// Compiles robot/robot.ino unchanged as part of the simulation, then exposes
// read-only views of its globals so the simulation can report robot state
// without the robot code having to know it's being simulated.
#include "../robot/robot.ino"
#include "SimRobotAccess.h"

namespace simrobot {
void setupOnce()                 { setup(); }
void loopOnce()                  { loop(); }
int state()                      { return (int)state_machine.state(); }
float sitStandBlend()            { return state_machine.sitStandBlend(); }
bool linkOk()                    { return comms.linkOk(); }
float headingDeg()               { return current_heading_deg; }
float imuRollDeg()               { return imu.rollDeg(); }
float imuPitchDeg()              { return imu.pitchDeg(); }
bool imuEnabled()                { return imu.enabled; }
uint32_t lastLoopMicros()        { return last_loop_us; }
bool legInStance(int leg)        { return gait.legInStance(leg); }
float poseReachScale()           { return pose.reachScale(); }
float twistScale()               { return gait.twistScale(); }
float stanceHeightMm()           { return Kinematics::stanceHeight(); }
}  // namespace simrobot