/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARLASERREFLECTORDEVICE_H
#define ARLASERREFLECTORDEVICE_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArFunctor.h"

class ArSick;
class ArRobot;

/// A class for keeping track of laser reflectors that we see right now
/** 
    This class is for showing the laser reflectors in MobileEyes.
    This requires that the range device you pass in uses the
    'extraInt' in the rawReadings ArSensorReading to note reflector
    value and that anything greater than 0 is a reflector.
*/
class ArLaserReflectorDevice : public ArRangeDevice
{
public:
  /// Constructor
  AREXPORT ArLaserReflectorDevice(ArRangeDevice *laser, ArRobot *robot,
				  const char * name = "reflector");
  /// Destructor
  AREXPORT virtual ~ArLaserReflectorDevice();
  /// Grabs the new readings from the robot and adds them to the buffers
  AREXPORT void processReadings(void);
  /// Specifically does nothing since it was done in the constructor
  AREXPORT virtual void setRobot(ArRobot *robot);
  /// Adds a reflector threshold to the task
  AREXPORT void addToConfig(ArConfig *config, const char *section);
protected:
  ArRangeDevice *myLaser;
  int myReflectanceThreshold;
  ArFunctorC<ArLaserReflectorDevice> myProcessCB;
};


#endif // ARLASERREFLECTORDEVICE_H
