/*
    ChibiOS - Copyright (C) 2006..2018 Rocco Marco Guglielmi

    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
    You may obtain a copy of the License at

        http://www.apache.org/licenses/LICENSE-2.0

    Unless required by applicable law or agreed to in writing, software
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
    limitations under the License.
*/

/**
 * @file    ex_rangefinder.h
 * @brief   Generic rangefinder interface header.
 *
 * @addtogroup EX_RANGEFINDER
 * @{
 */

#ifndef EX_RANGEFINDER_H
#define EX_RANGEFINDER_H

#include "ex_sensors.h"

/*===========================================================================*/
/* Driver constants.                                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Driver pre-compile time settings.                                         */
/*===========================================================================*/

/*===========================================================================*/
/* Derived constants and error checks.                                       */
/*===========================================================================*/

/*===========================================================================*/
/* Driver data structures and types.                                         */
/*===========================================================================*/

/**
 * @brief   BaseRangeFinder specific methods.
 */
#define _base_rangefinder_methods_alone                                     \
  /* Invoke the set bias procedure.*/                                       \
  msg_t (*set_bias)(void *instance, float biases[]);                        \
  /* Remove bias stored data.*/                                             \
  msg_t (*reset_bias)(void *instance);                                      \
  /* Invoke the set sensitivity procedure.*/                                \
  msg_t (*set_sensitivity)(void *instance, float sensitivities[]);          \
  /* Restore sensitivity stored data to default.*/                          \
  msg_t (*reset_sensitivity)(void *instance);


/**
 * @brief   BaseRangeFinder specific methods with inherited ones.
 */
#define _base_rangefinder_methods                                           \
  _base_sensor_methods                                                      \
  _base_rangefinder_methods_alone

/**
 * @brief   @p BaseRangeFinder virtual methods table.
 */
struct BaseRangeFinderVMT {
  _base_rangefinder_methods
};

/**
 * @brief   @p BaseRangeFinder specific data.
 */
#define _base_rangefinder_data                                              \
  _base_sensor_data
	
/**
 * @extends BaseSensor
 *
 * @brief   Base rangefinder class.
 * @details This class represents a generic rangefinder.
 */
typedef struct {
  /** @brief Virtual Methods Table.*/
  const struct BaseRangeFinderVMT *vmt;
  _base_rangefinder_data
} BaseRangeFinder;

/*===========================================================================*/
/* Driver macros.                                                            */
/*===========================================================================*/
/**
 * @name    Macro Functions (BaseRangeFinder)
 * @{
 */
/**
 * @brief   RangeFinder get channels number.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 * @return              The number of channels of the BaseRangeFinder
 *
 * @api
 */
#define rangefinderGetChannelsNumber(ip)                                    \
        (ip)->vmt->get_channels_number(ip)

/**
 * @brief   RangeFinder read raw data.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 * @param[in] dp        pointer to a data array.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderReadRaw(ip, dp)                                          \
        (ip)->vmt->read_raw(ip, dp)

/**
 * @brief   RangeFinder read cooked data.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 * @param[in] dp        pointer to a data array.
 * 
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderReadCooked(ip, dp)                                       \
        (ip)->vmt->read_cooked(ip, dp)

/**
 * @brief   Updates rangefinder bias data from received buffer.
 * @note    The bias buffer must have the same length of the
 *          the rangefinder channels number.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 * @param[in] bp        pointer to a buffer of bias values.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderSetBias(ip, bp)                                          \
        (ip)->vmt->set_bias(ip, bp)

/**
 * @brief   Reset rangefinder bias data restoring it to zero.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderResetBias(ip)                                            \
        (ip)->vmt->reset_bias(ip)

/**
 * @brief   Updates rangefinder sensitivity data from received buffer.
 * @note    The sensitivity buffer must have the same length of the
 *          the rangefinder channels number.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 * @param[in] sp        pointer to a buffer of sensitivity values.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderSetSensitivity(ip, sp)                                   \
        (ip)->vmt->set_sensitivity(ip, sp)

/**
 * @brief   Reset rangefinder sensitivity data restoring it to its typical
 *          value.
 *
 * @param[in] ip        pointer to a @p BaseRangeFinder class.
 *
 * @return              The operation status.
 * @retval MSG_OK       if the function succeeded.
 * @retval MSG_RESET    if one or more errors occurred.
 *
 * @api
 */
#define rangefinderResetSensitivity(ip)                                     \
        (ip)->vmt->reset_sensitivity(ip)
/** @} */

/*===========================================================================*/
/* External declarations.                                                    */
/*===========================================================================*/

#ifdef __cplusplus
extern "C" {
#endif

#ifdef __cplusplus
}
#endif

#endif /* EX_RANGEFINDER_H */

/** @} */