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#pragma once
#ifdef __cplusplus
extern "C" {
#endif
/*
A simple min-priority-queue implementation. Uses STL internally
This is for the most part an internal implementation detail of
mrcal_traverse_sensor_links(), but could potentially be useful somewhere
on its own, so I'm exposing it here
*/
#include <stdint.h>
#include <stdbool.h>
typedef struct
{
uint16_t idx_parent;
bool done : 1;
uint64_t cost : 47;
} mrcal_heap_node_t;
// I can't find a single static assertion invocation that works in both C++ and
// C. The below is ugly, but works
#ifdef __cplusplus
static_assert( sizeof(mrcal_heap_node_t) == 8, "mrcal_heap_node_t has expected size");
#else
_Static_assert(sizeof(mrcal_heap_node_t) == 8, "mrcal_heap_node_t has expected size");
#endif
typedef struct
{
uint16_t* buffer; // each of these indexes an external mrcal_heap_node_t[] array, which
// contains the cost
int size;
} mrcal_heap_t;
bool mrcal_heap_empty (mrcal_heap_t* heap, mrcal_heap_node_t* nodes);
void mrcal_heap_push (mrcal_heap_t* heap, mrcal_heap_node_t* nodes, uint16_t x);
uint16_t mrcal_heap_pop (mrcal_heap_t* heap, mrcal_heap_node_t* nodes);
void mrcal_heap_resort(mrcal_heap_t* heap, mrcal_heap_node_t* nodes);
#ifdef __cplusplus
}
#endif
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