/*
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 ARACTIONSTALLRECOVER_H
#define ARACTIONSTALLRECOVER_H

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

class ArResolver;

/// Action to recover from a stall
/**
   This action tries to recover if one of the wheels has stalled, it has a 
   series of actions it tries in order to get out of the stall.
   @ingroup ActionClasses
*/
class ArActionStallRecover : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionStallRecover(const char * name = "stall recover", 
				double obstacleDistance = 225, int cyclesToMove = 50, 
				double speed = 150, double degreesToTurn = 45,
				bool enabled = true);
  /// Destructor
  AREXPORT virtual ~ArActionStallRecover();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) 
    { return &myActionDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                   { return &myActionDesired; }
#endif
  AREXPORT void addToConfig(ArConfig* config, const char* sectionName, ArPriority::Priority priority = ArPriority::NORMAL);
  AREXPORT virtual void activate(void);
protected:
  // these are internal things, don't touch unless you know what you are doing
  void doit(void); // does whatever should be done
  void addSequence(int sequence);
  int myDoing; // what we're doing, uses the stuff from the enum What
  int myState; // holds the state
  int myCount; // count down variable, -1 if first time in this state
  int mySideStalled; // 1 for left, 2 for right, 3 for both

  enum State 
  { 
    STATE_NOTHING = 0, // waiting
    STATE_GOING // do something
  };

  enum What
  {
    BACK=0x1, // back up
    FORWARD=0x2, // go forward
    TURN=0x4, // turn away from obstacles
    TURN_LEFT=0x8, // turn left
    TURN_RIGHT=0x10, // turn right
    MOVEMASK = BACK | FORWARD,
    TURNMASK = TURN | TURN_LEFT | TURN_RIGHT
  };

  std::map<int, int> mySequence; // list of things to do as stall continues
  int mySequenceNum;
  int mySequencePos;
  time_t myLastFired;
  double myObstacleDistance;
  int myCyclesToMove;
  bool myEnabled;
  double mySpeed;
  int myCyclesToTurn;
  double myDegreesToTurn;
  double myDesiredHeading;
  ArActionDesired myActionDesired;
  
  ArResolver *myResolver;
};

#endif //ARACTIONSTALLRECOVER_H