ArServerModeRatioDrive.h

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/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     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 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARSERVERMODERATIODRIVE_H
#define ARSERVERMODERATIODRIVE_H

#include "ariaTypedefs.h"
#include "Aria.h"
#include "ArServerMode.h"

class ArServerHandlerCommands;

class ArServerModeRatioDrive : public ArServerMode
{
public:
  AREXPORT ArServerModeRatioDrive(ArServerBase *server, ArRobot *robot,
                                  bool takeControlOnJoystick = true,
                                  bool useComputerJoystick = true, 
                                  bool useRobotJoystick = true, 
                                  bool useServerCommands = true, 
                                  const char *name = "ratioDrive");
  AREXPORT virtual ~ArServerModeRatioDrive();
  AREXPORT virtual void activate(void);
  AREXPORT virtual void deactivate(void);
  AREXPORT void addControlCommands(ArServerHandlerCommands *handlerCommands);
  AREXPORT void ratioDrive(double transRatio, double rotRatio, 
                           double throttleRatio);
  AREXPORT void addToConfig(ArConfig *config, const char *section);
  AREXPORT virtual void userTask(void);
  AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myRatioDriveGroup;}
  ArActionRatioInput *getActionRatioInput(void) { return myRatioAction; }
  AREXPORT void setSafeDriving(bool safe, bool internal = false);
  AREXPORT bool getSafeDriving(void);
  AREXPORT void setUseLocationDependentDevices(
          bool useLocationDependentDevices, bool internal = false);
  AREXPORT bool getUseLocationDependentDevices(void);
protected:
  AREXPORT void serverRatioDrive(ArServerClient *client,
                                    ArNetPacket *packet);
  AREXPORT void serverSetSafeDrive(ArServerClient *client,
                                      ArNetPacket *packet);
  AREXPORT void serverGetSafeDrive(ArServerClient *client,
                                      ArNetPacket *packet);
  AREXPORT void serverSafeDrivingEnable(void);
  AREXPORT void serverSafeDrivingDisable(void);
  AREXPORT void ratioFireCallback(void);
  AREXPORT void joyUserTask(void);
  ArJoyHandler *myJoyHandler;
  ArRobotJoyHandler *myRobotJoyHandler;

  bool myTakeControlOnJoystick;
  bool myUseComputerJoystick;
  bool myUseRobotJoystick;
  bool myUseServerCommands;
  bool myPrinting;
  double myTransRatio;
  double myRotRatio;
  double myThrottleRatio;

  ArActionDeceleratingLimiter *myLimiterForward;
  ArActionDeceleratingLimiter *myLimiterBackward;
  ArRatioInputJoydrive *myJoydrive;
  ArRatioInputRobotJoydrive *myRobotJoydrive;
  ArActionRatioInput *myRatioAction;
  ArActionMovementParameters *myMovementParameters;
  ArActionGroup myRatioDriveGroup;
  bool myDriveSafely;
  bool myNewDriveSafely;
  bool myUseLocationDependentDevices;

  ArFunctorC<ArServerModeRatioDrive> myJoyUserTaskCB;
  ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> myServerSetSafeDriveCB;
  ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> myServerGetSafeDriveCB;
  ArFunctor2C<ArServerModeRatioDrive, ArServerClient *, ArNetPacket *> myServerRatioDriveCB;
  ArFunctorC<ArServerModeRatioDrive> myRatioFireCB;
  
  // for the simple commands
  ArServerHandlerCommands *myHandlerCommands;
  ArFunctorC<ArServerModeRatioDrive> myServerSafeDrivingEnableCB;
  ArFunctorC<ArServerModeRatioDrive> myServerSafeDrivingDisableCB;
};


#endif // ARNETMODERATIODRIVE_H

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