/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#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
///  @ingroup OptionalClasses
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