44 lines
1.7 KiB
C
44 lines
1.7 KiB
C
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#ifndef ARNETMODEIDLE_H
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#define ARNETMODEIDLE_H
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#include "Aria.h"
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#include "ArServerMode.h"
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/// Mode that the ArServerMode infrastructure will activate if someone
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/// tries to switch from one mode to another and there's idle
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/// processing to be done...
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class ArServerModeIdle : public ArServerMode
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{
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public:
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/// Constructor
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AREXPORT ArServerModeIdle(ArServerBase *server, ArRobot *robot);
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/// Destructor
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AREXPORT virtual ~ArServerModeIdle();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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AREXPORT virtual void userTask(void);
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/// Gets the mode that this mode interrupted (or NULL if none)
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AREXPORT void setModeInterrupted(ArServerMode *modeInterrupted);
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/// Gets the mode that this mode interrupted (or NULL if it didn't interrupt anything)
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AREXPORT ArServerMode *getModeInterrupted(void);
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AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myStopGroup; }
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/// Adds to the config
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AREXPORT void addToConfig(ArConfig *config, const char *section = "Teleop settings");
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/// Sets whether we're using the range devices that depend on location
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AREXPORT void setUseLocationDependentDevices(
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bool useLocationDependentDevices, bool internal = false);
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/// Gets whether we're using the range devices that depend on location
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AREXPORT bool getUseLocationDependentDevices(void);
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protected:
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ArActionDeceleratingLimiter *myLimiterForward;
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ArActionDeceleratingLimiter *myLimiterBackward;
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ArActionDeceleratingLimiter *myLimiterLateralLeft;
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ArActionDeceleratingLimiter *myLimiterLateralRight;
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ArActionGroupStop myStopGroup;
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bool myUseLocationDependentDevices;
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ArServerMode *myModeInterrupted;
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ArFunctor2C<ArServerModeIdle, ArServerClient *, ArNetPacket *> myNetIdleCB;
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};
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#endif // ARNETMODEIDLE_H
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