// Needed to work without devices
/*  #ifndef DUMMY_DEVICES
    	#define DUMMY_DEVICES
    #endif  */

// moving parameters structure 
struct move_param
{
 unsigned short int axis;
 unsigned short int num_steps;
 double step_size;						// In motor revolutions
 double vel;
 double accel;
 double init_angle[5];
 int motor_dir[5];
 int angle_dir[5];
 double pot_zero[5];
 double pot_range[5];
 unsigned short int num_cams;
 double cam_offset[5];
 double cam_coord[5];
 double cam_angle[5];
 double time_int;
 double distance;
 int log_data;
 };

// Directions for the cam_coord array
#define X_CIND						0
#define Y_CIND						1
#define ROLL_CIND					2
#define PITCH_CIND					3
#define YAW_CIND					4

// communication parameters structure
 struct com_param
 {
  int gpib_addr;
  int cm6k6_com_port;
  int cm6k6_addr;
  int hp34970_addr;
 };
 
/* Public Functions Declaration */
// Common functions
int  danger_operation_message(char* message);
void cam_move_error_handling(int err, char descr[]); 
void file_open(char f_name[], int *f_handle, int mode);
void cam_fill_param_struct(struct move_param *m_param, struct com_param *c_param);
void cam_move_go(struct com_param *cm_param, struct move_param *mv_param, int mode);
void write_to_log(char f_name[], char message[]);
void cam_move_log_motion_data(char txt[], struct move_param *mv_param);
void cam_move_get_coordinates(struct move_param *mv_param, struct com_param *cm_param);
void cam_move_exit(void);

// working with devices
int cam_move_device_init(char log_file_in[], struct com_param *param);
void move_cam_motor(struct move_param *param, double distance[]);
void cam_go_zero(struct move_param *m_param, struct com_param c_param);
double cam_move_read_cam_angles(struct move_param *m_param, struct com_param *cm_param, int pot);
void cam_move_read_position(void); 

// Calculations
void cam_move_vertex_coord(struct move_param *m_param, double cam_angle[], double v_coord[], double *alpha);
void cam_move_cam_angles(struct move_param *m_param, double cam_angle[], double crd[]);
void cam_move_angles_to_coord(struct move_param *m_param, double angles[]);
void cam_move_coord_to_angles(struct move_param *m_param, double angles[]);
void cam_move_calculate_angles(double coord[], double angle[]);
void cam_move_zero_coord(struct move_param *param);
void cam_move_save_coord(struct move_param param);
void cam_move_position_zero(void);