/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2012 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : include/ICLIO/SwissRangerGrabber.h                     **
** Module : ICLIO                                                  **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** Commercial License                                              **
** ICL can be used commercially, please refer to our website       **
** www.iclcv.org for more details.                                 **
**                                                                 **
** GNU General Public License Usage                                **
** Alternatively, this file may be used under the terms of the     **
** GNU General Public License version 3.0 as published by the      **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the GNU General Public License  **
** version 3.0 requirements will be met:                           **
** http://www.gnu.org/copyleft/gpl.html.                           **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
*********************************************************************/

#pragma once

#include <ICLIO/GrabberHandle.h>
#include <ICLUtils/Exception.h>
#include <ICLUtils/Mutex.h>

namespace icl{
  namespace io{
    
    
    /// Grabber-Implementation for the SwissRanger time-of-flight camera
    class SwissRangerGrabberImpl : public Grabber{
      public:
      /// Internally used data-class
      class SwissRanger;
      
      /// Create interface to device with given serial number:
      /** @param if 0 -> automatic select\n
                 if < 0 open selection dialog (windows: gui, linux: shell input)
                 if > 0 specify serial number of device
      */
      SwissRangerGrabberImpl(int serialNumber=0, 
                             core::depth bufferDepth=core::depth32f, 
                             int pickChannel=-1) 
      throw (utils::ICLException);
      
      /// Destructor
      ~SwissRangerGrabberImpl();
      
      /// returns a list of all found devices
      static const std::vector<GrabberDeviceDescription> &getDeviceList(bool rescan);
      
      /// grab an undistorted image 
      const core::ImgBase *acquireImage();
  
      /** Sets a property */
      virtual void setProperty(const std::string &property, const std::string &value);
       
      /// returns a list of properties, that can be set using setProperty
      /** @return list of supported property names **/
      virtual std::vector<std::string> getPropertyList();
  
      /** returs the type of a property */
      virtual std::string getType(const std::string &name);
  
      /** returs information for a property */
      virtual std::string getInfo(const std::string &name);
  
      /** returs property value */
      virtual std::string getValue(const std::string &name);
      
      /// Internally used utility function, that might be interesting elsewhere
      static float getMaxRangeMM(const std::string &modulationFreq) throw (utils::ICLException);
  
  
      private:
      /// utility function
      float getMaxRangeVal() const;
  
      /// Internal data
      SwissRanger *m_sr; 
      
      /// Internally used mutex locks grabbing and setting of properties
      utils::Mutex m_mutex;
    };
  
    
    /// SwissRanger grabber using the libMesaSR library \ingroup GRABBER_G
    /** for more details: @see SwissRangerGrabberImpl */
    class SwissRangerGrabber : public GrabberHandle<SwissRangerGrabberImpl>{
  
      public:
      /// ID-creation function for the GrabberHandles internal unique ID
      static inline std::string create_id(int dev){
        return std::string("device-")+utils::str(dev);
      }
  
      /// Constructor 
      /** see SwissRangerGrabberImpl::SwissRangerGrabberImpl for details */
      SwissRangerGrabber(int serialNumber=0, core::depth bufferDepth=core::depth32f, int pickChannel=-1) throw (utils::ICLException){
        std::string id = create_id(serialNumber);
        if(isNew(id)){
          initialize(new SwissRangerGrabberImpl(serialNumber,bufferDepth,pickChannel),id);
        }else{
          initialize(id);
        }
      }
      
      /// returns a list of all found devices
      static const std::vector<GrabberDeviceDescription> &getDeviceList(bool rescan){
        return SwissRangerGrabberImpl::getDeviceList(rescan);
      }
  
      /// Utility function
      static inline float getMaxRangeMM(const std::string &modulationFreq) throw (utils::ICLException){
        return SwissRangerGrabberImpl::getMaxRangeMM(modulationFreq);
      }
    };
    
  } // namespace io
}