103 lines
4.0 KiB
C
103 lines
4.0 KiB
C
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARMODE_H
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#define ARMODE_H
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#include "ariaTypedefs.h"
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#include "ArFunctor.h"
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#include <string>
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#include <list>
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class ArRobot;
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/// A class for different modes, mostly as related to keyboard input
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/**
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Each mode is going to need to add its keys to the keyHandler...
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each mode should only use the keys 1-0, the arrow keys (movement),
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the space bar (stop), z (zoom in), x (zoom out), and e (exercise)...
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then when its activate is called by that key handler it needs to
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first deactivate the ourActiveMode (if its not itself, in which case
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its done) then add its key handling stuff... activate and deactivate
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will need to add and remove their user tasks (or call the base class
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activate/deactivate to do it) as well as the key handling things for
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their other part of modes. This mode will ALWAYS bind help to /, ?, h,
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and H when the first instance of an ArMode is made.
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@ingroup OptionalClasses
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**/
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class ArMode
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{
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public:
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/// Constructor
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AREXPORT ArMode(ArRobot *robot, const char *name, char key, char key2);
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/// Destructor
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AREXPORT virtual ~ArMode();
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/// Gets the name of the mode
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AREXPORT const char *getName(void);
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/// The function called when the mode is activated, subclass must provide
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AREXPORT virtual void activate(void) = 0;
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/// The function called when the mode is deactivated, subclass must provide
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AREXPORT virtual void deactivate(void) = 0;
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/// The ArMode's user task, don't need one, subclass must provide if needed
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AREXPORT virtual void userTask(void) {}
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/// The mode's help print out... subclass must provide if needed
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/**
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This is called as soon as a mode is activated, and should give
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directions on to what keys do what and what this mode will do
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**/
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AREXPORT virtual void help(void) {}
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/// The base activation, it MUST be called by inheriting classes,
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/// and inheriting classes MUST return if this returns false
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AREXPORT bool baseActivate(void);
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/// The base deactivation, it MUST be called by inheriting classes,
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/// and inheriting classes MUST return if this returns false
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AREXPORT bool baseDeactivate(void);
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/// This is the base help function, its internal, bound to ? and h and H
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AREXPORT static void baseHelp(void);
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/// An internal function to get the first key this is bound to
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AREXPORT char getKey(void);
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/// An internal function to get the second key this is bound to
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AREXPORT char getKey2(void);
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protected:
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AREXPORT void addKeyHandler(int keyToHandle, ArFunctor *functor);
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AREXPORT void remKeyHandler(ArFunctor *functor);
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// Our activeArMode
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AREXPORT static ArMode *ourActiveMode;
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std::string myName;
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ArRobot *myRobot;
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ArFunctorC<ArMode> myActivateCB;
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ArFunctorC<ArMode> myDeactivateCB;
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ArFunctorC<ArMode> myUserTaskCB;
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char myKey;
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char myKey2;
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// our help callback, its NULL until its initialized
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static ArGlobalFunctor *ourHelpCB;
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static std::list<ArMode *> ourModes;
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};
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#endif // ARMODE_H
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