#ifndef SONAR_DISTANCE_H
#define SONAR_DISTANCE_H

//Polaroid sonar ranging sensor class interface header file.
//Using serial Input and Output to the Handyboard
/*
        Program
        Filename:       sonar_distance.h (Version 1.1)
        
        Title:          Polaroid sonar ranging sensor Class interface file
        Date:           May 1, 2003
        Compilers:      Visual C++ 6.0 (Windows console application .exe)
        
        Authors:        Created for Lawrence Tech. Laptop Robot use by Maurice Tedder
                             
       Description:     Header file for Lawrence Tech. Laptop Robot motion control class.
						Designed for the Polaroid 6500 Series sonar ranging module driven by
						Handyboard motor outputs.
        
*/

//Sonar distance sensor class definition

class SONAR_DISTANCE {

public:

        SONAR_DISTANCE();  //Defualt constructor.

		SONAR_DISTANCE(HANDLE comporthandle);  //initialization constructor. Takes comport handle

        ~SONAR_DISTANCE(); //Defualt destructor.

		int readSonarSensor(void);//Activate sonar range sensor and return distance value in sensor units

		int readSonarPacket(void);	//Reads serial port and grabs sonar data packet and returns data value in packet
									//and also stores the return value in the distance private member variable
									//you can also call getSonarDistance(void) after this function returns and 
									//get the sonar distance value.
									//!!!CAUTION THIS FUCTION WILL CONTINOUSLY LOOP UNTIL A PACKET IS RECIEVED-
									//THEREFORE MAKE SURE SONAR DATA PACKETS ARE BEING TRANSMITTED BEFORE
									//USING THIS FUNCTION

		int getSonarDistance(void);//Returns sonar sensor value stored in distance private member variable

		void activateSonar(bool mode);	//Activates sonar sensor to transmit data continously 
										//(mode = true) or single data packet (mode = false)

// Public member functions.
        

		short Check_sum(short *packet, int length);// Check_sum - This function calculates the chech sum of a packet and


/////////////////////////////////////////////////////////
// Start DMC member functions.
/////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////

//////////////////////////////////////////////////////////////////////

		void Send_packet(char * packet); //  Send_packet - Write/send contents of packet to serial port
													// one byte at a time - takes pointer to the packet array as a parameter


private:

	int distance;	// Sonar sensor distance value (-1 = time out or open space)

	//Serial port globals
	//HANDLE porthnd2;// Handle to Com port file
	HANDLE comport_handle;//Handle to currently opened comport	
	DWORD numberrd2; // Number of bytes read.
	char speed_packet[11];//Packet array to send commands to handyboard
                                                                  
//	int OpenComPort(void);	// Open com port handle to recieve data packets from handyboard

//	void CloseComPort(void);// Close com port handle

};

#include "sonar_distance.cpp"

#endif