ArServerModeStop.cpp

Go to the documentation of this file.

/*
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
*/

#include "Aria.h"
#include "ArExport.h"
#include "ArServerModeStop.h"

AREXPORT ArServerModeStop::ArServerModeStop(ArServerBase *server, 
                                            ArRobot *robot,
                                            bool defunct) : 
  ArServerMode(robot, server, "stop"),
  myStopGroup(robot),
  myNetStopCB(this, &ArServerModeStop::netStop)
{
  myMode = "Stop";
  if (myServer != NULL)
  {
    addModeData("stop", "stops the robot", &myNetStopCB,
                "none", "none", "Stop", "RETURN_NONE");
  }
}

AREXPORT ArServerModeStop::~ArServerModeStop()
{

}

AREXPORT void ArServerModeStop::activate(void)
{
  if (isActive() || !baseActivate())
    return;
  setActivityTimeToNow();
  myRobot->clearDirectMotion();
  myStopGroup.activateExclusive();
  myStatus = "Stopping";
}

AREXPORT void ArServerModeStop::deactivate(void)
{
  myStopGroup.deactivate();
  baseDeactivate();
}

AREXPORT void ArServerModeStop::stop(void)
{
  activate();
}

AREXPORT void ArServerModeStop::netStop(ArServerClient *client, 
                                     ArNetPacket *packet)
{
  setActivityTimeToNow();
  myRobot->lock();
  ArLog::log(ArLog::Verbose, "Stopping");
  stop();
  myRobot->unlock();
}

AREXPORT void ArServerModeStop::userTask(void)
{
  if (myRobot->getVel() < 2 && myRobot->getRotVel() < 2)
    myStatus = "Stopped";
  else
    myStatus = "Stopping";
}

---