rosaria/Legacy/Aria/include/ArRatioInputJoydrive.h

/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     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 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARRATIOINPUTJOYDRIVE_H
#define ARRATIOINPUTJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArActionRatioInput.h"
#include "ArJoyHandler.h"

class ArRobot;

/// Use computer joystick to control an ArActionRatioInput and drive the robot.

/**
   This class obtains data from
   a joystick attached to the computer
   and provides it to an ArActionRatioInput which drives the robot. 
   (See ArRatioInputRobotJoydrive for a similar class that uses the robot's built in
   joystick interface.)
   A callback is attached to the ArActionRatioInput object which reads joystick
   information and sets requested drive rations on the ArActionRatioInput

   If the joystick button is pressed, then input values are set in the
   ArActionRatioDrive action object to request motion.
   If the button is not pressed, then either the robot will be stopped via the
   action (if @a stopIfNoButtonPressed is true), or no action will be requested
   and lower priority actions can take over (if @a stopIfNoButtonPressed is
   false) 
   
   You may need to calibrate the joystick for
   it to work right, for details about this see ArJoyHandler.  
   
   This class creates its own ArJoyHandler object to get input from the
   joystick, or uses the global ArJoyHandler object in the global Aria class if present.  Then it will scale the speed between 0 and the given max
   for velocity and turning, up and down on the joystick go
   forwards/backwards while right and left go right and left.  
   
   NOTE: The joystick does not save calibration information, so you
   may need to calibrate the joystick before each time you use it.  To do
   this, press the button for at least a half a second while the
   joystick is in the middle.  Then let go of the button and hold the
   joystick in the upper left for at least a half second and then in
   the lower right corner for at least a half second. See also ArJoyHandler. 

    @sa ArRatioInputRobotJoydrive
    @sa ArActionRatioInput
    @sa ArJoyHandler

  @ingroup OptionalClasses
**/
class ArRatioInputJoydrive
{
public:
  /// Constructor
  AREXPORT ArRatioInputJoydrive(ArRobot *robot, ArActionRatioInput *input,
				int priority = 50,
				bool stopIfNoButtonPressed = false,
				bool useOSCalForJoystick = true);
  /// Destructor
  AREXPORT virtual ~ArRatioInputJoydrive();
  /// Whether the joystick is initalized or not
  AREXPORT bool joystickInited(void);
  /// Set if we'll stop if no button is pressed, otherwise just do nothing
  AREXPORT void setStopIfNoButtonPressed(bool stopIfNoButtonPressed);
  /// Get if we'll stop if no button is pressed, otherwise just do nothing
  AREXPORT bool getStopIfNoButtonPressed(void);
  /// Sets whether to use OSCalibration the joystick or not
  AREXPORT void setUseOSCal(bool useOSCal);
  /// Gets whether OSCalibration is being used for the joystick or not
  AREXPORT bool getUseOSCal(void);
  /// Gets the joyHandler
  AREXPORT ArJoyHandler *getJoyHandler(void) { return myJoyHandler; }
protected:
  void fireCallback(void);
  ArRobot *myRobot;
  ArActionRatioInput *myInput;
  // if we're printing extra information for tracing and such
  bool myPrinting;
  // joystick handler
  ArJoyHandler *myJoyHandler;
  bool myFiredLast;
  // if we want to stop when no button is presesd
  bool myStopIfNoButtonPressed;
  // if we're using os cal for the joystick
  bool myUseOSCal;
  bool myPreviousUseOSCal;
  ArFunctorC<ArRatioInputJoydrive> myFireCB;
};

#endif //ARRATIOINPUTJOYDRIVE_H