38 lines
1.4 KiB
C
38 lines
1.4 KiB
C
|
#ifndef ARNETMODESTOP_H
|
||
|
|
#define ARNETMODESTOP_H
|
||
|
|
|
||
|
|
#include "Aria.h"
|
||
|
|
#include "ArServerMode.h"
|
||
|
|
|
||
|
|
class ArServerModeStop : public ArServerMode
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
AREXPORT ArServerModeStop(ArServerBase *server, ArRobot *robot,
|
||
|
|
bool defunct = false);
|
||
|
|
AREXPORT virtual ~ArServerModeStop();
|
||
|
|
AREXPORT virtual void activate(void);
|
||
|
|
AREXPORT virtual void deactivate(void);
|
||
|
|
AREXPORT void stop(void);
|
||
|
|
AREXPORT void netStop(ArServerClient *client, ArNetPacket *packet);
|
||
|
|
AREXPORT virtual void userTask(void);
|
||
|
|
AREXPORT virtual void checkDefault(void) { activate(); }
|
||
|
|
AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myStopGroup; }
|
||
|
|
/// Adds to the config
|
||
|
|
AREXPORT void addToConfig(ArConfig *config, const char *section = "Teleop settings");
|
||
|
|
/// Sets whether we're using the range devices that depend on location
|
||
|
|
AREXPORT void setUseLocationDependentDevices(
|
||
|
|
bool useLocationDependentDevices, bool internal = false);
|
||
|
|
/// Gets whether we're using the range devices that depend on location
|
||
|
|
AREXPORT bool getUseLocationDependentDevices(void);
|
||
|
|
protected:
|
||
|
|
ArActionDeceleratingLimiter *myLimiterForward;
|
||
|
|
ArActionDeceleratingLimiter *myLimiterBackward;
|
||
|
|
ArActionDeceleratingLimiter *myLimiterLateralLeft;
|
||
|
|
ArActionDeceleratingLimiter *myLimiterLateralRight;
|
||
|
|
ArActionGroupStop myStopGroup;
|
||
|
|
bool myUseLocationDependentDevices;
|
||
|
|
ArFunctor2C<ArServerModeStop, ArServerClient *, ArNetPacket *> myNetStopCB;
|
||
|
|
};
|
||
|
|
|
||
|
|
#endif // ARNETMODESTOP_H
|