/*
* functions.h
* This file is part of the project "Remote control for CPG-based robots"
*
* Copyright (C) 2010 - Gabriel CUENDET
*/


#ifndef FUNCTIONS_H
#define FUNCTIONS_H

typedef enum{STARTED, IN_CHARGE, STOPPED, MENU, RC_AUTONOMOUS, ERROR=9} state;
typedef enum{WALKING, SWIMMING} locomotion_mode;
typedef enum{AMPHIBOT2=1, SALAMANDRA1, AMPHIBOT3PIC, SALAMANDRA2, AMPHIBOT3ARM} robot;

/** 
 * Definition of the menus
**/
typedef enum  {INFOS_RC_MAIN=0, 
               SELECT_ROBOT_MAIN, 
               ROBOT_MAIN} main_menu;
               
typedef enum  {NO_SUB=0, BATT_VOLTAGE_SUB=1, VERSION_RADIO_SUB, RESET_RADIO_SUB, RESET_SUB, 
               FAVORITES_SUB=1, ENTER_CHANNEL_SUB, SCAN_CHANNELS_SUB,
               START_SUB=1, STOP_SUB, START_CHARGING_SUB, STOP_CHARGING_SUB} sub_menu;

typedef void (*tab_fct)(void);


/*****************************
 * REMOTE CONTROL PARAMETERS *
 *****************************/
#define LCDADDR   0x76
#define BATADDR   0x68

#define BTN_ENTER    PIN_B0
#define BTN_CANCEL   PIN_B1
#define BTN_PLUS     PIN_B4
#define BTN_MINUS    PIN_B5

#define REG_INTF_VER 0x3C0   //< Radio interface's version
#define REG_INTF_CH  0x3C1   //< Local (radio interface) channel number


/********************************
 * UNIVERSAL ROBOT'S REGISTERS  *
 ********************************/
/// Definitions of the registers for the robot
#define REG_RWL_VER  0x3E0   //< Remote radio firmware's version
#define REG_RWL_CH   0x3E1   /*< Remote channel number (= REG_INTF_CH, if the 
                                 communication is set) */


/**********************
 * ROBOT'S REGISTERS  *
 **********************/
#define REGB_MODE       0
#define REGB_ELCOUNT    8
#define REGB_VER        26

#define REGB_FREQ       1
#define REGB_FREQ_B     1
#define REGB_FREQ_L     5
#define REGB_AMPL       3
#define REGB_AMPL_B     3
#define REGB_AMPL_L     6
#define REGB_TURN       2
#define REGB_PHASE      4
#define REGB_LED        7

#define REGMB_GAINS     0


/********************
 * SALAMANDRA MODES *
 ********************/
#define MODE_IDLE             0
#define MODE_INIT             1
#define MODE_RUN              2
#define MODE_STOP             3
#define MODE_BATTERY_CHARGE   4
#define MODE_RUN_NO_DRIVE     5
#define MODE_RUN_IR_FOLLOW    6



/************************
 * REGISTERS OPERATIONS *
 ************************/
// Generic register operations function
int1 reg_op(int8 op, int16 addr, int8 *data, int len);

// Getter for the registers
int1 get_reg_b(int16 addr, int8* result);
int1 get_reg_w(int16 addr, int8* result);
int1 get_reg_dw(int16 addr, int8* result);
int1 get_reg_mb(int16 addr, int8 &len, int8* result);

// Setter for the register
int1 set_reg_b(int16 addr, int8 data);
int1 set_reg_w(int16 addr, int16 data);
int1 set_reg_dw(int16 addr, int32 data);
int1 set_reg_mb(int16 addr, int8 *data, int8 len);


/************************
 * MISC                 *
 ************************/
// Synchronization function
int1 sync();

// Channel scan function
int1 scan(int8* local_channel);

void err(char* description);


/********************
 * ROBOT LOCOMOTION *
 ********************/
// Locomotion parameters
//void set_freq_b(float freq);
//void set_freq_l(float freq);
//void set_ampl_b(float ampl);
//void set_ampl_l(float ampl);

int8 from_turn(float d);
//void set_turn(float turn_front, float turn_rear);

//void set_flat_gains(int8 cnt, double gain);
void set_phase(float phase);
int1 set_flat_gains(float gain);

// Start-stop robot
int1 start_salamander();
int1 start_amphibot();
int1 start_amphibot_mathieu();
int1 stop_salamander();
int1 stop_amphibot();
int1 stop_amphibot_mathieu();

// Direction and speed
//void walk(unsigned int8 spd);

// update functions for the different robots
int1 update_salamander(float spd, float dir);
int1 update_amphibot(float spd, float dir);
int1 update_amphibot_mathieu(float spd, float dir);


/*********************
 * DISPLAY FUNCTIONS *
 *********************/
// Initialization of the display
void init_display();
void set_pos_display(int8 pos);
void clear_display();
void display(char* str,int8 pos);
void char_display(char* character,int8 pos);


/**********************
 * BATTERY MANAGEMENT *
 **********************/
float battery_voltage();
float battery_temp();
float battery_current();
float battery_accumulated_current();


/******************
 * USER INTERFACE *
 ******************/
int1 enter_value(char* label, int8* value);
void display_menus();
// Ask the user for a confirmation (ENTER) or a cancellation (CANCEL)
int1 enter_cancel(int8 delay);
void press_button(char button);
   
   
   /*******************
    * MENU FONCTIONS  *
    *******************/
   // Functions to fill the menu table. Must be :
   // void function(void);
   void show_version_radio();
   void show_batt_voltage();
   void reset_radio();
   void reset_main();
   void menu_favorites();
   void menu_enter_channel();
   void menu_scan_channels();
   void menu_start_robot();
   void menu_stop_robot();
   void menu_start_charging();
   void menu_stop_charging();



#endif