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// File: NXT++.h
//
// Copyright (c) 2007 by XXX
// -------------------------------------------------------------------------
// DESCRIPTION
// NXT++.h is a header file containing an interface for programming Lego NXT 
// Mindstorms. 
//
// HISTORY
// Date         By who         Description
// -------------------------------------------------------------------------
// 04/26/2007   maddock     OS specific includes, comment headers
// 05/16/2007   phyizal     Removed fantom function call 

#include "comm.h"

#include <time.h>
#include <math.h>
#include <string>
#include <iostream>
#include <vector>

enum SensorType
{
        Touch, 
        Sound, 
        Light, 
        ActiveLight, 
        Sonar 
};

const int OUT_A = 0;
const int OUT_B = 1;
const int OUT_C = 2;
const int IN_1 = 0;
const int IN_2 = 1;
const int IN_3 = 2;
const int IN_4 = 3;

namespace NXT
{

        bool Open(Comm::NXTComm* comm);

        bool OpenBT(Comm::NXTComm* comm);
        void Close(Comm::NXTComm* comm);

        void PlayTone(Comm::NXTComm* comm, int frequency, int duration);

        int BatteryLevel(Comm::NXTComm* comm);

        std::string GetName(Comm::NXTComm* comm);

        double GetAvailableFlash(Comm::NXTComm* comm);
        void StopProgram(Comm::NXTComm* comm);

        double GetProtocolVersion(Comm::NXTComm* comm);

        double GetFirmwareVersion(Comm::NXTComm* comm);

        void StartProgram(Comm::NXTComm* comm, std::string name);

        void PlaySoundFile(Comm::NXTComm* comm, std::string name, bool loop);
        void StopSound(Comm::NXTComm* comm);

        void KeepAlive(Comm::NXTComm* comm);

        void SendDirectCommand(Comm::NXTComm* comm, ViBoolean response, ViByte * dc_buf, int dc_buf_size, ViByte *re_buf, int re_buf_size);
        
        namespace Motor
        {

                int GetRotationCount(Comm::NXTComm* comm, int port);

                void ResetRotationCount(Comm::NXTComm* comm, int port, bool relative);

                void SetForward(Comm::NXTComm* comm, int port, int power);

                void SetReverse(Comm::NXTComm* comm, int port, int power);

                void Stop(Comm::NXTComm* comm, int port, bool brake);

                void BrakeOn(Comm::NXTComm* comm, int port);

                void BrakeOff(Comm::NXTComm* comm, int port);

                void GoTo(Comm::NXTComm* comm, int port, int power, int tacho, bool brake);
        }
        
        namespace Sensor
        {

                void SetTouch(Comm::NXTComm* comm, int port);

                void SetSound(Comm::NXTComm* comm, int port);
;
                void SetLight(Comm::NXTComm* comm, int port, bool active);
;
                void SetSonar(Comm::NXTComm* comm, int port);

                void SetCmpsNx(Comm::NXTComm* comm, int port);

                void SetDistNx(Comm::NXTComm* comm, int port);

                void SetRaw(Comm::NXTComm* comm, int port);

                void Set(Comm::NXTComm* comm, int port, SensorType type);

                int GetValue(Comm::NXTComm* comm, int port);

                int GetAvgCmpsNxValue(Comm::NXTComm* comm, int port, int numValues, int waitTime);

                int GetCmpsNxValue(Comm::NXTComm* comm, int port);

                int GetDistNxValue(Comm::NXTComm* comm, int port);

                int GetCleanDistNxValue(Comm::NXTComm* comm, int port);

                int LSGetStatus(Comm::NXTComm* comm, int port);

                int GetSonarValue(Comm::NXTComm* comm, int port);

                void SetSonarOff(Comm::NXTComm* comm, int port);

                void SetSonarSingleShot(Comm::NXTComm* comm, int port);

                void SetSonarContinuous(Comm::NXTComm* comm, int port);

                void SetSonarContinuousInterval(Comm::NXTComm* comm, int port, int interval);

                void writeI2C(Comm::NXTComm* comm, int port, ViUInt8 command[], int replySz, int tx_length);

                ViUInt8* readI2C(Comm::NXTComm* comm, int port);
        }

    
        namespace File
        {               
                enum FileType
                {
                        ANY,      
                        PROGRAM,  
                        SOUND,    
                        GRAPHICS, 
                    DATALOG,  
                };
                
                enum FileMode
                {
                        READ,
                        WRITE,
                        APPEND,
                        DATA_WRITE,                     
                        LINEAR_WRITE,
                };

                int getNXTFile(Comm::NXTComm* comm, std::string filename, NXTFile& file);

                int getNXTFilesByName(Comm::NXTComm* comm, std::string pattern, NXTFileIterator& iter);

                int getNXTFilesByType(Comm::NXTComm* comm, int fileType, NXTFileIterator& iter);

                void destroyFileIterator(Comm::NXTComm* comm, NXTFileIterator &iter);

                void destroyFile(Comm::NXTComm* comm, NXTFile& file);

        };

        namespace Module
        {
                int getNXTModules(Comm::NXTComm* comm, std::string pattern, NXTModuleIterator &iter);

                int getNXTModule(Comm::NXTComm* comm, std::string pattern, int moduleID, int moduleSize,
                        int ioMapSize, int &status, NXTModule &module);
        };

        namespace NxtCam
        {
                void NxtCamFlush(Comm::NXTComm* comm, int port);
                void NxtCamCmd(Comm::NXTComm* comm, int port, ViUInt8 command[], int tx_length);
                void NxtCamInit(Comm::NXTComm* comm, int port);
                std::vector<std::vector<int>> GetNxtCamObjects(Comm::NXTComm* comm, int port, int minArea);
                int GetNxtCamNumObjects(Comm::NXTComm* comm, int port);
        };
}

;
void Wait(int time);