jaus++/2.0/include/jaus/extras/rangesensor/rangesensor.h

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#ifndef __JAUS_EXTRAS_RANGE_SENSOR__H
#define __JAUS_EXTRAS_RANGE_SENSOR__H

#include "jaus/core/events/events.h"
#include "jaus/extras/rangesensor/reportlocalrangescan.h"
#include "jaus/extras/rangesensor/reportrangesensorconfiguration.h"
#include "jaus/extras/rangesensor/querylocalrangescan.h"
#include "jaus/extras/rangesensor/queryrangesensorconfiguration.h"
#include <string>

namespace JAUS
{
    class JAUS_EXTRAS_DLL RangeSensor : public Events::Child
    {
    public:
        static const std::string Name;   
        // Constructor.
        RangeSensor();
        // Destructor.
        ~RangeSensor();
        // Add information about a range sensor devide.
        void AddRangeDevice(const RangeSensorConfig& configuration);
        // Set the current scan data from a device.
        void SetLocalRangeScan(const Byte deviceID,
                               const Point3D& deviceLocation,
                               const Point3D& deviceOrientation,
                               const std::vector<UShort>& scan,
                               const Time& timestamp = Time());
        // Set the current scan data from a device.
        void SetLocalRangeScan(const Byte deviceID,
                               const Point3D& deviceLocation,
                               const Point3D& deviceOrientation,
                               const std::vector<double>& scan,
                               const Time& timestamp = Time());
        // Set the current scan data from a device.
        void SetLocalRangeScan(const Byte deviceID,
                               const Point3D& deviceLocation,
                               const Point3D& deviceOrientation,
                               const Point3D::List& scan,
                               const Time& timestamp = Time());
        // Method called when an Event has been signaled, generates an Event message.
        virtual bool GenerateEvent(const Events::Subscription& info) const;
        // Method called to determine if an Event is supported by the service.
        virtual bool IsEventSupported(const Events::Type type,
                                      const double requestedPeriodicRate,
                                      const Message* queryMessage,
                                      double& confirmedPeriodicRate,
                                      std::string& errorMessage) const;
        // VisualSensor is always discoverable.
        virtual bool IsDiscoverable() const { return true; }
        // Processes messages associated with the VisualSensor Services.
        virtual void Receive(const Message* message);
        // Creates messages associated with the VisualSensor Service.
        virtual Message* CreateMessage(const UShort messageCode) const;
    protected:
        Mutex mRangeSensorMutex;                            
        RangeSensorConfig::Map mRangeSensors;               
        std::map<Byte, ReportLocalRangeScan> mRangeScans;   
    };
}

#endif

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