//============================================================================
/// Summary  : Reson 6046 Driver
/// Filename : Reson6046Driver.h
/// Author   : Reed Christeson, reed@bluefinrobotics.com
/// Project  : Reson 6046 Driver
/// Revision : 0.0
/// Created  : 2002.03.21
/// Modified : 2002.03.21
//============================================================================

#ifndef _RESON6046DRIVER_H
#define _RESON6046DRIVER_H

// System Includes.
#include <string.h>
#include <math.h>   // for ceil function

// Framework Includes.
#include "Attributes.h"
#include "DebugAttribute.h"
#include "IntegerAttribute.h"
#include "BooleanAttribute.h"
#include "StringAttribute.h"
#include "FloatAttribute.h"
#include "AttributeParser.h"
#include "PeriodicTask.h"
#include "Syslog.h"
#include "VehicleConfigurator.h"
#include "Time.h"
#include "SimpleSocket.h"

// Framework Interfaces.
#include "VehicleConfigurationIF.h"

// Reson6046Driver Includes.
#include "Reson6046Output.h"
#include "Reson6046Command.h"
#include "Reson6046Log.h"
#include "Reson6046DataTypes.h"
#include "Reson6046Commands.h"
#include "Reson6046Utils.h"

#define Reson6046DriverName "reson6046"
#define ConfigurationFile "reson6046.cfg"

/// Class Reson6046Driver
class Reson6046Driver : public PeriodicTask
{
 public:
    Reson6046Driver();
    ~Reson6046Driver();

    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command);
    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command,
		    U32 parameter);
    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command,
		    F32 parameter);
    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command,
		    char *parameter);
    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command,
		    U32 parameter1,
		    U32 parameter2);
    int sendCommand(U32 recordTypeIdentifier,
		    U32 sensorIndex,
		    U32 commandID,
		    U32 action,
		    char *command,
		    U32 parameter1,
		    U32 parameter2,
		    U32 parameter3,
		    U32 parameter4,
		    U32 parameter5,
		    F32 parameter6);

    // PLC Command ID  0
    int Command_StartSubsystem(int subSystem);
    int Command_StopSubsystem(int subSystem);
    int Command_StartStopSubsystem(int subSystem, int action);
    int Command_SetPulseFilename(int subSystem, char *pulseFilename);
    int Command_SetPingRange(int subSystem, float range);
    int Command_SetPingRate(int subSystem, float rate);
    int Command_SetPulsePower(int subSystem, float percentage);
    // PLC Command ID  1
    int Command_StartLogging(); 
    int Command_StopLogging();
    // PLC Command ID  4
    int Command_GetVersion();
    // PLC Command ID  9
    int Command_SetAlarm(int alarmID, int action);
    // PLC Command ID 10
    int Command_GetSonarStatus(int subSystem);
    // PLC Command ID 11
    int Command_SetVerboseMode(int action);
    // PLC Command ID 14
    int Command_GetModules();
    // PLC Command ID 15
    int Command_GetRunList();
    // PLC Command ID 18
    int Command_Reserved1();
    // PLC Command ID 19
    int Command_Reserved2();
    // PLC Command ID 20
    int Command_SetTime();
    // PLC Command ID 21
    int Command_GetHealth(int subSystem);
 protected:
    //Attributes _attributes;
    Reson6046Output *_output;
    Reson6046Output::Data *_data;
    Reson6046Command *_command;
    Reson6046Log *_log;
 private:
    // Framework functions.
    void periodicCallback(void);
    virtual DeviceIF::Status processCommand(void);
    virtual DeviceIF::Status createCommand(DriverCommand **cmd);

    //error handling function
    void resetInitError();
    void onInitError();
    void onInitFailure();
    void resetError();
    void onError();
    void onFailure();

    // Socket Functions.
    SimpleSocket *_simpleSocket;

    // Reson Functions.
    Reson6046Commands *_resonPayCmds;

    // Reson6046Driver functions.
    void loadConfiguration(char *configFile);

    char _buffer[32];

    // Attributes.
    debug_t debug;

    TimeIF::TimeSpec _timeStamp;
    Time::TimeParts _fullTime;
};

#endif