/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* 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.
*
*/

#ifndef DATAOUTPUT_H
#define DATAOUTPUT_H

#include <math.h>
#include <stdlib.h>

#include "MarkerModel.h"
#include "EyeFinder.h"
#include "HeadTracker.h"
#include "ConfigOptions.h"



class DataOutput{
public:
// 	DataOutput();
	DataOutput(ConfigOptions *c);
	virtual ~DataOutput();
	//virtual void process_data(MarkerModel *m, EyeFinder *e, HeadTracker *h, int f) = 0;
	void process_data(MarkerModel *m, EyeFinder *e, HeadTracker *h, int f);
	
	virtual void process_new_data(int) = 0;
	virtual void set_output_active(bool state) = 0;///NOTE: set default = 0 at the end!
	virtual void add_input_gui() = 0;///NOTE: set default = 0 at the end!
	
	enum MOTOR_ID_ENUM {
		NECK_PAN,
		NECK_TILT,
		NECK_ROLL,
		EYES_TILT,
		EYE_LEFT_PAN,
		EYE_RIGHT_PAN,
		EYE_LEFT_LID_LOWER,
		EYE_LEFT_LID_UPPER,
		EYE_RIGHT_LID_LOWER,
		EYE_RIGHT_LID_UPPER,
		EYE_LEFT_BROW,
		EYE_RIGHT_BROW,
		MOUTH_LEFT_UPPER,
		MOUTH_LEFT_LOWER,
		MOUTH_CENTER_UPPER,
		MOUTH_CENTER_LOWER,
		MOUTH_RIGHT_UPPER,
		MOUTH_RIGHT_LOWER,
		MOTOR_ID_ENUM_SIZE
	};
	
protected:
	HeadTracker *headtracker;
	int file_frame_id;
	
	double target_angle[MOTOR_ID_ENUM_SIZE];
	
	bool output_active;
	ConfigOptions *cfg;
};

#endif