draw_grid_tile.H

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// Copyright (C) 2005 Pablo Mejia
// Copyright (C) 2004 University of Louisiana at Lafayette
// Authors: Pablo Mejia, Suresh Golconda

#ifndef CAJUN_DRAW_GRID_TILE_H
#define CAJUN_DRAW_GRID_TILE_H

#include "data_queue.H"
#include "cbviz_util.H"
#include "conf.H"
#include <vector>
#include "component_interface.H"

namespace cajun
{
        struct grid_square_t
        {
                float x, z;
                float r, g, b;
        };

        class draw_grid_tile_t : public component_interface_t
        {
        public:
                draw_grid_tile_t (double cbviz_origin[3], conf_t &conf,
                                  int id, bool display, world_state_t *ws_);
                virtual ~draw_grid_tile_t ();
                void update_data (double bot_pos_[3]);
                void display(double bot_pos[3]);
                void init_data ();
                void toggle_display () {m_display = !m_display;}
        private:
                unsigned buffer_size;
                double red, green, blue;
                float tile_value;
                grid_square_t *tiles;

                std::vector <grid_tile_data_t> *m_grid_to_draw;
                std::vector <grid_tile_data_t> *m_grid_to_populate;
                double m_last_tile_tstamp;

                grid_tile_data_t m_grid_tile;
                grid_path_data_t m_grid_path;
                double m_grid_height;
                double m_cell_max_value;
                double m_cell_spacing;
                int m_grid_display_function;
                int m_color_function;

                double m_x_dx, m_x_dy, m_y_dx, m_y_dy;

                struct { int dx; int dy; } m_neighbor[8];

                void draw_by_arrow (grid_tile_data_t const &tile,
                                    unsigned x, unsigned y);
                void draw_by_square (grid_tile_data_t const &tile,
                                     unsigned x, unsigned y);

                void draw_arrow (double x, double y, int dx, int dy,
                                 double square_length);

                void read_grid_path();
                void draw_path (double cell_size_);
                data_queue_reader_t<grid_path_data_t> *m_grid_path_data_dq;

                void read_grid_tile();
                void draw_tile (grid_tile_data_t const &tile);
                data_queue_reader_t<grid_tile_data_t> *m_grid_tile_data_dq;
        };
}
#endif

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