/**
 * Glove.h - DG5Glove Interface
 * CSE 490I Neurobotics Winter 2007
 * Josh Storz <jstorz@cs.washington.edu>
 */

#include <stdio.h>
#include <conio.h>
#include <math.h>
#include <windows.h>
#include "DG5GloveLib.h"

#ifndef _GLOVE_H_
#define _GLOVE_H_

class Glove
{
  public:
    Glove();
    ~Glove();

    // right or left handed glove
    static const int GLOVE_RIGHT = 1;
    static const int GLOVE_LEFT = 2;
    
    // finger indexes
    static const int FINGER_THUMB = 4;
    static const int FINGER_INDEX = 3;
    static const int FINGER_MIDDLE = 2;
    static const int FINGER_RING = 1;
    static const int FINGER_PINKY = 0;

    // button indexes
    static const int BUTTON_UP = 2;
    static const int BUTTON_ENTER = 1;
    static const int BUTTON_DOWN = 0;

    // glove dataframe
    struct GloveData
    {
      double finger_pos[5];
      bool button_state[3];

      // constructor, initial state
      GloveData()
      {
        for (int i = 0; i < 5; i++)
          finger_pos[i] = 0;
        for (int i = 0; i < 3; i++)
          button_state[i] = false;
      }
    };

    // glove finger calibration
    struct GloveCalib
    {
      double min[5];
      double max[5];
      double offset[5];

      GloveCalib()
      {
        // sane defaults
        for (int i = 0; i < 5; i++)
        {
          min[i] = -1;       // calibration minimum bounds
          max[i] = 255;      // calibration maximum bounds
          offset[i] = 0;  // calibration offset (before scaling)
        }
      }
    };

    // connection methods
    bool open();
    bool close();
    bool isConnected() { return (hcomm != NULL); }

    // settings
    void setComm(int port);
    int getComm();
    void setCalib(Glove::GloveCalib calib);
    Glove::GloveCalib getCalib();
    void setType(int type);
    int getType();

    // data
    bool getState(Glove::GloveData *frame);

    // interactive methods
    bool calibrate(Glove::GloveCalib *calib);

  protected:
    
    // hardware level commands
    static const int CMD_LOW_PASS_OFF = 251;
    static const int CMD_LOW_PASS_ON = 252;
    static const int CMD_START = 253;
    static const int CMD_STOP = 254;
    static const int CMD_VERSION = 255;
    
    // message length (response from glove interface)
    static const int BLOCK_LENGTH = 60;

    // bounds on dataframe normalization
    static const int FINGER_MIN = 0;
    static const int FINGER_MAX = 255;

    // instance variables
    HINSTANCE glove;            // dll
    HANDLE hcomm;               // comm handle
    int comm_port;              // comm port #
    GLOVE_STATE state;          // dll state response
    GLOVE_SETTINGS settings;    // dll settings structure
    unsigned char verify_code;  // unused
    int glove_type;             // right or left
    GloveCalib calib;           // calibration (raw scaling and shifting)
    BYTE buffer[100];           // data input buffer

    // helper methods
    bool libLoaded() { return (glove != NULL); }  // check if dll is loaded
    double normalize( int finger ) {return min(calib.max[finger], max(state.Finger[finger], calib.min[finger]) ); }
//    double normalize(int finger) { return min(FINGER_MAX, max(FINGER_MIN,(int)(((state.Finger[finger] + calib.offset[finger]) / (calib.max[finger] - calib.min[finger])) * (FINGER_MAX-FINGER_MIN)))); }  // normalize input
    bool sendCmd(int cmd) { if (!libLoaded() || !isConnected()) return false; else return (bool)VHand_SendGloveCommand(hcomm, (BYTE)cmd); }  // send hardware command
};

#endif