/*
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 ARACTIONINPUT_H
#define ARACTIONINPUT_H

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

/// Action for taking input from outside to control the robot
/**
   This action sets up how we want to drive
   @ingroup ActionClasses
*/
class ArActionInput : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionInput(const char *name = "Input");
  /// Destructor
  AREXPORT virtual ~ArActionInput();
  /// Set velocity (cancels deltaVel)
  AREXPORT void setVel(double vel);
  /// Increment/decrement the heading from current
  AREXPORT void deltaHeadingFromCurrent(double delta);
  /// Sets a rotational velocity
  AREXPORT void setRotVel(double rotVel);
  /// Sets a heading
  AREXPORT void setHeading(double heading);
  /// Clears it so its not using vel or heading
  AREXPORT void clear(void);
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
protected:
  enum RotRegime { NONE, ROTVEL, DELTAHEADING, SETHEADING };
  RotRegime myRotRegime;
  double myRotVal;
  bool myUsingVel;
  double myVelSet;
  ArActionDesired myDesired;
};

#endif // ARACTIONSTOP_H