#ifndef LICKS_DYNAMIC_SEQUENCER_H
#define LICKS_DYNAMIC_SEQUENCER_H

#include <stdint.h>
#include "linalg.h"
#include "ik.h"

typedef enum { seq_nop=0, seq_move_body, seq_rotate_body, seq_move_leg, seq_rotate_leg, seq_move_leg_parabolic, seq_walk } sequencer_command;

typedef struct {
   sequencer_command 	command;

   uint32_t 		frame_delay;
   uint32_t 		frame_duration;
   uint32_t 		frame_t;

   vector3d 		arg_vector3d;
   int 			arg_int;
   double		arg_double;
   void			*arg_pointer;
   void			*arg_pointer2;
   
} sequencer_entry;

typedef struct {
   double	step_height;
   int		step_duration;
   
   vector3d 	step_direction;
   double	step_rotation;
   
   vector3d 	last_step_direction;
   double	last_step_rotation;
   
} sequencer_walk_parameters;

extern void sequencer_init();
extern void sequencer_dump();
extern void sequencer_run_frame(bot *b);

extern sequencer_entry *sequencer_new_entry();
extern void sequencer_move_body(int,int,vector3d *);
extern void sequencer_rotate_body(int,int,vector3d *);
extern void sequencer_rotate_deg_body(int,int,vector3d *);
extern void sequencer_move_leg(int,int,int,vector3d *);
extern void sequencer_rotate_leg(int, int, int, vector3d *);
extern void sequencer_move_leg_parabolic(int,int,int,vector3d *);
extern void sequencer_tripod_walk(int,int,vector3d *, double,double, int);
extern void sequencer_walk(sequencer_walk_parameters *p);
#endif