/*									tab:4
 *
 *
 * "Copyright (c) 2000-2002 The Regents of the University  of California.  
 * All rights reserved.
 *
 * Permission to use, copy, modify, and distribute this software and its
 * documentation for any purpose, without fee, and without written agreement is
 * hereby granted, provided that the above copyright notice, the following
 * two paragraphs and the author appear in all copies of this software.
 * 
 * IN NO EVENT SHALL THE UNIVERSITY OF CALIFORNIA BE LIABLE TO ANY PARTY FOR
 * DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES ARISING OUT
 * OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN IF THE UNIVERSITY OF
 * CALIFORNIA HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 * 
 * THE UNIVERSITY OF CALIFORNIA SPECIFICALLY DISCLAIMS ANY WARRANTIES,
 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
 * AND FITNESS FOR A PARTICULAR PURPOSE.  THE SOFTWARE PROVIDED HEREUNDER IS
 * ON AN "AS IS" BASIS, AND THE UNIVERSITY OF CALIFORNIA HAS NO OBLIGATION TO
 * PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS."
 *
 */

/* 
 * File Name: NavigationMsg.h
 *
 * Description:
 * This header file defines the AM_NAVIGATIONMSG message type for the 
 * TestNavigation application.
 */

enum {
  AM_NAVIGATIONMSG = 101,
  AM_NAVIGATIONDBGMSG = 102 
};

// Navigation message structure
typedef struct NavigationMsg {
    int16_t x1;
    int16_t y1;
    int16_t x2;
    int16_t y2;
    int8_t PiNumerator;
    int8_t PiDenominator;
} NavigationMsg;

enum {
  BUFFER_SIZE = 10
};

// Navigation debug message structure
typedef struct NavigationDbgMsg {
    int16_t data[BUFFER_SIZE];
} NavigationDbgMsg;