/*
 * Copyright (C) 2012-2016 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: Actarray Interface for Player
 * Author: Alexis Maldonado
 * Date: 19 September 2006
 */

#ifndef ACTARRAYINTERFACE_HH
#define ACTARRAYINTERFACE_HH

#include <string>

#include "GazeboInterface.hh"
#include "gazebo/util/system.hh"

namespace boost
{
  class GAZEBO_VISIBLE recursive_mutex;
}

namespace libgazebo
{
/// \addtogroup player_iface
/// \{
/// \defgroup actarray_player Actarray Interface
/// \brief Interface for controller an actuator array
/// \{
  class GAZEBO_VISIBLE ActarrayIface;

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

    /// \brief Destructor
    public: virtual ~ActarrayInterface();

    /// \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: ActarrayIface *iface;

    /// Gazebo id. This needs to match and ID in a Gazebo WorldFile
    private: std::string gz_id;

    /// Timestamp on last data update
    private: double datatime;

    private: player_actarray_data_t actData;

    private: static boost::recursive_mutex *mutex;
  };
  /// \}
  /// \}
}
#endif
