/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : OdysseyFin.h                                                  */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#ifndef _ODYSSEYFIN_H
#define _ODYSSEYFIN_H

#include "SerialDevice.h"
#include "TailConeIF.h"
#include "SailDevice.h"

/*
CLASS 
OdysseyFin

DESCRIPTION
Odyssey fin device driver

AUTHORS
Tom O'Reilly, John Rieffel
*/

class OdysseyFin {

public:

  ///////////////////////////////////////////////////////////////////
  // Identifier for fin type (elevator or rudder)
  enum FinID {
    ElevatorID,
    RudderID
  };

  ///////////////////////////////////////////////////////////////////
  // Constructor
  // [input] name: Device name (e.g. "rudder" or "elevator");
  // [input] serialDevice: SAIL networks SerialDevice object
  // [input] finID: type (ElevatorID or  RudderID)
  // [input] encoderCtsPerRad: Encoder counts per radian
  // [input] rezero: Rezero fins using Hall effect sensors
  OdysseyFin(const char *name, SerialDevice *serialDevice, FinID finID, 
	     double encoderCtsPerRad, Boolean rezero); 
 
   ~OdysseyFin();
 
   ///////////////////////////////////////////////////////////////////
   // Initialize serial port, encoder, and Hall sensor
   TailConeIF::Status initialize();

  ///////////////////////////////////////////////////////////////////
  // Command actuator to specified angle
  // [input] angle: Commanded angle in radians
  TailConeIF::Status control(double angle);

  ///////////////////////////////////////////////////////////////////
  // Encoder angle in radians
  double encoderAngle();

  ///////////////////////////////////////////////////////////////////
  // Hall sensor angle in radians
  double hallAngle();

   /////////////////////////////////////////////////////////////////
   // Log sensor values periodically
   // currently whenever Fin commands are colled by Dynamic Control
   void Log(void);


private:

   SailDevice *_sailDevice;
   
   int reZero(int nTries);
   void buildCommand(double angle, char *commandBuf);
   int checkGlitch();
   int resetGlitch();
   int getHall(int *hallCts);
   double hallAngle(int hallCts);

   // TailConeIF::Status getReply(int timeout, int *encoderCts, int *hallCts);

   int deglitch(void);

  // Hall Effect sensor raw counts
  int _hallCts;

  // Raw encoder counts
  int _encoderCts;

  // To convert Hall Effect counts to radians
  double _hallCoeffs[4];

  // Hall angle reading at zero encoder counts?
  double _zeroHallAngle;

  // Encoder counts per radian
  int _encoderCtsPerRadian;

  // Prefix to commands
  const char *_cmdPrefix;

  char _eventMsg[256];

  static double _elevatorHallCoeffs[4];
  static double _rudderHallCoeffs[4];

  Boolean _rezero;

};

#endif