/* This code was modified from:
	-NXT++: http://nxtpp.sourceforge.net
	-Device::USB: http://search.cpan.org/~gwadej/Device-USB-0.21
	Please see these two websites for the appropriate licensing information.
*/

/** \class NXT_USB
 * \brief Controls a LEGO Mindstorms NXT robot via a USB connection
 *
 * NXT_USB controls a LEGO Mindstorms NXT robot over a USB connection.  Namely
 * one can read from the sensors, move the motors and read rotational information
 * from the motors.
 */

#ifndef __NXT_USB_h
#define __NXT_USB_h

#include "NXT_USB_linux.h"

class NXT_USB
{

public:

  NXT_USB();
  ~NXT_USB();

  // functions

  int OpenLegoUSB();
  int CloseLegoUSB();

  void SetSensorLight(int port, bool active);
  void SetSensorTouch(int port);
  void SetSensorSound(int port, bool dba);
  void SetSensorUS(int port);
  void SetUSOff(int port);
  void SetUSSingleShot(int port);
  void SetUSContinuous(int port);
  void SetUSEventCapture(int port);
  void SetUSContinuousInterval(int port, int interval);

  int GetLightSensor(int port);
  bool GetTouchSensor(int port);
  int GetSoundSensor(int port);
  int GetUSSensor(int port);

  void SetMotorOn(int port, int power);
  void SetMotorOn(int port, int power, int tachoCount);
  void MoveMotor(int port, int power, int tachoCount);
  void StopMotor(int port, bool brake);
	
  int GetMotorRotation(int port, bool relative);
  void ResetMotorPosition(int port, bool relative);

  void PlayTone(int frequency, int duration);

  char * GetDeviceFilename();
  int GetIDVendor();
  int GetIDProduct();
  char * GetStatus();

  void SendCommand (char * outbuf, int outbufSize, char * inbuf, int inbufSize);
  int LSGetStatus(int port);

  //attributes:
  private:
    NXT_USB_linux *usbConn;

};

#endif