///////////////////////////////////////////////////////////////////////////
//
//   MOOS - Mission Oriented Operating Suite 
//  
//   A suit of Applications and Libraries for Mobile Robotics Research 
//   Copyright (C) 2001-2005 Massachusetts Institute of Technology and 
//   Oxford University. 
//    
//   This software was written by Paul Newman and others
//   at MIT 2001-2002 and Oxford University 2003-2005.
//   email: pnewman@robots.ox.ac.uk. 
//      
//   This file is part of a  MOOS Instrument. 
//        
//   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. 
//
//////////////////////////    END_GPL    //////////////////////////////////
// MOOSConsiDepthSensor.cpp: implementation of the CMOOSConsiDepthSensor class.
//
//////////////////////////////////////////////////////////////////////
#include <MOOSLIB/MOOSLib.h>
#include "MOOSConsiDepthSensor.h"

//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////

CMOOSConsiDepthSensor::CMOOSConsiDepthSensor()
{

}

CMOOSConsiDepthSensor::~CMOOSConsiDepthSensor()
{

}


bool CMOOSConsiDepthSensor::Initialise()
{
    return true;
}


bool CMOOSConsiDepthSensor::GetDepth()
{
    string sWhat;
    double dfWhen;
    if(m_pPort->GetLatest(sWhat,dfWhen))
    {
        //sReply now has ASCII depth
        return ParseDepthString(sWhat);    
    }
    return false;
}



bool CMOOSConsiDepthSensor::ParseDepthString(string Str)
{
    //we keep a local copy of depth just for ease of debugging
    double dfOldDepth = m_dfDepth;

    m_dfDepth = atof(Str.c_str());
    
    //quick hacks on the sensor...
    if(m_dfDepth>6.0)
    {
        MOOSTrace("Consi Depth > 6.m ignored\n");
        return true;
    }

    return false;

}

bool CMOOSConsiDepthSensor::Zero()
{
    return true;
}