ArActionRobotJoydrive.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 ARACTIONROBOTJOYDRIVE_H
#define ARACTIONROBOTJOYDRIVE_H

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

class ArRobotPacket;


class ArActionRobotJoydrive : public ArAction
{
public:
  ArActionRobotJoydrive(const char * name = "robotJoyDrive", 
                                 bool requireDeadmanPushed = true);
  virtual ~ArActionRobotJoydrive();
  virtual ArActionDesired *fire(ArActionDesired currentDesired);
  virtual ArActionDesired *getDesired(void) { return &myDesired; }

  virtual void setRobot(ArRobot *robot);
protected:
  bool handleJoystickPacket(ArRobotPacket *packet);
  void connectCallback(void);
  // whether we require the deadman to be pushed to drive
  bool myRequireDeadmanPushed;

  bool myDeadZoneLast;
  int myButton1;
  int myButton2;
  int myJoyX;
  int myJoyY;
  int myThrottle;
  ArTime myPacketReceivedTime;
  // action desired
  ArActionDesired myDesired;
  ArRetFunctor1C<bool, ArActionRobotJoydrive, 
      ArRobotPacket *> myHandleJoystickPacketCB;
  ArFunctorC<ArActionRobotJoydrive> myConnectCB;
};

#endif //ARACTIONROBOTJOYDRIVE_H

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