iteris_sensor.H

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// Copyright (C) 2007 University of Louisiana at Lafayette
// Authors: Christopher Mire

#ifndef CAJUN_ITERIS_SENSOR_H
#define CAJUN_ITERIS_SENSOR_H

#include "components.H"
#include "queue_generator.H"
#include "simulated_object.H"
#include "data_logger.H"
#include "iteris_lane_data.H"
#include "heading_data.H"
#include "world_state.H"

namespace cajun
{
class simulated_object_t;
class iteris_observer_t;

class iteris_sensor_t : public components_t
{
#define DELAY_ITERIS            0.05

friend class iteris_observer_t;

public:
        iteris_sensor_t (simulated_object_t *robot_, timer_t *timer_,
                         rndf_t *rndf_, access_data_t *ad_, unsigned id_,
                         char const *lane_dir_);
        virtual ~iteris_sensor_t ();

        // inherited functions
        void update_position (dBodyID carb_);
        void command (int cmd, double value_);
        void simulate_component ();
private:
        bool within_2d_span (double x_, double y_, double heading_, double theta_);
        double dot_product (double *a, double *b, unsigned size);

        world_state_t *m_ws;
        simulated_object_t *m_robot;
        iteris_observer_t *m_iteris_observer;
        iteris_lane_data_t m_iteris_data;
        heading_data_t m_heading_data;

        vector<rndf_lane_data_t> m_lane_list;
        double m_orient_x, m_orient_y, m_orient_z;
};

class iteris_observer_t : public timer_t::observer_t
{
public:
        iteris_observer_t (iteris_sensor_t *m_, double interval_, unsigned id_);
        virtual ~iteris_observer_t ();
        bool timeout (double currTime_);
private:
        iteris_sensor_t *m_iteris;
        unsigned m_iteris_id;
};
};
#endif

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