/***************************************************************************************
Filename:lego.h, version v-1.0
Authored By: Sudhanshu Gaur (sgaur@vt.edu)
Acknowledgement: This work is based on Daniel Berger's <daniel.berger@tuebingen.mpg.de>
VC++ RCX interface and Kekoa's <kekoa@graphics.stanford.edu> RCX Opcode reference page
****************************************************************************************/

#include <windows.h>

typedef enum{
	S1=0,
	S2=1,
	S3=2
} SENSOR_NAME;

typedef enum{
	A=1,
	B=2,
	C=4
}MOTOR;

typedef enum {
	FORWARD = 0x80,
	BACKWARD = 0x00
} DIRECTION;

typedef enum{
	TOUCH_SENSOR=1,
	LIGHT_SENSOR=3,
	ROTATION_SENSOR=4
} SENSOR_TYPE;

typedef enum {
	BLIP=0,
	BEEP_BEEP=1,
	DOWNWARD_TONE=2,
	UPWARD_TONE=3,
	LOW_BUZZ=4,
	FAST_UPWARD_TONE=5
} LEGO_SOUND;

// SENSOR_MODE
/* Note The SENSOR_MODE COMBINES THE SENSOR MODE AND THE SLOPE FOR THAT MODE ( ITS BASCICALLY what THEY CALL 'code') */

typedef enum{
	BOOLEAN_MODE = 0x20,
	PERCENTAGE_MODE = 0x80,
	ANGLE_MODE = 0xFF
} SENSOR_MODE;

// transmitter range
typedef enum {
	SHORT_RANGE = 0,
	LONG_RANGE = 1
} TRANSMITTER_RANGE;

class lego {
public:
	lego(); // constructor
	~lego(); // destructor
	int open();
	int close();
	void DbgOn();
	void DbgOff();
	int SetSensor(SENSOR_NAME name, SENSOR_TYPE type);
	int SetSensorMode(SENSOR_NAME name, SENSOR_MODE mode);
	int SetTransmitRange(TRANSMITTER_RANGE dist);
	int ReadSensor(SENSOR_NAME name,int &value);
	int StartMotor(MOTOR motor);
	int SetMotorSpeed(MOTOR motor, int speed);
	int SetMotorDirection(MOTOR motor, DIRECTION direction);
	int StopMotor(MOTOR motor);
	int SetSound(LEGO_SOUND val);
	int SetTone(int freq,int dur);
	int Alive(int &val);


private:
	int OpenUsbPort();
	int CloseUsbPort();
	int RCX_decode_sensor(unsigned char *recbuf, int len,int &value);
	int RCX_send(unsigned char *msgage, int length);
	int RCX_receive(unsigned char *rcbuf, unsigned long length);
	unsigned char toggle(unsigned char);
	void DownloadFirmware();


private:
	unsigned char switchbit; // used to toggle header bit on each msg to RCX
	// buffers used for RCX comm
	unsigned char sendbuf[2500];
	unsigned char recbuf[2500];
	unsigned char msg[1000];
	DCB dcb; // used for USB comm
	HANDLE UsbPort; // used for USB comm
	int dbg_lvl; // debug print ?
};

#define USB_TOWER "\\\\.\\LEGOTOWER1"