#ifndef __AIRMAR_P66__
#define __AIRMAR_P66__

#include <AP_HAL/AP_HAL.h>
#include <AP_SerialManager/AP_SerialManager.h>
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>


class Underwater_Sonar
{
public:
    Underwater_Sonar();

    // get singleton instance
    static Underwater_Sonar *get_singleton() { return _singleton; }

	bool init(const AP_SerialManager& serial_manager);

    bool read(void);
    void update(const AP_SerialManager& serial_manager, const struct Location &_loc);
    void write(const uint8_t *data, uint16_t len);
    bool _decode(char c);
    
    float radar_data[8];
private:
    static Underwater_Sonar *_singleton;
    AP_HAL::UARTDriver  *_uart;

    uint8_t     ucCRCHi;
    uint8_t     ucCRCLo;
    int         iIndex;
    uint8_t     sonar_data[25];
    char _term[8][6];                                                     ///< buffer for the current term within the current sentence
    uint8_t _term_offset;                                       ///< character offset with the term being received
    uint8_t _term_num;
    uint32_t  data_index;
};
namespace AP {
    Underwater_Sonar &underwater_sonar();
};
#endif