/* 
    ORPP Motion Controller board sensor test

    2005 Jason Hunt
    huntjas2@msu.edu

    File: orpp.h
*/


#ifndef ORPP_H
#define ORPP_H

#include <windows.h>

typedef unsigned char byte;   // Create byte datatype for clarity
typedef unsigned int word;    // Create word datatype 

/* Different parameter types for the control command structure */
enum param_type {param_none, param_digit, param_hex, param_word}; 

/* Each IO command is store in one of these structures */
typedef struct control_command_type
{
    char name[32];
    char command_char;
    byte num_device;
    byte num_param;
    byte num_ret;
    param_type param;
    param_type ret;
    byte inital_value;
};

#define NUM_CONTROL     8
#define MAX_DEVICE      6

// These are the controls that this api provides access to
// they need to match in order and length, there will indexs into commands[]
enum control_type {orpp_led, 
                   orpp_digital_out, 
                   orpp_servo, 
                   orpp_opencollector, 
                   orpp_pwm, 
                   orpp_analog,
                   orpp_digital_in, 
                   orpp_radio};

// Two connections types currently
enum connection_type {orpp_connection_serial,
                      orpp_connection_network};

/* Define all of the commands */
control_command_type const commands[] = 
                        // Display name  char,max, first param, second param,inital value
                        {{"Led",           'l', 2,  1, 0, param_digit, param_none, 0x00},
                         {"Digital Out",   'd', 6,  1, 0, param_digit, param_none, 0x00},
                         {"Servo Pos",     's', 6,  2, 0, param_hex,   param_none, 0x80},
                         {"Open Collector",'o', 2,  1, 0, param_digit, param_none, 0x00},
                         {"PWM",           'p', 2,  2, 0, param_hex,   param_none, 0x00},
                         {"Analog",        'a', 5,  0, 4, param_none,  param_word, 0x00},
                         {"Digital In",    'i', 5,  0, 1, param_none,  param_digit, 0x00},
                         {"Radio",         'r', 2,  0, 2, param_none,  param_hex, 0x00}};
                         
/* Definition of the orpp class */
class orpp_class
{
  public:
    /* constructor / destructor */
    orpp_class(void );                     // Create object from serial port
    orpp_class(char *serial_port);         // Create object from serial port
    orpp_class::orpp_class(char *host, unsigned int the_port); // Create from network conection    

   ~orpp_class(void);  

    /* Communications */
    void connect(void);      
                                                              // Connect to serial or network  
    void set_connection(char *serial_port);                   // Create object from serial port
    void set_connection(char *host, unsigned int the_port);   // Create from network conection    

    /* Setting outputs */
    void set(control_type control, byte param1, byte param2); 
    void set_next(control_type control, byte param1, byte param2); 
    void set_all( void );             // Send all of the output values at once

    /* Getting inputs */
    word get(control_type c, byte num);     // Get control value
    word get_last(control_type c, byte num);    // Return last known value
    void get_all( void );             // Get all analog and digital inputs at once

    /* Modifing values */
    void add(control_type c, byte num, int delta); // Add an integer to a control
    void toggle(control_type c, byte num);          // Toggle a control

    /* Other */
    void clear( void );                         // Reset to boot values 

    void set_error_function(void (*f_ptr)(char *) ) { error_function = f_ptr; };
    void set_message_function(void (*f_ptr)(char *) ) { message_function = f_ptr; };

    bool get_comm_ok(void) { return (comm_ok); };  // returns true if connunications is working
    
  private:
    void error(char *); // Called when a serious error has occored
    void message(char *); // Called for non error related messages

    void connect_serial(void);  // Connect to serial 
    void connect_network(void); // Connect to network
  
    void send_data(byte *packet, unsigned int size); // Send data packet
  
    void send_data(byte c);                      // Send a char to the board   
    void send_data_hex(byte c);                  // Send byte to the board in hex format 

    char read_data(void);
    byte read_data_hex(void);                    // Get data from board
    word read_data_word(void);

    // Last known states of all inputs and outputs
    unsigned int states[NUM_CONTROL][MAX_DEVICE]; 
    
    connection_type connection;
    
    HANDLE comm;                                // Handle to the serial port
        
    SOCKET server_socket;

    char serial_port_name[64];
    char host_name[128];
    unsigned int network_port;
  
    bool comm_ok;                               // False if there was a communication error     
    
    void (*error_function)(char *);
    void (*message_function)(char *);
};          


#endif