ArPixelDevice.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARPIXELDEVICE_H
#define ARPIXELDEVICE_H

#include <stdio.h>
#include "Aria.h"
template<class DataObject>
class ArPixelDevice
{
 public:
  AREXPORT ArPixelDevice(int x_size, int y_size, double x_fov, double y_fov,
              const char *name)
  {
    myXSize = x_size;
    myYSize = y_size;
    myXFOV = x_fov;
    myYFOV = y_fov;
    myName = name;

    mySensorData = NULL;
    
    if (!allocateSensorDataMemory()) 
    {
      ArLog::log(ArLog::Terse, "Failed to allocate memory for ArPixelDevice %s", getName());
    }
    else
    {
      ArLog::log(ArLog::Verbose, "Allocated memory for ArPixelDevice %s", getName());
    }
  }
  AREXPORT virtual ~ArPixelDevice()
  {
    if (mySensorData != NULL)
    {
      for (int i=0; i < myXSize; i++)
      {
    for (int j=0; j < myYSize; j++)
    {
      delete mySensorData[i][j];
    }
    delete [] (mySensorData[i]);
      }
      delete [] (mySensorData);
    }
  }
  DataObject *getSensorData(int x, int y)
  {
    if ((x >= 0) && (x < myXSize) && (y >= 0) && (y < myYSize)) 
    {
      return mySensorData[x][y];
    }
    else 
    {
      return NULL;
    }
  }
  int getXDimension(void) { return myXSize; }
  int getYDimension(void) { return myYSize; }
  double getXFOV(void) { return myXFOV; }
  double getYFOV(void) { return myYFOV; }
  const char *getName(void) { return myName.c_str(); }
  DataObject ***getRawSensorData(void) { return mySensorData; }
  AREXPORT virtual int lockDevice() { return(myDeviceMutex.lock()); }
  AREXPORT virtual int tryLockDevice() { return(myDeviceMutex.tryLock()); }
  AREXPORT virtual int unlockDevice() { return(myDeviceMutex.unlock()); }
protected:
  std::string myName;
  int myXSize;
  int myYSize;
  double myXFOV;
  double myYFOV;
  DataObject ***mySensorData;
  ArMutex myDeviceMutex;

  bool allocateSensorDataMemory()
  {    
    if ((myXSize < 1) || (myYSize < 1)) 
    {
      ArLog::log(ArLog::Normal, "Bad array size for ArPixelDevice %s", getName());
      return false;
    }
    mySensorData = new DataObject**[myXSize];
    if (mySensorData == NULL)
    {
      ArLog::log(ArLog::Normal, "Cannot allocate memory for ArPixelDevice %s", getName());
      return false;
    }
    for (int i=0; i < myXSize; i++)
    {
      if ((mySensorData[i] = new DataObject*[myYSize]) == NULL)
      {
    ArLog::log(ArLog::Normal, "Cannot allocate memory for ArPixelDevice %s", getName());
    return false;
      }
      for (int j=0; j < myYSize; j++) 
      {
    mySensorData[i][j] = new DataObject;
      }      
    }
    return true;
  }
};

#endif // ARPIXELDEVICE_H

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