/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/

#ifndef ARTCMCOMPASSDIRECT_H
#define ARTCMCOMPASSDIRECT_H


#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArDeviceConnection.h"
#include "ArTCM2.h"
#include "ArNMEAParser.h"


/** @brief Talk to a compass directly over a computer serial port
 *  
 *  This class configures and recieves compass heading data from a TCM2 or TCM2.5 compass
 *  directly over a computer serial port, rather than via tha robot.
 *  This class cannot recieve pitch, roll or temperature data from the compass.
 *  On all Pioneer robots, the TCM compass (as originally installed by
 *  MobileRobots) is connected to the robot microcontroller, so if you 
 *  have a Pioneer with this configuration, you  should instead use the 
 *  ArTCMCompassRobot class. Only use this class if you
 *  have connected the compass to the computer serial port.
 *
 *  You can create an instance of this class directly, or using an
 *  ArCompassConnector object and giving the "-compassType serialtcm" program
 *  argument. 
 *
 *  If you create your own ArTCMCompassDirect object, you must call the read()
 *  method periodically (ideally at the same rate the compass sends data,
 *  approx. 8 hz by default) to read and parse incoming data. You can use an
 *  ArRobot callback to do this, for example:
 *  @code
 *    ArRetFunctor1C<int, ArTCMCompassDirect, unsigned int> compassReadFunc(myCompass, &ArTCMCompassDirect::read, 10);
 *    myRobot->addSensorInterpTask("ArTCMCompassDirect read", 200, &compassReadFunc);
 *  @endcode
 *
 *  If you use ArCompassConnector, however, it will automatically do this.
 *
 */
class ArTCMCompassDirect : public virtual ArTCM2  
{
private:
  ArDeviceConnection *myDeviceConnection;
  bool myCreatedOwnDeviceConnection;
  const char *mySerialPortName;
  ArNMEAParser myNMEAParser;
  bool sendTCMCommand(const char *str, ...);
  ArFunctor1C<ArTCMCompassDirect, ArNMEAParser::Message>  myHCHDMHandler;
  void handleHCHDM(ArNMEAParser::Message);
public:
  AREXPORT ArTCMCompassDirect(ArDeviceConnection *devCon);
  AREXPORT ArTCMCompassDirect(const char *serialPortName = ARTCM2_DEFAULT_SERIAL_PORT);
  AREXPORT ~ArTCMCompassDirect();

  /** Open device connection if not yet open  and send commands to configure compass. */
  AREXPORT virtual bool connect();
  AREXPORT virtual bool blockingConnect(unsigned long connectTimeout = 5000);


  /** Send commands to begin calibrating */
  AREXPORT virtual void commandAutoCalibration();
  AREXPORT virtual void commandUserCalibration();
  AREXPORT virtual void commandStopCalibration();

  /** Send commands to start/stop sending data.  */
  //@{
  AREXPORT virtual void commandContinuousPackets();
  AREXPORT virtual void commandOnePacket();
  AREXPORT virtual void commandOff();
  //@}

  /** Not implemented yet. @todo */
  AREXPORT virtual void commandSoftReset() { /* TODO */ }

  /** Same as commandContinuousPackets() in this implementation. */
  AREXPORT virtual void commandJustCompass() { commandContinuousPackets(); }

  /** Read all available data, store, and call callbacks if any were added. 
   *  unsigned int msWait If 0, wait indefinately for new data. Otherwise, wait
   *  a maximum of this many milliseconds for data to arrive.
   *  @return A value > 0 if messages were recieved from the compass, 0 if no
   *  data was recieved, and a value < 0 on error reading from the compass.
   * */
  AREXPORT int read(unsigned int msWait = 1);
 
  AREXPORT void setDeviceConnection(ArDeviceConnection *devCon) { myDeviceConnection = devCon; }
  AREXPORT ArDeviceConnection *getDeviceConnetion() { return myDeviceConnection; }


};

#endif