ArActionRatioInput.h

/*
ActivMedia Robotics Interface for Applications (ARIA)
Copyright (C) 2004,2005 ActivMedia Robotics, LLC


     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

If you wish to redistribute ARIA under different terms, contact 
ActivMedia Robotics for information about a commercial version of ARIA at 
robots@activmedia.com or 
ActivMedia Robotics, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481

*/

#ifndef ARACTIONRATIOINPUT_H
#define ARACTIONRATIOINPUT_H

#include "ariaTypedefs.h"
#include "ArAction.h"


class ArActionRatioInput : public ArAction
{
public:
  ArActionRatioInput(const char *name = "RatioInput");
  virtual ~ArActionRatioInput();
  void setRatios(double transRatio, double rotRatio, 
                          double throttleRatio);
  void setTransRatio(double transRatio);
  void setRotRatio(double rotRatio);
  void setThrottleRatio(double throttleRatio);
  double getTransRatio(void) { return myTransRatio; }
  double getRotRatio(void) { return myRotRatio; }
  double getThrottleRatio(void) { return myThrottleRatio; }
  void addFireCallback(int priority, ArFunctor *functor);
  void remFireCallback(ArFunctor *functor);
  void addActivateCallback(ArFunctor *functor, 
                                    ArListPos::Pos position = ArListPos::LAST);
  void remActivateCallback(ArFunctor *functor);
  void addDeactivateCallback(ArFunctor *functor, 
                              ArListPos::Pos position = ArListPos::LAST);
  void remDeactivateCallback(ArFunctor *functor);
  void setParameters(double fullThrottleForwards, 
                              double fullThrottleBackwards, 
                              double rotAtFullForwards,
                              double rotAtFullBackwards,
                              double rotAtStopped);
  void addToConfig(ArConfig *config, const char *section);
  virtual ArActionDesired *fire(ArActionDesired currentDesired);
  virtual ArActionDesired *getDesired(void) { return &myDesired; }
  virtual void activate(void);
  virtual void deactivate(void);
protected:
  std::multimap<int, ArFunctor *> myFireCallbacks;
  std::list<ArFunctor *> myActivateCallbacks;
  std::list<ArFunctor *> myDeactivateCallbacks;
  // if we're printing extra information or not
  bool myPrinting;
  double myTransDeadZone;
  double myRotDeadZone;
  double myFullThrottleForwards;
  double myFullThrottleBackwards; 
  double myRotAtFullForwards;
  double myRotAtFullBackwards;
  double myRotAtStopped;
  double myTransRatio;
  double myRotRatio;
  double myThrottleRatio;
  ArActionDesired myDesired;
};

#endif // ARACTIONSTOP_H

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