#pragma once

// Public stuff
struct Client;
typedef struct Client* Client;

#include "message.h"
#include "chassis.h"
#include "sdk.h"

Client client_new();
void client_connect(Client client);
void poll_message(Client client, union Message* message);

static inline uint8_t host2byte(uint8_t host, uint8_t index) {
    return index * 32 + host;
}

static inline void byte2host(uint8_t b, uint8_t* host, uint8_t* index) {
    *host = (b & 0x1F);
    *index = b >> 5;
}

/*
 * Drive the wheels of the robot. Values should be [-1, 1]
 *
 * x: positive is forward, negative is backwards
 * y: positive is right, negative is left
 * r: positive is clockwise, negative is counterclockwise
 */
void drive(Client client, float x, float y, float r);