/Users/craigcornelius/Projects/SPRING Mac Release 0.2/bird.h

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// $Id: bird.h,v 1.15 2001/10/17 16:49:34 kevin Exp $
// $Copyright: (c)2001 National Biocomputation Center, Stanford University $

#ifndef Bird_Header
#define Bird_Header


#include "point3d.h"
#include "sensor.h"
#include "serialdevice.h"
#include <sys/timeb.h>

class Bird : public Sensor, public SerialDevice {
public:
    enum sync_enum {NO_SYNC=0, SYNC_CRT_LOW=1, SYNC_CRT_HIGH=2, SYNC_HOST=3};
    enum button_enum {DOWN=1, PRESSED=2, UP=-1, RELEASED=-2};
    enum return_values_enum {POSITION=1,ANGLES=2,MATRIX=3,POSITION_ANGLES=4,
        POSITION_MATRIX=5};
    
public:
    // note: valid baud rates are: 2400, 4800, 9600, 19200, 38400, 57600, 115200
    // - if master, set num_birds_if_master to num birds in flock, otherwise=0
    // - set has_transmitter if this port is connected to the master bird
    // - return_values_flag = POSITION | ANGLES if want pos and ang returned,etc
    Bird(char* port_name, int baud, int num_birds_if_master = 0, 
        return_values_enum return_values = POSITION_ANGLES);
    virtual ~Bird();
    static const char* rcsid;
    static int debug;
    
    // overloaded Sensor functions
    void Update();
    
    // other functions
    void Sleep();
    
    // CRT syncing routines
    void CRTVoltageTest(double* voltage_p, double* scanrate_p);
    void setCRTsync(sync_enum sync_mode);       // can do on the fly now
    
private:
    enum {BIRD_BUF_SIZE = 1024};
    char bird_buffer[BIRD_BUF_SIZE];    // bird data buffer
    int is_master;      // whether this is the master bird
    int first_update;           // first time flag for update cycle
    return_values_enum return_values;   // values to process and return
    char port_name[80]; // keep it around just for debugging
    
    // internal function prototypes
    void bird_start_stream();
    void sync_bird_crt_low();
    void sync_bird_crt_high();
    void sync_bird_host();
    void bird_prompt();
    void turn_off_filters();
    void write_bird(unsigned char command);
    int get_mic_time();
    int get_mic_duration(int last);
    int decode_position(char* b_b);
    int decode_angles(char* b_b);
    int decode_matrix(char* b_b);
    int decode_button(char* b_b);
    int decode_pos_ang(char* b_b);
    int decode_pos_mat(char* b_b);
    void read_bird_point();
    char* read_bird_stream();
    button_enum bird_button_status();
    void initialize_flock(int num_birds_in_flock);
    int open_bird_port(char *port_name, int baud_rate);
    void angle_align(double x_rot, double y_rot, double z_rot);
};

#endif

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