// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2014/07/22
//  filename:   LaserRangeFinder.cpp
//
//  author:     César RICHARD
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Classe generique des recepteurs LaserRangeFinder
//
//
/*********************************************************************/

#include "LaserRangeFinder.h"
#include <cvmatrix.h>
#include <Tab.h>
#include <TabWidget.h>
#include <GridLayout.h>
#include <GroupBox.h>
#include <PushButton.h>
#include <FrameworkManager.h>
#include <Label.h>
#include <RangeFinderPlot.h>
#include <string.h>

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

namespace flair { namespace sensor {

LaserRangeFinder::LaserRangeFinder(const FrameworkManager* parent,string name) : IODevice(parent,name) {
    cvmatrix_descriptor* desc=new cvmatrix_descriptor(360,1);
    output=new cvmatrix(this,desc,floatType);
    AddDataToLog(output);

    //station sol
    main_tab=new Tab(parent->GetTabWidget(),name);
    tab=new TabWidget(main_tab->NewRow(),name);
    sensor_tab=new Tab(tab,"Reglages");
    setup_groupbox=new GroupBox(sensor_tab->NewRow(),name);

}

LaserRangeFinder::LaserRangeFinder(const IODevice* parent,std::string name) : IODevice(parent,name)
{
    plot_tab=NULL;
    main_tab=NULL;
    tab=NULL;
    sensor_tab=NULL;
    setup_groupbox=NULL;

    output=NULL;
}

LaserRangeFinder::~LaserRangeFinder()
{

}


GroupBox* LaserRangeFinder::GetGroupBox(void) const
{
return setup_groupbox;
}

Layout* LaserRangeFinder::GetLayout(void) const
{
return sensor_tab;
}


RangeFinderPlot* LaserRangeFinder::GetPlot(void) const
{
return plot;
}

void LaserRangeFinder::UseDefaultPlot(void)
{
    if(tab==NULL)
    {
        Err("not applicable for simulation part.\n");
        return;
    }

    plot_tab=new Tab(tab,"Mesures");
    plot=new RangeFinderPlot(plot_tab->NewRow(),"plot","x",-30,30,"y",-30,30,output,0,359,output->Rows());
}
} // end namespace sensor
} // end namespace flair