// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/07/23
//  filename:   RangeFinderPlot.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Class displaying a 2D plot on the ground station for laser range finder like Hokuyo
//
//
/*********************************************************************/

#include "RangeFinderPlot.h"
#include "cvmatrix.h"
#include "Layout.h"
#include "LayoutPosition.h"
#include "FrameworkManager.h"
#include <cxcore.h>

using std::string;
using namespace flair::core;

namespace flair { namespace gui {

RangeFinderPlot::RangeFinderPlot(const LayoutPosition* position,string name,
                                 string x_name,float xmin,float xmax,
                                 string y_name,float ymin,float ymax,
                                 const cvmatrix* datas,float start_angle,float end_angle,uint32_t nb_samples):
                                 SendData(position,name,"RangeFinderPlot",200) {
    this->datas=datas;

    SetSendSize(datas->GetDataType().GetSize());

    SetVolatileXmlProp("xmin",xmin);
    SetVolatileXmlProp("xmax",xmax);
    SetVolatileXmlProp("ymin",ymin);
    SetVolatileXmlProp("ymax",ymax);
    SetVolatileXmlProp("x_name",x_name);
    SetVolatileXmlProp("y_name",y_name);
    SetVolatileXmlProp("start_angle",start_angle);
    SetVolatileXmlProp("end_angle",end_angle);
    SetVolatileXmlProp("nb_samples",nb_samples);
    SetVolatileXmlProp("type",datas->GetDataType().GetElementDataType().GetDescription());
    SendXml();

    if(datas->Cols()!=1 || datas->Rows()!=nb_samples) Err("Wrong input matrix size\n");
}

RangeFinderPlot::~RangeFinderPlot() {}

void RangeFinderPlot::CopyDatas(char* buf) const {
    datas->GetMutex();
    memcpy(buf,datas->getCvMat()->data.ptr,datas->GetDataType().GetSize());
    datas->ReleaseMutex();
}

} // end namespace gui
} // end namespace flair