/*
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 ARACTIONJOYDRIVE_H
#define ARACTIONJOYDRIVE_H

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

/// This action will use the joystick for input to drive the robot
/**
   This class creates its own ArJoyHandler to get input from the
   joystick.  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.  You
   must press in one of the two joystick buttons for the class to pay
   attention to the joystick.
   
   @note The joystick does not save calibration information, so you
   must 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.

   @ingroup ActionClasses
**/
class ArActionJoydrive : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionJoydrive(const char * name = "joydrive", 
			    double transVelMax = 400, 
			    double turnAmountMax = 15, 
			    bool stopIfNoButtonPressed = true,
			    bool useOSCalForJoystick = true);
  /// Destructor
  AREXPORT virtual ~ArActionJoydrive();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  /// Whether the joystick is initalized or not
  AREXPORT bool joystickInited(void);
  /// Set Speeds
  AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
  /// 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 the params on the throttle (throttle unused unless you call this)
  AREXPORT void setThrottleParams(double lowSpeed, double highSpeed);
  /// 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; }
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; }
#endif
protected:
  bool myUseThrottle;
  double myLowThrottle;
  double myHighThrottle;
  // action desired
  ArActionDesired myDesired;
  // joystick handler
  ArJoyHandler *myJoyHandler;
  // full spped
  double myTransVelMax;
  // full amount to turn
  double myTurnAmountMax;
  // 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;
};

#endif //ARACTIONJOYDRIVE_H