/*********************************************************************
//  created:    2014-11-11 - 10:48
//  filename:   SickComponent.h
//
//  author:     Cyril Fougeray
//              Copyright Heudiasyc UMR UTC/CNRS 6599
// 
//  version:    $Id: $
//
//  purpose:    Declaration of the SickComponent class
*********************************************************************/

#ifndef SICKCOMPONENT_H
#define SICKCOMPONENT_H

#include "Pacpus/kernel/ComponentBase.h"
#include "Pacpus/kernel/DbiteFile.h"

#include <fstream>
#include <QThread>
#include <string>

#include "SickLDMRSSensor.h"
#include "SickLMSSensor.h"

// Export macro for Sick DLL for Windows only
#ifdef WIN32
#   ifdef SICK_EXPORTS
        // make DLL
#       define SICK_API __declspec(dllexport)
#   else
        // use DLL
#       define SICK_API __declspec(dllimport)
#   endif
#else
    // On other platforms, simply ignore this 
#   define SICK_API
#endif


class QEvent;

namespace pacpus {
    
/**
 * @brief The SickComponent class
 *
 * This class defines a PACPUS component used to acquire Sick lidars data.
 */
class SICK_API SickComponent
        : public QThread
        , public ComponentBase
{
    Q_OBJECT

public:
    /// Constructor
    SickComponent(QString name);

    /// Destructor
    ~SickComponent();

    void run() {}

    virtual void stopActivity(); /*!< To stop the processing thread */
    virtual void startActivity(); /*!< To start the processing thread */

    /**
     * @brief Configure compenent.
     * @param config XML file passed in order to configure the Sick Component.
     *
     * This function instanciate every sensor configured through the XML file.
     * The XML file must be formated as expected by this function, see [annexe TODO]{TODO}.
     */
    virtual ComponentBase::COMPONENT_CONFIGURATION configureComponent(XmlComponentConfig config);

    SickComponent * myParent;

private:
    //! Vector of the different sensors used.
    std::vector<AbstractSickSensor*> *S_sensors;
};

} // namespace pacpus

#endif // SICKCOMPONENT_H