clear typestruct;
% specify what the struct members are as follows

typestruct.TurtleID.type='int';

typestruct.See_Ball.type='int';
typestruct.See_Ball.length=6;

typestruct.Ball_Source.type = 'int';
typestruct.Ball_Source.length =6;

typestruct.Used_Ball_Turtle_ID.type='int';
typestruct.Used_Ball_Turtle_ID.length=6;

typestruct.Robots_In_Field.type='int';
typestruct.Robots_In_Field.length=6;

typestruct.Ball_Confidence.type='float';
typestruct.Ball_Confidence.length=6;

typestruct.Ball_Position.type='float';
typestruct.Ball_Position.length=18;

typestruct.Turtle_Position.type='float';
typestruct.Turtle_Position.length=18;

% open the file, put data in out structure
fid=fopen('MultiVision_Turtle2.bin','r');
out = read_structs_from_bin_file(fid,typestruct);
fclose(fid);

% check what is in this structure
 
% 
% for ii=1:1
%     disp(['Length Output: ',sprintf('%d',length(out))]);
%     disp(['Turtle ID: ',sprintf('%d',out(ii).TurtleID(1))]);
%     disp(['Vision on the ball: ',sprintf('%d',out(ii).See_Ball(2))]);
%     disp(['Ball Source: ',sprintf('%d',out(ii).Ball_Source(2))]);
%     disp(['With Ball Confidence: ',sprintf('%f',out(ii).Ball_Confidence(2))]);
%     disp(['With used Ball Turtle ID: ',sprintf('%d',out(ii).Used_Ball_Turtle_ID(2))]);
%     disp(['Ball Position: ',sprintf('%f | %f | %f',out(ii).Ball_Position(4),out(ii).Ball_Position(5),out(ii).Ball_Position(6))]);
%     disp(['With number of Turtles in Field: ',sprintf('%d',out(ii).Robots_In_Field(2))]);
%     disp(['Turtle Position: ',sprintf('%f | %f | %f',out(ii).Turtle_Position(4),out(ii).Turtle_Position(5),out(ii).Turtle_Position(6))]);
% end
% i = 18410;
% disp(['Turtle ID: ',sprintf('%d',out(i).TurtleID)]);
% disp(['Length Output: ',sprintf('%d',length(out))]);
% disp(['Frame Number: ',sprintf('%d',i)]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['Vision on the ball 1: ',sprintf('%d',out(i).See_Ball(1))]);
% disp(['Vision on the ball 2: ',sprintf('%d',out(i).See_Ball(2))]);
% disp(['Vision on the ball 3: ',sprintf('%d',out(i).See_Ball(3))]);
% disp(['Vision on the ball 4: ',sprintf('%d',out(i).See_Ball(4))]);
% disp(['Vision on the ball 5: ',sprintf('%d',out(i).See_Ball(5))]);
% disp(['Vision on the ball 6: ',sprintf('%d',out(i).See_Ball(6))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['Ball Source 1: ',sprintf('%d',out(i).Ball_Source(1))]);
% disp(['Ball Source 2: ',sprintf('%d',out(i).Ball_Source(2))]);
% disp(['Ball Source 3: ',sprintf('%d',out(i).Ball_Source(3))]);
% disp(['Ball Source 4: ',sprintf('%d',out(i).Ball_Source(4))]);
% disp(['Ball Source 5: ',sprintf('%d',out(i).Ball_Source(5))]);
% disp(['Ball Source 6: ',sprintf('%d',out(i).Ball_Source(6))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['With Ball Confidence 1: ',sprintf('%f',out(i).Ball_Confidence(1))]);
% disp(['With Ball Confidence 2: ',sprintf('%f',out(i).Ball_Confidence(2))]);
% disp(['With Ball Confidence 3: ',sprintf('%f',out(i).Ball_Confidence(3))]);
% disp(['With Ball Confidence 4: ',sprintf('%f',out(i).Ball_Confidence(4))]);
% disp(['With Ball Confidence 5: ',sprintf('%f',out(i).Ball_Confidence(5))]);
% disp(['With Ball Confidence 6: ',sprintf('%f',out(i).Ball_Confidence(6))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['With used Ball Turtle ID 1: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(1))]);
% disp(['With used Ball Turtle ID 2: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(2))]);
% disp(['With used Ball Turtle ID 3: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(3))]);
% disp(['With used Ball Turtle ID 4: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(4))]);
% disp(['With used Ball Turtle ID 5: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(5))]);
% disp(['With used Ball Turtle ID 6: ',sprintf('%d',out(i).Used_Ball_Turtle_ID(6))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['Ball Position 1: ',sprintf('%f | %f | %f',out(i).Ball_Position(1),out(i).Ball_Position(2),out(i).Ball_Position(3))]);
% disp(['Ball Position 2: ',sprintf('%f | %f | %f',out(i).Ball_Position(4),out(i).Ball_Position(5),out(i).Ball_Position(6))]);
% disp(['Ball Position 3: ',sprintf('%f | %f | %f',out(i).Ball_Position(7),out(i).Ball_Position(8),out(i).Ball_Position(9))]);
% disp(['Ball Position 4: ',sprintf('%f | %f | %f',out(i).Ball_Position(10),out(i).Ball_Position(11),out(i).Ball_Position(12))]);
% disp(['Ball Position 5: ',sprintf('%f | %f | %f',out(i).Ball_Position(13),out(i).Ball_Position(14),out(i).Ball_Position(15))]);
% disp(['Ball Position 6: ',sprintf('%f | %f | %f',out(i).Ball_Position(16),out(i).Ball_Position(17),out(i).Ball_Position(18))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['Turtle 1 in Field: ',sprintf('%d',out(i).Robots_In_Field(1))]);
% disp(['Turtle 2 in Field: ',sprintf('%d',out(i).Robots_In_Field(2))]);
% disp(['Turtle 3 in Field: ',sprintf('%d',out(i).Robots_In_Field(3))]);
% disp(['Turtle 4 in Field: ',sprintf('%d',out(i).Robots_In_Field(4))]);
% disp(['Turtle 5 in Field: ',sprintf('%d',out(i).Robots_In_Field(5))]);
% disp(['Turtle 6 in Field: ',sprintf('%d',out(i).Robots_In_Field(6))]);
% disp('--------------------------------------------------------------------------------------------------------');
% disp(['Turtle 1 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(1),out(i).Turtle_Position(2),out(i).Turtle_Position(3))]);
% disp(['Turtle 2 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(4),out(i).Turtle_Position(5),out(i).Turtle_Position(6))]);
% disp(['Turtle 3 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(7),out(i).Turtle_Position(8),out(i).Turtle_Position(9))]);
% disp(['Turtle 4 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(10),out(i).Turtle_Position(11),out(i).Turtle_Position(12))]);
% disp(['Turtle 5 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(13),out(i).Turtle_Position(14),out(i).Turtle_Position(15))]);
% disp(['Turtle 6 Position: ',sprintf('%f | %f | %f',out(i).Turtle_Position(16),out(i).Turtle_Position(17),out(i).Turtle_Position(18))]);
% disp('--------------------------------------------------------------------------------------------------------');