package Swarm_Structures is

package Distance_Vectors is new Vectors (Swarm_Element_Index, Distance_Entries);

package Sort_Distances is new Distance_Vectors.Generic_Sorting;

package Buffers_Outgoing is new Generic_Realtime_Buffer (Inter_Vehicle_Messages, Buffer_Size_Outgoing);

package Buffers_Incoming is new Generic_Realtime_Buffer (Inter_Vehicle_Messages, Buffer_Size_Incoming);

package Swarm_Vectors is new Vectors (Swarm_Element_Index, Swarm_Element_State);

type Distance_Entries is
      record
         Index         : Swarm_Element_Index;
         Distance      : Distances;
         Position_Diff : Positions;
         Velocity_Diff : Velocities;
      end record;

type Buffer_Size_Outgoing is mod No_Of_Buffered_Outgoing_Messages;

type Buffer_Size_Incoming is mod No_Of_Buffered_Incoming_Messages;

type Globes_Touched_A is array (Energy_Globes_Defaults'Range) of Boolean;

type Charge_Info is record
      Level          : Vehicle_Charges;     pragma Atomic (Level);
      Charge_Time    : Time;                pragma Atomic (Charge_Time);
      Charge_No      : Natural;             pragma Atomic (Charge_No);
      Globes_Touched : Globes_Touched_A := No_Globes_Touched;
   end record;

type Neighbours_P       is access all Distance_Vectors.Vector;

type Vehicle_Comms_P    is access all Vehicle_Comms;

type Vehicle_Controls_P is access all Vehicle_Controls;

type Vehicle_Task_P     is access all Vehicle_Task;

type Swarm_Element_State is
      record
         Position     : Positions;           pragma Atomic (Position);
         Rotation     : Quaternion_Rotation; pragma Atomic (Rotation);
         Velocity     : Velocities;          pragma Atomic (Velocity);
         Acceleration : Accelerations;       pragma Atomic (Acceleration);
         Charge       : Charge_Info;
         Neighbours   : Neighbours_P;
         Controls     : Vehicle_Controls_P;
         Comms        : Vehicle_Comms_P;
         Process      : Vehicle_Task_P;
         Process_Id   : Task_Id;
         Last_Update  : Time;
      end record;

No_Of_Buffered_Incoming_Messages : constant Positive := 10;

No_Of_Buffered_Outgoing_Messages : constant Positive := 2;

No_Globes_Touched : constant Globes_Touched_A := (others => False);

function "<" 
(
L, R
: Distance_Entries)
return Boolean;

procedure Free_Neighbours is new Unchecked_Deallocation 
(
Object => Distance_Vectors.Vector, Name => Neighbours_P);

procedure Free_Controls   is new Unchecked_Deallocation 
(
Object => Vehicle_Controls,        Name => Vehicle_Controls_P);

procedure Free_Comms      is new Unchecked_Deallocation 
(
Object => Vehicle_Comms,           Name => Vehicle_Comms_P);

procedure Free_Process    is new Unchecked_Deallocation 
(
Object => Vehicle_Task,            Name => Vehicle_Task_P);