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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

/**

 * @file SonarControl.h

 * @brief Contains sonar declarations and functions

 * 

 * Contains functions and definitions for the use of

 * sonar

 *

 * @author Colony Project, CMU Robotics Club

 * @author Priyanka Deo

 **/

#ifndef _SONAR_CONTROL_H_

#define _SONAR_CONTROL_H_

#include <ros/ros.h>

#include <sonar/sonar_set_scan.h>

#include <sonar/sonar_toggle.h>

#include <sonar/sonar_distance.h>

#include "constants.h"

class SonarControl

{

    public:

        /** Set up the motor node and prepare to communicate over ROS */

        SonarControl(const ros::NodeHandle& libscout_node,

                     std::string scoutname);

        /** Sets sonar to a position (0-23) specified by input */

        void set_single(int position);

        /** Sets sonar to scan a range in 0-23 specified by input */

        void set_range(int start_pos, int end_pos);

        /** (Re)starts sonar panning and taking readings */

        void set_on();

        /** Stops sonar from panning and taking readings */

        void set_off();        

        /** Get sonar readings */

        int* get_sonar_readings();

    private:

        /** Record the new sonar distance measurement */

        void distance_callback(const sonar::sonar_distance::ConstPtr& msg);

        /** Sends a sonar_toggle message. */

        void set_power(bool is_on);

        /** Converts between values output by sensor and physical distances */

        //float sonar_to_dist(float sonar_value);

        //float dist_to_sonar(float distance);

        /** If a service call fails, tries again this many times. */

        int num_attempts;

        /** Keep track of the latest readings and their time of receipt.

         *  Readings are in millimeters. */

        int readings[48];

        ros::Time timestamps[48];

        /* ROS publisher and client declaration */

        ros::ServiceClient sonar_set_scan_client;

        ros::ServiceClient sonar_toggle_client;

        ros::Subscriber sonar_distance_sub;

        ros::NodeHandle node;

};

#endif