ArServerSimpleCommands.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 ARSERVERSIMPLECOMMANDS_H
#define ARSERVERSIMPLECOMMANDS_H

#include "Aria.h"
#include "ArServerBase.h"
#include "ArServerHandlerCommands.h"
#include "ArServerHandlerPopup.h"


class ArServerSimpleComUC
{
public:
  AREXPORT ArServerSimpleComUC(ArServerHandlerCommands *handlerCommands, 
                                    ArRobot *robot);
  AREXPORT virtual ~ArServerSimpleComUC();
  AREXPORT void command(ArArgumentBuilder *arg);
protected:
  ArRobot *myRobot;
  ArServerHandlerCommands *myHandlerCommands;
  ArFunctor1C<ArServerSimpleComUC, ArArgumentBuilder *> myCommandCB;
};


class ArServerSimpleComMovementLogging
{
public:
  AREXPORT ArServerSimpleComMovementLogging(
          ArServerHandlerCommands *handlerCommands, ArRobot *robot,
          ArServerHandlerPopup *popupHandler = NULL);
  AREXPORT virtual ~ArServerSimpleComMovementLogging();
  AREXPORT void logMovementSentEnable(void);
  AREXPORT void logMovementSentDisable(void);
  AREXPORT void logMovementReceivedEnable(void);
  AREXPORT void logMovementReceivedDisable(void);
  AREXPORT void logVelocitiesReceivedEnable(void);
  AREXPORT void logVelocitiesReceivedDisable(void);
  AREXPORT void packetsReceivedTrackingEnable(void);
  AREXPORT void packetsReceivedTrackingDisable(void);
  AREXPORT void packetsSentTrackingEnable(void);
  AREXPORT void packetsSentTrackingDisable(void);
  AREXPORT void logActionsEnable(void);
  AREXPORT void logActionsDisable(void);
  AREXPORT void logActions(void);
  AREXPORT void popupMovementParams(void);
  AREXPORT void resetOdometer(void);
protected:
  ArRobot *myRobot;
  ArServerHandlerCommands *myHandlerCommands;
  ArServerHandlerPopup *myPopupHandler;

  ArFunctorC<ArServerSimpleComMovementLogging> myLogMovementSentEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogMovementSentDisableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogMovementReceivedEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogMovementReceivedDisableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogVelocitiesReceivedEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogVelocitiesReceivedDisableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myPacketsReceivedTrackingEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myPacketsReceivedTrackingDisableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myPacketsSentTrackingEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myPacketsSentTrackingDisableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogActionsEnableCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myLogActionsDisableCB;

  ArFunctorC<ArServerSimpleComMovementLogging> myLogActionsCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myPopupMovementParamsCB;
  ArFunctorC<ArServerSimpleComMovementLogging> myResetOdometerCB;
};


class ArServerSimpleComGyro
{
public:
  AREXPORT ArServerSimpleComGyro(
          ArServerHandlerCommands *handlerCommands, ArRobot *robot,
          ArAnalogGyro *gyro);
  AREXPORT virtual ~ArServerSimpleComGyro();
  AREXPORT void gyroEnable(void);
  AREXPORT void gyroDisable(void);
protected:
  ArRobot *myRobot;
  ArAnalogGyro *myGyro;
  ArServerHandlerCommands *myHandlerCommands;
  ArFunctorC<ArServerSimpleComGyro> myGyroEnableCB;
  ArFunctorC<ArServerSimpleComGyro> myGyroDisableCB;
};


class ArServerSimpleComLogRobotConfig 
{
public:
  AREXPORT ArServerSimpleComLogRobotConfig(
          ArServerHandlerCommands *commands, ArRobot* robot,      
          ArServerHandlerPopup *popupHandler = NULL);
  AREXPORT void logConfig(void); 
  AREXPORT void logOrigConfig(void); 
  AREXPORT void popupConfig(void); 
  AREXPORT void popupOrigConfig(void); 
private:
  void configPacketArrived(void);
  ArServerHandlerCommands *myHandlerCommands;
  ArRobot* myRobot;
  ArServerHandlerPopup *myPopupHandler;

  bool myLogConfig;
  bool myPopupConfig;

  ArFunctorC<ArServerSimpleComLogRobotConfig> myPacketArrivedCB;
  ArRobotConfigPacketReader myPacketReader;
  ArFunctorC<ArServerSimpleComLogRobotConfig> myLogConfigCB;
  ArFunctorC<ArServerSimpleComLogRobotConfig> myLogOrigConfigCB;
  ArFunctorC<ArServerSimpleComLogRobotConfig> myPopupConfigCB;
  ArFunctorC<ArServerSimpleComLogRobotConfig> myPopupOrigConfigCB;
};

class ArServerSimpleComLogActions 
{
public:
  AREXPORT ArServerSimpleComLogActions(ArServerHandlerCommands *commands, ArRobot* robot);  
  AREXPORT void logActions(); 
private:
  ArRobot* myRobot;
  ArFunctorC<ArServerSimpleComLogActions> myCallback;
};

class ArServerSimpleServerCommands 
{ 
public:
  AREXPORT ArServerSimpleServerCommands(
          ArServerHandlerCommands *commands, ArServerBase *server);
  AREXPORT virtual ~ArServerSimpleServerCommands();
  AREXPORT void logTerseTracking(void); 
  AREXPORT void logVerboseTracking(void); 
  AREXPORT void resetTracking(void);
private:
  ArServerBase *myServer;
  ArFunctorC<ArServerSimpleServerCommands> myTerseTrackingCB;
  ArFunctorC<ArServerSimpleServerCommands> myVerboseTrackingCB;
  ArFunctorC<ArServerSimpleServerCommands> myResetTrackingCB;

};


class ArServerSimplePopup
{
public:
  AREXPORT ArServerSimplePopup(ArServerHandlerCommands *commands, 
                               ArServerHandlerPopup *popupHandler);
  AREXPORT virtual ~ArServerSimplePopup();
  AREXPORT void simplePopup(ArArgumentBuilder *arg);
protected:
  ArServerHandlerCommands *myCommands;
  ArServerHandlerPopup *myPopupHandler;
  ArFunctor1C<ArServerSimplePopup, ArArgumentBuilder *> mySimplePopupCB;
};

#endif 

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