/*
 * Copyright (C) 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Sonar Interface for Player
 * Author: Nate Koenig
 * Date: 2 March 2006
 */

#ifndef SONARINTERFACE_HH
#define SONARINTERFACE_HH

#include "gazebo/util/system.hh"

#include "GazeboInterface.hh"

// Forward declarations
typedef struct gz_sonar gz_sonar_t;

/// \brief Sonar interface
class GAZEBO_VISIBLE SonarInterface : public GazeboInterface
{
  /// @brief Constructor
  public: SonarInterface(player_devaddr_t addr, GazeboDriver *driver,
                              ConfigFile *cf, int section);

  /// @brief Destructor
  public: virtual ~SonarInterface();

  /// @brief Handle all messages. This is called from GazeboDriver
  public: virtual int ProcessMessage(QueuePointer &respQueue,
                                     player_msghdr_t *hdr, void *data);

  /// @brief Update this interface, publish new info.
  public: virtual void Update();

  /// @brief Open a SHM interface when a subscription is received. \
  ///        This is called fromGazeboDriver::Subscribe
  public: virtual void Subscribe();

  /// @brief Close a SHM interface. This is called from \
  ///        GazeboDriver::Unsubscribe
  public: virtual void Unsubscribe();

  private: gz_sonar_t *iface;

  /// @brief Gazebo id. This needs to match and ID in a Gazebo WorldFile
  private: char *gz_id;

  /// @brief Timestamp on last data update
  private: double datatime;
};
#endif