///////////////////////////////////////////////////////////////////////////
//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Instrument. 
//        
//   This program is free software; you can redistribute it and/or 
//   modify it under the terms of the GNU General Public License as 
//   published by the Free Software Foundation; either version 2 of the 
//   License, or (at your option) any later version. 
//          
//   This program is distributed in the hope that it will be useful, 
//   but WITHOUT ANY WARRANTY; without even the implied warranty of 
//   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU 
//   General Public License for more details. 
//            
//   You should have received a copy of the GNU General Public License 
//   along with this program; if not, write to the Free Software 
//   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 
//   02111-1307, USA. 
//
//////////////////////////    END_GPL    //////////////////////////////////
// BluefinBatteryDriverV1.h: interface for the CBluefinBatteryDriverV1 class.
//
//////////////////////////////////////////////////////////////////////

#if !defined(AFX_BLUEFINBATTERYDRIVERV1_H__469B00FB_394F_473F_A909_6AE253B2E818__INCLUDED_)
#define AFX_BLUEFINBATTERYDRIVERV1_H__469B00FB_394F_473F_A909_6AE253B2E818__INCLUDED_

#if _MSC_VER > 1000
#pragma once
#endif // _MSC_VER > 1000

#include "BatteryDriver.h"
#define CELLS_PER_PACK 8

typedef unsigned char BYTE;


class CBluefinBatteryDriverV1 : public CBatteryDriver  
{


public:
    virtual string GetCellsString();

    virtual bool IsError();
    bool SwitchPack(int nPack, bool bOn);

    enum Status
    {
        ON,
        OFF,
    };

    class CBatteryPack
    {
    public:
        class CCell
        {
        public:
            double m_dfVoltage;
        };

        CCell m_Cells[CELLS_PER_PACK];

        int m_nPackAddress;
        double m_dfVoltage;
        Status m_eState;   
    };


    CBatteryPack m_Batteries[2];

    CBluefinBatteryDriverV1();
    virtual ~CBluefinBatteryDriverV1();
    virtual bool Initialise();

    virtual bool    GetData();



protected:
    bool Switch(bool bSwitch);
    double GetMeanVoltage();
    bool GetPackVoltage(int nPack);
    bool GetPackStatus(int nPack);
    bool SendAndRecieve(BYTE* pTx,int nTx,BYTE* pRx,int nRx);
    bool GetCellData(int nPack);
};

#endif // !defined(AFX_BLUEFINBATTERYDRIVERV1_H__469B00FB_394F_473F_A909_6AE253B2E818__INCLUDED_)