar shape;
  uchar red;
  uchar green;
  uchar blue;
  uchar valid;
  // Add a short text field as well
  WMDebug() {
    x=0;y=0;shape=0;red=0;green=0;blue=0;valid=0;
  }
  WMDebug(float _x,float _y,uchar _s,uchar _r, uchar _g, uchar _b) {
    x=_x;y=_y;shape=_s;red=_r;green=_g;blue=_b;valid=1;
  }
};

static const int WMDEBUG_SIZE=((2*sizeof(float))+(5*sizeof(uchar)));
//static const int WMDEBUG_SIZE=sizeof(WMDebug);

#endif