/* Taken and modified from http://www.ai.sri.com/~vincent/segway.php */
#ifndef _RMPUSB_CANLIB_
#define _RMPUSB_CANLIB_

#include "ftd2xx.h"
#include "canio.h"

class CANIOrmpusb : public CANIO
{
private:
    FT_STATUS	ftStatus;
    FT_HANDLE	ftHandle;
    static const unsigned int RX_BUFFER_SIZE = 65536;
    static const unsigned int RX_WARNING_SIZE = 500;
    static const unsigned int RX_KEEP_SIZE = 200;
    unsigned char rxbuf[RX_BUFFER_SIZE];
    
    bool ready;
    const char* serial;
    int rcount;
    int timeouts;
    int writecount, readcount;
    int usbreadcount, nomsgreadcount;
    unsigned int rxbufcount;
    class rmpUsbPacket
    {
    public:
        rmpUsbPacket();
        rmpUsbPacket(CanPacket &cpkt);
        ~rmpUsbPacket();
        void InitPacket();
        unsigned char computeChecksum();
        void addChecksum();
        char *toString();

        unsigned char bytes[18];
        unsigned char *pID;
        unsigned char *pDATA;
    };

    
public:
    CANIOrmpusb(const char* serial=NULL);
    virtual ~CANIOrmpusb();
    virtual int Init();
    virtual int ReadPacket(CanPacket *pkt);
    virtual int WritePacket(CanPacket &pkt);
    virtual int Shutdown();
};

#endif // _RMPUSB_CANLIB_