/*

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 ARURG_H
#define ARURG_H

#include "ariaTypedefs.h"
#include "ArLaser.h"
#include "ArDeviceConnection.h"

/** Hokuyu Urg laser range device.
 *  Connects using the Urg's serial port connector (not USB).
 */
class ArUrg : public ArLaser
{
public:
  /// Constructor
  AREXPORT ArUrg(int laserNumber,
		 const char *name = "urg");
  /// Destructor
  AREXPORT ~ArUrg();
  AREXPORT virtual bool blockingConnect(void);
  AREXPORT virtual bool asyncConnect(void);
  AREXPORT virtual bool disconnect(void);
  AREXPORT virtual bool isConnected(void) { return myIsConnected; }
  AREXPORT virtual bool isTryingToConnect(void) 
    { 
      if (myStartConnect)
	return true;
      else if (myTryingToConnect)
	return true; 
      else
	return false;
    }  

  /// Logs the information about the sensor
  AREXPORT void log(void);
protected:
  /// Sets the parameters that control what data you get from the urg
  AREXPORT bool setParams(
	  double startingDegrees = -135, double endingDegrees = 135,
	  double incrementDegrees = 1, bool flipped = false);
  /// Sets the parameters that control what data you get from the urg
  AREXPORT bool setParamsBySteps(
	  int startingStep = 0, int endingStep = 768, int clusterCount = 3,
	  bool flipped = false);
  AREXPORT virtual void * runThread(void *arg);
  /// internal call to write a string to the urg
  bool writeString(const char *str);
  /// internal call to read a string from the urg
  bool readLine(char *buf, unsigned int size, unsigned int msWait);
  void sensorInterp(void);
  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT virtual bool laserCheckParams(void);
  AREXPORT virtual void laserSetName(const char *name);
  
  void failedToConnect(void);
  ArMutex myReadingMutex;
  ArMutex myDataMutex;

  ArTime myReadingRequested;
  std::string myReading;

  int myStartingStep;
  int myEndingStep;
  int myClusterCount;
  bool myFlipped;
  char myRequestString[1024];
  double myClusterMiddleAngle;

  void clear(void);
  bool myIsConnected;
  bool myTryingToConnect;
  bool myStartConnect;
  
  std::string myVendor;
  std::string myProduct;
  std::string myFirmwareVersion;
  std::string myProtocolVersion;
  std::string mySerialNumber;
  std::string myStat;
  
  bool myLogMore;
  
  ArFunctorC<ArUrg> mySensorInterpTask;
  ArRetFunctorC<bool, ArUrg> myAriaExitCB;
};

#endif // ARURG_H