/*
* 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 CMAKE_XS2COMM_NOT_FOUND
//only include this when cmake detected flobi support
#ifndef DataOutputLCM_H
#define DataOutputLCM_H

#include "GlobalHelpers.h"
#include "DataOutput.h"
#include <xsc2/communication_controller.h>
#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

class DataOutputLCM : public DataOutput{
public:
	DataOutputLCM(ConfigOptions *c);
	~DataOutputLCM();
	void set_output_active(bool state);
	void process_new_data(int);
	
	void add_input_gui();
	
private:
	void start_output_thread();
	void output_thread();
	void start_file_logging();
	bool lcm_server_connection_initialized;
	void set_engine_state(bool enabled);
	void init_motorid_map();
	int motor_id_map[MOTOR_ID_ENUM_SIZE];
	CommunicationController *xs2ctrl;
	
	int dummy_var;
	FILE *fp;
	double eye_last_pos[3];
};

#endif 
#endif