radar_data_collector.H

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

#ifndef CAJUN_RADAR_DATA_COLLECTOR_H
#define CAJUN_RADAR_DATA_COLLECTOR_H

#include "data_type.H"
#include <vector>
#include <map>

namespace cajun
{
        struct radar_object_t
        {
                double data_tstamp;
                radar_data_t::target_t radar_target;
        };

class radar_data_collector_t
{
public:
        radar_data_collector_t ();

        void update_radar_data (
                const std::vector<radar_data_t> &radar_data_, bool debug);

        /*\brief Returns true if any lanes blocked and fills up the input
         * vector with all blockages of all blocked lanes information, else
         * returns * false */
        bool get_all_objects (
                std::vector<radar_object_t> &radar_data_,
                double threshold_tstamp_);
        //fixme: update to remove entries
private:
        void update_radar_data (const radar_data_t &radar_data_, bool debug);
        void delete_if_exist (radar_object_t const &ro, bool debug);



        //fixme: For efficiency reasons, it is better to change
        //radar_data_t to *radar_data_t, as its passed around
        //bunch of times
        typedef std::map<unsigned, radar_object_t> data_list_t;

        data_list_t m_data_list;
};
};


#endif

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