#pragma once
#include <stdint.h>

// Read-only access to robot.ino's globals, implemented in robot_ino.cpp
// (the translation unit that compiles robot.ino).
namespace simrobot {
void setupOnce();
void loopOnce();
int state();                 // RobotState: 0 DISARMED, 1 SIT, 2 STAND, 3 WALKING
float sitStandBlend();
bool linkOk();
float headingDeg();
float imuRollDeg();
float imuPitchDeg();
bool imuEnabled();
uint32_t lastLoopMicros();
bool legInStance(int leg);   // gait phase; only meaningful while WALKING
float poseReachScale();      // BodyPose::reachScale(): 1 = full commanded pose
float twistScale();          // GaitEngine::twistScale(): 1 = walk command as sent
float stanceHeightMm();      // Kinematics::stanceHeight()
}  // namespace simrobot