/* 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 INCLUDED_State_h
#define INCLUDED_State_h

#include "../../agent/headers/DogTypes.h"

#include "agent/Vision/colors.h"

#include "DataInterface.h"

extern DataInterface *DataControl;

static const rgb ColorVals[]={
  {0x00,0x00,0x00}, // 00 black
  {0x00,0x88,0x00}, // 01 green
  {0xFF,0xFF,0xFF}, // 02 white
  {0xFF,0x00,0x00}, // 03 red
  {0xFF,0x80,0x00}, // 04 orange
  {0x80,0x40,0x00}, // 05 brown
  {0xA0,0xA0,0xA0}, // 06 light grey
  {0x80,0x80,0x80}, // 07 grey
  {0x00,0x44,0x00}, // 08 dark green
  {0x00,0xFF,0x00}, // 09 bright green
  /* vision RLE colors start here */
  {0x00,0x00,0x00}, /* 10 black */
  {0xff,0x80,0x00}, /* 11 orange */
  {0x00,0x80,0x00}, /* 12 green */
  {0xff,0x00,0x80}, /* 13 pink */
  {0x00,0xff,0xff}, /* 14 cyan */
  {0xff,0xff,0x00}, /* 15 yellow */
  {0x00,0x00,0xff}, /* 16 blue */
  {0xff,0x00,0x00}, /* 17 red */
  {0xff,0xff,0xff}, /* 18 white */
  {0x80,0x80,0x80}, /* 19 gray */
};

static const int ColorBlack       =  0;
static const int ColorGreen       =  1;
static const int ColorWhite       =  2;
static const int ColorRed         =  3;
static const int ColorOrange      =  4;
static const int ColorBrown       =  5;
static const int ColorLightGrey   =  6;
static const int ColorGrey        =  7;
static const int ColorDarkGreen   =  8;
static const int ColorBrightGreen =  9;
static const int StartRLEColors   = 10;
static const int ColorCyan        = 14;
static const int ColorYellow      = 15;
static const int ColorBlue        = 16;
static const int NumColors=sizeof(ColorVals)/sizeof(ColorVals[0]);

void InitializeColors(void);

#endif