#ifndef __CPHIDGETMOTORCONTROL
#define __CPHIDGETMOTORCONTROL
#include "cphidget.h"

/** \defgroup phidmotorcontrol Phidget Motor Control 
 * \ingroup phidgets
 * Calls specific to the Phidget Motor Control. See the product manual for more specific API details, supported functionality, units, etc.
 * @{
 */

DPHANDLE(MotorControl)
CHDRSTANDARD(MotorControl)

/**
 * Gets the number of motors supported by this controller.
 * @param phid An attached phidget motor control handle.
 * @param count The motor count.
 */
CHDRGET(MotorControl,MotorCount,int *count)

/**
 * Gets the current velocity of a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param velocity The current velocity.
 */
CHDRGETINDEX(MotorControl,Velocity,double *velocity)
/**
 * Sets the velocity of a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param velocity The velocity.
 */
CHDRSETINDEX(MotorControl,Velocity,double velocity)
/**
 * Sets a velocity change event handler. This is called when the velocity changes.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,VelocityChange,double velocity)

/**
 * Gets the last set acceleration of a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param acceleration The acceleration.
 */
CHDRGETINDEX(MotorControl,Acceleration,double *acceleration)
/**
 * Sets the last set acceleration of a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param acceleration The acceleration.
 */
CHDRSETINDEX(MotorControl,Acceleration,double acceleration)
/**
 * Gets the maximum acceleration supported by a motor
 * @param phid An attached phidget motor control handle
 * @param index The motor index.
 * @param max The maximum acceleration.
 */
CHDRGETINDEX(MotorControl,AccelerationMax,double *max)
/**
 * Gets the minimum acceleration supported by a motor.
 * @param phid An attached phidget motor control handle
 * @param index The motor index.
 * @param min The minimum acceleration
 */
CHDRGETINDEX(MotorControl,AccelerationMin,double *min)


/**
 * Gets the current current draw for a motor.
 * @param phid An attached phidget motor control handle
 * @param index The motor index.
 * @param current The current.
 */
CHDRGETINDEX(MotorControl,Current,double *current)
/**
 * Sets a current change event handler. This is called when the current draw changes.
 * @param phid An attached phidget motor control handle
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,CurrentChange,double current)

/**
 * Gets the number of digital inputs supported by this board.
 * @param phid An attached phidget motor control handle.
 * @param count The ditial input count.
 */
CHDRGET(MotorControl,InputCount,int *count)
/**
 * Gets the state of a digital input.
 * @param phid An attached phidget motor control handle.
 * @param index The input index.
 * @param inputState The input state. Possible values are \ref PTRUE and \ref PFALSE.
 */
CHDRGETINDEX(MotorControl,InputState,int *inputState)
/**
 * Set a digital input change handler. This is called when a digital input changes.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,InputChange,int inputState)

/**
 * Gets the number of encoder inputs supported by this board.
 * @param phid An attached phidget motor control handle.
 * @param count The encoder input count.
 */
CHDRGET(MotorControl,EncoderCount,int *count)
/**
 * Gets the position of an encoder. This position starts at 0 every time the phidget is opened.
 * @param phid An attached phidget motor control handle.
 * @param index The encoder index.
 * @param position The encoder position.
 */
CHDRGETINDEX(MotorControl,EncoderPosition,int *position)
/**
 * Sets the encoder position. This can be used to set the position to a known value, and should only be called when the encoder is not moving.
 * @param phid An attached phidget motor control handle.
 * @param index The encoder index.
 * @param position The encoder position.
 */
CHDRSETINDEX(MotorControl,EncoderPosition,int position)
/**
 * Set an encoder position change handler. This is called when the encoder position changes.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,EncoderPositionChange,int time,int positionChange)
/**
 * Set an encoder position update handler. This is called at a constant rate; every 8ms, whether the encoder position has changed or not.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,EncoderPositionUpdate,int positionChange)

/**
 * Gets the Back EMF sensing state for a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param bEMFState The back EMF sensing state.
 */
CHDRGETINDEX(MotorControl,BackEMFSensingState,int *bEMFState)
/**
 * Sets the Back EMF sensing state for a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param bEMFState The back EMF sensing state.
 */
CHDRSETINDEX(MotorControl,BackEMFSensingState,int bEMFState)
/**
 * Gets the Back EMF voltage for a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param voltage The back EMF voltage, in volts.
 */
CHDRGETINDEX(MotorControl,BackEMF,double *voltage)
/**
 * Set a back EMF update handler. This is called at a constant rate; every 16ms, when back EMF sensing is enabled for that motor.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,BackEMFUpdate,double voltage)

/**
 * Gets the Supply voltage for the motors. This could be higher then the actual supply voltage.
 * @param phid An attached phidget motor control handle.
 * @param supplyVoltage The supply voltage, in volts.
 */
CHDRGET(MotorControl,SupplyVoltage,double *supplyVoltage)

/**
 * Gets the Braking value for a motor.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param braking The braking value, in percent.
 */
CHDRGETINDEX(MotorControl,Braking,double *braking)
/**
 * Sets the Braking value for a motor. This is applied when velocity is 0. Default is 0%.
 * @param phid An attached phidget motor control handle.
 * @param index The motor index.
 * @param braking The braking value, in percent.
 */
CHDRSETINDEX(MotorControl,Braking,double braking)

/**
 * Gets the number of sensor inputs supported by this board.
 * @param phid An attached phidget motor control handle.
 * @param count The sensor input count.
 */
CHDRGET(MotorControl, SensorCount, int *count)
/**
 * Gets the value of a sensor.
 * @param phid An attached phidget motor control handle.
 * @param index The sensor index.
 * @param sensorValue The sensor value, range: 0-1000.
 */
CHDRGETINDEX(MotorControl, SensorValue, int *sensorValue)
/**
 * Gets the raw value of a sensor (12-bit).
 * @param phid An attached phidget motor control handle.
 * @param index The sensor index.
 * @param sensorRawValue The sensor value, range: 0-4096.
 */
CHDRGETINDEX(MotorControl, SensorRawValue, int *sensorRawValue)
/**
 * Set a sensor update handler. This is called at a constant rate; every 8ms.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl, SensorUpdate, int sensorValue)
/**
 * Gets the ratiometric state.
 * @param phid An attached phidget motor control handle.
 * @param ratiometric The ratiometric state.
 */
CHDRGET(MotorControl, Ratiometric, int *ratiometric)
/**
 * Sets the ratiometric state. This control the voltage reference used for sampling the analog sensors.
 * @param phid An attached phidget motor control handle.
 * @param ratiometric The ratiometric state.
 */
CHDRSET(MotorControl, Ratiometric, int ratiometric)

/**
 * Set a current update handler. This is called at a constant rate; every 8ms.
 * @param phid An attached phidget motor control handle.
 * @param fptr Callback function pointer.
 * @param userPtr A pointer for use by the user - this value is passed back into the callback function.
 */
CHDREVENTINDEX(MotorControl,CurrentUpdate,double current)

#ifndef REMOVE_DEPRECATED
DEP_CHDRGET("Deprecated - use CPhidgetMotorControl_getMotorCount",MotorControl,NumMotors,int *)
DEP_CHDRGET("Deprecated - use CPhidgetMotorControl_getInputCount",MotorControl,NumInputs,int *)
DEP_CHDRGETINDEX("Deprecated - use CPhidgetMotorControl_getVelocity",MotorControl,MotorSpeed,double *)
DEP_CHDRSETINDEX("Deprecated - use CPhidgetMotorControl_setVelocity",MotorControl,MotorSpeed,double)
DEP_CHDREVENTINDEX("Deprecated - use CPhidgetMotorControl_set_OnVelocityChange_Handler",MotorControl,MotorChange,double motorSpeed)
#endif

#ifndef EXTERNALPROTO
#define MOTORCONTROL_MAXMOTORS 2
#define MOTORCONTROL_MAXINPUTS 4
#define MOTORCONTROL_MAXENCODERS 1
#define MOTORCONTROL_MAXSENSORS 2

#define MOTORCONTROL_ERRORFLAG_OVERTEMP				0x0001
#define MOTORCONTROL_ERRORFLAG_UNDERVOLTAGE_LOCKOUT	0x0002
#define MOTORCONTROL_ERRORFLAG_NOPOWER				0x0004
#define MOTORCONTROL_ERRORFLAG_LOWPOWER				0x0008
#define MOTORCONTROL_ERRORFLAG_HIGHPOWER			0x0010
#define MOTORCONTROL_ERRORFLAG_DANGERPOWER			0x0020

struct _CPhidgetMotorControl {
	CPhidget phid;
   
	int (CCONV *fptrVelocityChange)(CPhidgetMotorControlHandle, void *, int, double);               
	int (CCONV *fptrInputChange)(CPhidgetMotorControlHandle, void *, int, int);     
	int (CCONV *fptrCurrentChange)(CPhidgetMotorControlHandle, void *, int, double);
	int (CCONV *fptrEncoderPositionChange)(CPhidgetMotorControlHandle, void *, int, int, int);
	int (CCONV *fptrEncoderPositionUpdate)(CPhidgetMotorControlHandle, void *, int, int);
	int (CCONV *fptrBackEMFUpdate)(CPhidgetMotorControlHandle, void *, int, double);       
	int (CCONV *fptrSensorUpdate)(CPhidgetMotorControlHandle, void *, int, int);    
	int (CCONV *fptrCurrentUpdate)(CPhidgetMotorControlHandle, void *, int, double);   

	void *fptrInputChangeptr;
	void *fptrVelocityChangeptr;
	void *fptrCurrentChangeptr;
	void *fptrEncoderPositionChangeptr;
	void *fptrEncoderPositionUpdateptr;
	void *fptrBackEMFUpdateptr;
	void *fptrSensorUpdateptr;
	void *fptrCurrentUpdateptr;

	//Deprecated
	int (CCONV *fptrMotorChange)(CPhidgetMotorControlHandle, void *, int, double);   
	void *fptrMotorChangeptr;

	//Returned from the device
	unsigned char inputState[MOTORCONTROL_MAXINPUTS];
	double motorSpeedEcho[MOTORCONTROL_MAXMOTORS];
	double motorSensedCurrent[MOTORCONTROL_MAXMOTORS];
	double motorSensedBackEMF[MOTORCONTROL_MAXMOTORS];
	unsigned char backEMFSensingStateEcho[MOTORCONTROL_MAXMOTORS];
	double motorSetSpeedEcho[MOTORCONTROL_MAXMOTORS];
	double motorAccelerationEcho[MOTORCONTROL_MAXMOTORS];
	double motorBrakingEcho[MOTORCONTROL_MAXMOTORS];
	double supplyVoltage;
	int encoderPositionEcho[MOTORCONTROL_MAXENCODERS];
	int encoderTimeStamp[MOTORCONTROL_MAXENCODERS];
	unsigned char ratiometricEcho;
	int sensorRawValue[MOTORCONTROL_MAXSENSORS];
	int sensorValue[MOTORCONTROL_MAXSENSORS];

	int lastPacketCount;

	//Local set data
	double motorSpeed[MOTORCONTROL_MAXMOTORS];
	double motorAcceleration[MOTORCONTROL_MAXMOTORS];
	unsigned char backEMFSensingState[MOTORCONTROL_MAXMOTORS];
	double motorBraking[MOTORCONTROL_MAXMOTORS];
	unsigned char ratiometric;

	int encoderPositionDelta[MOTORCONTROL_MAXENCODERS];
	unsigned short motorErrors[MOTORCONTROL_MAXMOTORS];

	//Constants
	double accelerationMax, accelerationMin;

	//for Webservice
	double lastVoltage;
	int encoderPositionUpdates[MOTORCONTROL_MAXENCODERS];

	unsigned char outputPacket[8];
	unsigned int outputPacketLen;
} typedef CPhidgetMotorControlInfo;
#endif

/** @} */

#endif