// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
/*!
 * \file HokuyoUTM30Lx.h
 * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
 * \author César Richard, Copyright Heudiasyc UMR UTC/CNRS 7253
 * \date 2014/07/22
 * \version 1.0
 */

#ifndef HOKUYOUTM30LX_H
#define HOKUYOUTM30LX_H

#include <Thread.h>
#include <LaserRangeFinder.h>
#include <Mutex.h>

#include <queue>
#include <vector>

namespace flair
{
    namespace core
    {
        class cvmatrix;
        class FrameworkManager;
        class SerialPort;
        class Mutex;
    }
    namespace gui
    {
        class Tab;
        class TabWidget;
        class RangeFinderPlot;
    }
}

namespace flair
{
namespace sensor
{
    /*! \class HokuyoUTM30Lx
    *
    * \brief Classe intégrant le telemetre laser Hokuyo UTM 30lx
    */
    class HokuyoUTM30Lx : public core::Thread, public LaserRangeFinder
    {
        public:

             /*!
            * \brief Constructor
            *
            * Construct a Hokuyo UTM30-Lx.
            *
            * \param parent parent
            * \param name name
            * \param serialport serialport
            * \param priority priority of the Thread
            */
            HokuyoUTM30Lx(const core::FrameworkManager* parent,std::string name,core::SerialPort *serialport,uint8_t priority);
            void getMesure(int startStep, int endStep,int clusterCount, int interval, int scanNumber=0);
            core::cvmatrix* getDatas(void);

            /*!
            * \brief Use default plot
            *
            */
            void UseDefaultPlot(void);
            /*!
            * \brief Destructor
            *
            */
            ~HokuyoUTM30Lx();

        private:
            core::SerialPort *serialport;
            core::Mutex* bufRetMut;
            core::Mutex* sendingCmdMut;
            gui::Tab* main_tab;
            gui::TabWidget* tab;
            gui::RangeFinderPlot* plot;

            //matrix
            core::cvmatrix *output;

			std::queue<std::string> bufRet;

            /*!
            * \brief Run function
            *
            * Reimplemented from Thread.
            *
            */
            void Run(void);
            /*!
            * \brief Send a command
            * \param command Command to send (see Hokuyo UTM 30-LX doc for more informations)
            * \return Return code
            */
            std::string sendCommand(std::string command);
            /*!
            * \brief Start the laser
            *
            */
            void startLaser(void);
            /*!
            * \brief Stop the laser
            *
            */
			void stopLaser(void);
			/*!
            * \brief Stop and reset the laser's settings
            *
            */
		    void resetConfig(void);
		    /*!
            * \brief Decode incomming datas
            * \param datas Datas to decode
            * \param startStep Set the first mesured point
            * Decode mesured points from incoming datas and fill the output matrix
            */
		    void decodeDatas(std::vector<std::string> datas, int startStep);
            /*!
            * \brief Explode a string into a vector
            * \param str The string to explode
            * \param delimiter The character separating elements
            * \return A vector containing the elements
            */
			static std::vector<std::string> explode(const std::string str, char delimiter);
			/*!
            * \brief Calculate the checksum
            * \param code Data from which calculate
            * \param byte Data's size
            * \return A character corresponding to the code's checksum
            */
			static int encodeSum(const char* code, int byte);
			/*!
            * \brief Check if a data correspond to its checksum
            * \param data Datas to check
            */
			static bool checkSum(std::string data);
			/*!
            * \brief Decode datas using the 2 character encoding
            * \param data Datas to decode
            * \return Decoded datas
            */
			static float decode2car(const char* data);
			/*!
            * \brief Decode datas using the 3 character encoding
            * \param data Datas to decode
            * \return Decoded datas
            */
			static float decode3car(const char* data);
			/*!
            * \brief Decode datas using the 4 character encoding
            * \param data Datas to decode
            * \return Decoded datas
            */
			static float decode4car(const char* data);

			/*!
            * \brief Update using provided datas
            *
            * Reimplemented from IODevice.
            *
            * \param data data from the parent to process
            */
            void UpdateFrom(const core::io_data *data){};

    };
} // end namespace sensor
} // end namespace framewor
#endif // HOKUYOUTM30LX_H