/*

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 ARFORBIDDENRANGEDEVICE_H
#define ARFORBIDDENRANGEDEVICE_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"
#include "ArMapInterface.h"

/// Class that takes forbidden lines and turns them into range readings
class ArForbiddenRangeDevice : public ArRangeDevice
{
public:
  /// Constructor
  AREXPORT ArForbiddenRangeDevice(ArMapInterface *armap, 
                                  double distanceIncrement = 100,
				                          unsigned int maxRange = 4000,
				                          const char *name = "forbidden");
  /// Destructor
  AREXPORT virtual ~ArForbiddenRangeDevice();
  /// Saves the forbidden lines from the map
  AREXPORT void processMap(void);
  /// Remakes the readings 
  AREXPORT void processReadings(void);
  /// Sets the robot pointer and attachs its process function
  AREXPORT virtual void setRobot(ArRobot *robot);

  /// Enable readings 
  AREXPORT void enable(void);
  /// Disables readings until reenabled
  AREXPORT void disable(void);
  /// Sees if this device is active or not
  AREXPORT bool isEnabled(void) const { return myIsEnabled;; }
  /// Gets a callback to enable the device
  AREXPORT ArFunctor *getEnableCB(void) { return &myEnableCB; } 
  /// Gets a callback to disable the device
  AREXPORT ArFunctor *getDisableCB(void) { return &myDisableCB; } 
protected:
  ArMutex myDataMutex;
  ArMapInterface *myMap;
  double myDistanceIncrement;
  std::list<ArLineSegment *> mySegments;
  ArFunctorC<ArForbiddenRangeDevice> myProcessCB;
  ArFunctorC<ArForbiddenRangeDevice> myMapChangedCB;
  bool myIsEnabled;
  ArFunctorC<ArForbiddenRangeDevice> myEnableCB;
  ArFunctorC<ArForbiddenRangeDevice> myDisableCB;
};

#endif // ARFORBIDDENRANGEDEVICE_H