/*
 * LMS1xx.h
 *
 *  Created on: 09-08-2010
 *  Author: Konrad Banachowicz
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#ifndef LMS1XX_H_
#define LMS1XX_H_

#include <string>
#include <stdint.h>

/*!
* @class scanCfg
* @brief Structure containing scan configuration.
*
* @author Konrad Banachowicz
*/
typedef struct _scanCfg {
    /*!
     * @brief Scanning frequency.
     * 1/100 Hz
     */
    int scaningFrequency;

    /*!
     * @brief Scanning resolution.
     * 1/10000 degree
     */
    int angleResolution;

    /*!
     * @brief Start angle.
     * 1/10000 degree
     */
    int startAngle;

    /*!
     * @brief Stop angle.
     * 1/10000 degree
     */
    int stopAngle;
} scanCfg;

/*!
* @class scanDataCfg
* @brief Structure containing scan data configuration.
*
* @author Konrad Banachowicz
*/
typedef struct _scanDataCfg {

    /*!
     * @brief Output channels.
     * Defines which output channel is activated.
     */
    int outputChannel;

    /*!
     * @brief Remission.
     * Defines whether remission values are output.
     */
    bool remission;

    /*!
     * @brief Remission resolution.
     * Defines whether the remission values are output with 8-bit or 16bit resolution.
     */
    int resolution;

    /*!
     * @brief Encoders channels.
     * Defines which output channel is activated.
     */
    int encoder;

    /*!
     * @brief Position.
     * Defines whether position values are output.
     */
    bool position;

    /*!
     * @brief Device name.
     * Determines whether the device name is to be output.
     */
    bool deviceName;
    
    bool timestamp;

    /*!
     * @brief Output interval.
     * Defines which scan is output.
     *
     * 01 every scan\n
     * 02 every 2nd scan\n
     * ...\n
     * 50000 every 50000th scan
     */
    int outputInterval;
} scanDataCfg;

/*!
* @class scanData
* @brief Structure containing single scan message.
*
* @author Konrad Banachowicz
*/
typedef struct _scanData {

    /*!
     * @brief Number of samples in dist1.
     *
     */
    int dist_len1;

    /*!
     * @brief Radial distance for the first reflected pulse
     *
     */
    uint16_t dist1[1082];

    /*!
     * @brief Number of samples in dist2.
     *
     */
    int dist_len2;

    /*!
     * @brief Radial distance for the second reflected pulse
     *
     */
    uint16_t dist2[1082];

    /*!
     * @brief Number of samples in rssi1.
     *
     */
    int rssi_len1;

    /*!
     * @brief Remission values for the first reflected pulse
     *
     */
    uint16_t rssi1[1082];

    /*!
     * @brief Number of samples in rssi2.
     *
     */
    int rssi_len2;

    /*!
     * @brief Remission values for the second reflected pulse
     *
     */
    uint16_t rssi2[1082];
} scanData;

typedef enum {
    undefined = 0,
    initialisation = 1,
    configuration = 2,
    idle = 3,
    rotated = 4,
    in_preparation = 5,
    ready = 6,
    ready_for_measurement = 7
} status_t;

/*!
* @class LMS1xx
* @brief Class responsible for communicating with LMS1xx device.
*
* @author Konrad Banachowicz
*/

class LMS1xx {
public:
    LMS1xx();
    virtual ~LMS1xx();

    /*!
    * @brief Connect to LMS1xx.
    * @param host LMS1xx host name or ip address.
    * @param port LMS1xx port number.
    */
    void connect(std::string host, int port = 2111);

    /*!
    * @brief Disconnect from LMS1xx device.
    */
    void disconnect();

    /*!
    * @brief Get status of connection.
    * @returns connected or not.
    */
    bool isConnected();

    /*!
    * @brief Start measurements.
    * After receiving this command LMS1xx unit starts spinning laser and measuring.
    */
    void startMeas();

    /*!
    * @brief Stop measurements.
    * After receiving this command LMS1xx unit stop spinning laser and measuring.
    */
    void stopMeas();

    /*!
    * @brief Get current status of LMS1xx device.
    * @returns status of LMS1xx device.
    */
    status_t queryStatus();

    /*!
    * @brief Log into LMS1xx unit.
    * Increase privilege level, giving ability to change device configuration.
    */
    void login();

    /*!
    * @brief Get current scan configuration.
    * Get scan configuration :
    * - scanning frequency.
    * - scanning resolution.
    * - start angle.
    * - stop angle.
    * @returns scanCfg structure.
    */
    scanCfg getScanCfg() const;

    /*!
    * @brief Set scan configuration.
    * Get scan configuration :
    * - scanning frequency.
    * - scanning resolution.
    * - start angle.
    * - stop angle.
    * @param cfg structure containing scan configuration.
    */
    void setScanCfg(const scanCfg &cfg);

    /*!
    * @brief Set scan data configuration.
    * Set format of scan message returned by device.
    * @param cfg structure containing scan data configuration.
    */
    void setScanDataCfg(const scanDataCfg &cfg);

    /*!
    * @brief Start or stop continuous data acquisition.
    * After reception of this command device start or stop continuous data stream containing scan messages.
    * @param start 1 : start 0 : stop
    */
    void scanContinous(int start);

    /*!
    * @brief Receive single scan message.
    *
    * @param data pointer to scanData buffer structure.
    */
    void getData(scanData& data);

    /*!
    * @brief Save data permanently.
    * Parameters are saved in the EEPROM of the LMS and will also be available after the device is switched off and on again.
    *
    */
    void saveConfig();

    /*!
    * @brief The device is returned to the measurement mode after configuration.
    *
    */
    void startDevice();

private:
    bool connected;
    bool debug;

    int sockDesc;
};

#endif /* LMS1XX_H_ */