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/**
 * @file Rangefinder driver interface.
 */

#ifndef _DRV_RANGEFINDER_H
#define _DRV_RANGEFINDER_H

#include <stdint.h>
#include <sys/ioctl.h>

#include "drv_sensor.h"
#include "drv_orb_dev.h"

#define RANGE_FINDER_DEVICE_PATH	"/dev/range_finder"

enum RANGE_FINDER_TYPE {
	RANGE_FINDER_TYPE_LASER = 0,
};

/**
 * @addtogroup topics
 * @{
 */

/**
 * range finder report structure.  Reads from the device must be in multiples of this
 * structure.
 */
struct range_finder_report {
	uint64_t timestamp;
	uint64_t error_count;
	unsigned type;				/**< type, following RANGE_FINDER_TYPE enum */
	float distance; 			/**< in meters */
	float minimum_distance;			/**< minimum distance the sensor can measure */
	float maximum_distance;			/**< maximum distance the sensor can measure */
	uint8_t valid;				/**< 1 == within sensor range, 0 = outside sensor range */
};

/**
 * @}
 */

/*
 * ObjDev tag for raw range finder data.
 */
ORB_DECLARE(sensor_range_finder);

/*
 * ioctl() definitions
 *
 * Rangefinder drivers also implement the generic sensor driver
 * interfaces from drv_sensor.h
 */

#define _RANGEFINDERIOCBASE			(0x7900)
#define __RANGEFINDERIOC(_n)		(_IOC(_RANGEFINDERIOCBASE, _n))

/** set the minimum effective distance of the device */
#define RANGEFINDERIOCSETMINIUMDISTANCE	__RANGEFINDERIOC(1)

/** set the maximum effective distance of the device */
#define RANGEFINDERIOCSETMAXIUMDISTANCE	__RANGEFINDERIOC(2)


#endif /* _DRV_RANGEFINDER_H */