/*
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 ARRATIOINPUTKEYDRIVE_H
#define ARRATIOINPUTKEYDRIVE_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArFunctor.h"
#include "ArActionRatioInput.h"


/// This will use the keyboard arrow keys and the ArActionRatioInput to drive the robot
/**
   You have to make an ArActionRatioInput and add it to the robot like
   a normal action for this to work.

  @ingroup OptionalClasses
**/
class ArRatioInputKeydrive 
{
public:
  /// Constructor
  AREXPORT ArRatioInputKeydrive(ArRobot *robot, ArActionRatioInput *input, 
				int priority = 25, double velIncrement = 5);
  /// Destructor
  AREXPORT virtual ~ArRatioInputKeydrive();
  /// Takes the keys this action wants to use to drive
  AREXPORT void takeKeys(void);
  /// Gives up the keys this action wants to use to drive
  AREXPORT void giveUpKeys(void);
  /// Internal, callback for up arrow
  AREXPORT void up(void);
  /// Internal, callback for down arrow
  AREXPORT void down(void);
  /// Internal, callback for z
  AREXPORT void z(void);
  /// Internal, callback for x 
  AREXPORT void x(void);
  /// Internal, callback for left arrow
  AREXPORT void left(void);
  /// Internal, callback for right arrow
  AREXPORT void right(void);
  /// Internal, callback for space key
  AREXPORT void space(void);
  /// Internal, gets our firecb
  AREXPORT ArFunctor *getFireCB(void) { return &myFireCB; }
protected:
  AREXPORT void activate(void);
  AREXPORT void deactivate(void);
  AREXPORT void fireCallback(void);
  ArFunctorC<ArRatioInputKeydrive> myUpCB;
  ArFunctorC<ArRatioInputKeydrive> myDownCB;
  ArFunctorC<ArRatioInputKeydrive> myLeftCB;
  ArFunctorC<ArRatioInputKeydrive> myRightCB;
  ArFunctorC<ArRatioInputKeydrive> myZCB;
  ArFunctorC<ArRatioInputKeydrive> myXCB;
  ArFunctorC<ArRatioInputKeydrive> mySpaceCB;

  double myPrinting;
  double myTransRatio;
  double myRotRatio;
  double myThrottle;
  double myLatRatio;

  ArRobot *myRobot;
  bool myHaveKeys;
  double myVelIncrement;
  double myLatVelIncrement;
  ArActionRatioInput *myInput;
  ArFunctorC<ArRatioInputKeydrive> myFireCB;
  ArFunctorC<ArRatioInputKeydrive> myActivateCB;
  ArFunctorC<ArRatioInputKeydrive> myDeactivateCB;
};


#endif // ARRATIOINPUTKEYDRIVE_H