#ifndef __SERIAL_H__
#define __SERIAL_H__

#define FC_DTRDSR       0x01
#define FC_RTSCTS       0x02
#define FC_XONXOFF      0x04
#define ASCII_BEL       0x07
#define ASCII_BS        0x08
#define ASCII_LF        0x0A
#define ASCII_CR        0x0D
#define ASCII_XON       0x11
#define ASCII_XOFF      0x13

class CSerial
{

public:
	CSerial();
	~CSerial();

	BOOL Open( int nPort = 2, int nBaud = 9600 );
	BOOL Close( void );

	int ReadData( void *, int );
	int SendData( const char *, int );
	int ReadDataWaiting( void );

	BOOL IsOpened( void ){ return( m_bOpened ); }

protected:
	BOOL WriteCommByte( unsigned char );

	HANDLE m_hIDComDev;
	OVERLAPPED m_OverlappedRead, m_OverlappedWrite;
	BOOL m_bOpened;

};

#endif

#include "rt100.h"
//#include "zpr.h"
#include "Serial.h"


void RT100_Restart(int &error)
// Resets all params stored in the IPs to defaults
{
int pars[8];
pars[7] = error;
RT100_Command(4,pars);
error = pars[7];
}

void RT100_Init_Comms(ToggleMode mode, int debug, int &error)
// Initialises communications with the RT100
{
int pars[8];
pars[0] = (int)mode;
pars[1] = debug;
pars[7] = error;
RT100_Command(2,pars);
error = pars[7];
}

void RT100_Define_Origin(int &error)
// Defines the current position to be the origin by setting all position and
// error counts to 0
{
int pars[8];
pars[7] = error;
RT100_Command(5,pars);
error = pars[7];
}

void RT100_Version(int &libver, int &librev, int &romver, int &error)
// Returns the library version, revision, and ROM version
{
int pars[8];
pars[7] = error;
RT100_Command(3,pars);
libver = pars[4];
librev = pars[5];
romver = pars[6];
error = pars[7];
}

void RT100_Set_Mode(Motor motor, MotorMode mode, int &error)
// Sets a motor into one of the three input modes
{
int pars[8];
pars[0] = (int)motor;
pars[1] = (int)mode;
pars[7] = error;
RT100_Command(7,pars);
error = pars[7];
}

void RT100_Read(Motor motor, DataCode code, int &data, int &error)
// Reads a data code from any motor
{
int pars[8];
pars[0] = (int)motor;
pars[1] = (int)code;
pars[7] = error;
RT100_Command(12,pars);
data = pars[6];
error = pars[7];
}

void RT100_Write(Motor motor, DataCode code, int data, int &error)
// Sets the value in a data code for any motor
{
int pars[8];
pars[0] = (int)motor;
pars[1] = (int)code;
pars[2] = data;
pars[7] = error;
RT100_Command(13,pars);
error = pars[7];
}

void RT100_Go(GoMode mode, int gobits, int &error)
// Sets one or more motors moving in one of the three drive modes
{
int pars[8];
pars[0] = (int)mode;
pars[1] = gobits;
pars[7] = error;
RT100_Command(9,pars);
error = pars[7];
}

void RT100_Interpolate(IntData data, int &error)
// Moves each motor by the increment given in the array movement_data
{
int pars[8];
pars[0] = data[(int)ELBOW];
pars[1] = data[(int)SHOULDER];
pars[2] = data[(int)ZED];
pars[3] = data[(int)WRIST1];
pars[4] = data[(int)WRIST2];
pars[5] = data[(int)YAW];
pars[6] = data[(int)GRIP];
pars[7] = error;
RT100_Command(14,pars);
error = pars[7];
}

void RT100_General_Status(int &status, int &error)
// Returns a status variable for the RT100
{
int pars[8];
pars[7] = error;
RT100_Command(11,pars);
status = pars[6];
error = pars[7];
}

void RT100_Motor_Status(Motor motor, int &status, int &error)
// Returns a status variable for a particular motor
{
int pars[8];
pars[0] = (int)motor;
pars[7] = error;
RT100_Command(10,pars);
status = pars[6];
error = pars[7];
}

void RT100_Stop(StopMode mode, int &error)
// Stops all motors in one of the stop modes
{
int pars[8];
pars[0] = (int)mode;
pars[7] = error;
RT100_Command(8,pars);
error = pars[7];
}

void RT100_Raw_Command(int IP, int num_bytes, char byte1, char byte2, char byte3, int &error)
// Sends a raw IPC command to the specified IP
{
int pars[8];
pars[0] = IP;
pars[1] = num_bytes;
pars[2] = byte1;
pars[3] = byte2;
pars[4] = byte3;
pars[7] = error;
RT100_Command(0,pars);
error = pars[7];
}

void RT100_Raw_Response(int IP, int &num_bytes, char &byte1, char &byte2, char &byte3, int &error)
// Gets a raw IPC response from the specified IP
{
int pars[8];
pars[0] = IP;
pars[7] = error;
RT100_Command(1,pars);
num_bytes = pars[3];
byte1 = pars[4];
byte2 = pars[5];
byte3 = pars[6];
error = pars[7];
}

void RT100_Reload_PIDS(int &error)
// Eh?
{
int pars[8];
pars[7] = error;
RT100_Command(6,pars);
error = pars[7];
}

void RT100_Soak(Soak soak, int &error)
// Uh?
{
int pars[8];
pars[0] = (int)soak;
pars[7] = error;
RT100_Command(15,pars);
error = pars[7];
}

void RT100_Command(int command, int pars[8])
// Sends the command to the RT100 directly. Used by all other functions.
{
if (pars[7] != 0) return;
if (!RT100_Library_Installed())
	{
	pars[7] = LIBRARY_NOT_INSTALLED;
	return;
	}
//union REGS regs;
//regs.x.ax = command;
//regs.x.bx = FP_OFF(pars);
//regs.x.cx = FP_SEG(pars);
//int86(0x78, &regs, &regs);
}

int  RT100_Library_Installed(void)
// Checks that the library is installed correctly
// Hmmm. This isn't actually implemented.
{
return(1);
}

#include <windows.h>