// +-------------------------------- DISCLAIMER ---------------------------------+
// |                                                                             |
// | This program is provided to you free of charge "as such".                   |
// | You should not assume that this program is error-free or suitable for any   |
// | purpose whatsoever.                                                         |
// |                                                                             |
// | EURESYS does not give any representation, warranty or undertaking that this |
// | program is free of any defect or error or suitable for any purpose. EURESYS |
// | shall not be liable, in contract, in torts or otherwise, for any damages,   |
// | loss, costs, expenses or other claims for compensation, including those     |
// | asserted by third parties, arising out of or in connection with the use of  |
// | this program.                                                               |
// +-----------------------------------------------------------------------------+

#pragma once

#include "../Common/GrabberInterface.h"

// AT C++ Wrapper
#include <assert.h>
#include "AT/cx/DeviceFactory.h"
#include "AT/cx/c3d/Calib.h"
using namespace AT;

class ATGrabber : public GrabberInterface
{
public:
  // Construction and destruction
  ATGrabber(const std::string& ip_address = "");
  ~ATGrabber();

  // Acquisition control
  virtual void Start(int num_frame = 1);
  virtual long long int WaitFrame(int timeout_ms = -1);
  virtual void ReleaseFrame();
  virtual void Stop();

  // Bit depth for DepthMap and ZMap
  virtual int GetBitDepth();

  // Data retrieval
  virtual void GetDepthMap(Easy3D::EDepthMap& map);
  virtual void GetPointCloud(Easy3D::EPointCloud& pc);
  virtual void GetZMap(Easy3D::EZMap& zmap);

  // Parameter handling GUI
  virtual void InvokeParameterPanel();

protected:
  // Device data
  std::string uri;
  std::string model;

  cx::DevicePtr device;
  cx::DeviceBuffer buffer;
  int bit_depth;
  cx::c3d::Calib calib;

  // Grabbing state
  bool started;
  bool locked;
  long long int frame_counter;

  // Device user configuration
  int exposure_time;
  std::string trigger_mode;
  int profiles_per_frame;
  float profiles_distance;
  int aoi_x, aoi_y, aoi_width, aoi_height;
  float sensor_plan_distance; // Distance between the sensor and the reference plan (should be >= than the true distance)
};
