mahd/implementation/software/include/path.h

#pragma once
#include "list.h"
#include "gb_math.h"
#include <stdio.h>
#include <stdint.h>
#include <stdlib.h>
#include "asteroids_font.h"
#include "xtimer.h"

#ifndef STEPMULTI_X
#define STEPMULTI_X (4)
#endif
#ifndef CHAR_OFFSET_X
#define CHAR_OFFSET_X (40)
#endif
#ifndef STEPMULTI_Y
#define STEPMULTI_Y (5)
#endif
#ifndef CHAR_OFFSET_Y
#define CHAR_OFFSET_Y (20)
#endif


typedef struct{
    struct {int16_t x, y; };
    int16_t e[2];
} point_t;

typedef enum{
    PATH_MOVE = 0x0,
    PATH_DRAW = 0x1
} path_modus_t;

typedef struct{
    list_node_t list;
    point_t point;
    path_modus_t modus;
} path_node_t;

typedef struct{
    list_node_t list;
    int16_t step_pos_a;
    int16_t step_pos_b;
} step_pos_node_t;

typedef struct{
    list_node_t set_point_start;
    list_node_t start;
    list_node_t current;
    uint8_t char_count;
} path_t;

/** @brief Initialize path
 *
 * @param[out] path     struct describing the path
 */
void path_init(path_t *path);

/** @brief add a point to the path, 
 * @note Always use path_add_vec if possible
 *
 * @param[in] path     struct describing the path
 */
void path_add(path_t *path, path_node_t *point);

/** @brief add a point with modus
 *
 * @param[in] path     struct describing the path
 */
void path_add_vec(path_t *node, point_t *point, path_modus_t modus);

/** @brief add a point to the path
 *
 * @param[in] path     struct describing the path
 */
void path_generate(path_t *path);

/** @brief reset path point to starting node
 *
 * @param[in] path     struct describing the path
 */
void path_reset(path_t *path);

/** @brief reverse the points in the given path
 *
 * @param[in] path     struct describing the path
 */
void path_reverse(path_t *path);

/** @brief increment the current node to the next in the path list.
 * Does nothing if already pointing to the last node.
 *
 * @param[in] path     struct describing the path
 */
void path_increment(path_t *path);

/** 
 * @brief add a ascii character to the path
 *
 * @param[in] path     struct describing the path
 * @param[in] char     ascii character
 */
void path_add_char(path_t *path, char character);

path_node_t* path_next_point(path_t *path);

path_node_t* path_next(path_node_t *point);
    
path_node_t* path_pop(path_node_t *point);

point_t point_sub(point_t *a, point_t *b);

point_t point_add(point_t *a, point_t *b);

point_t point_interval(point_t *a, point_t*b);

int16_t point_mag2(point_t *a);