/*
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 ARACTIONBUMPERS_H
#define ARACTIONBUMPERS_H

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

/// Action to deal with if the bumpers trigger
/**
   This class basically responds to the bumpers the robot has, what
   the activity things the robot has is decided by the param file.  If
   the robot is going forwards and bumps into something with the front
   bumpers, it will back up and turn.  If the robot is going backwards
   and bumps into something with the rear bumpers then the robot will
   move forward and turn.  

  @ingroup ActionClasses
*/

class ArActionBumpers : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionBumpers(const char *name = "bumpers", 
			   double backOffSpeed = 100, int backOffTime = 3000,
			   int turnTime = 3000, bool setMaximums = false);
  /// Destructor
  AREXPORT virtual ~ArActionBumpers();
  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
  AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
  AREXPORT virtual void activate(void);
protected:
  ArActionDesired myDesired;
  bool mySetMaximums;
  double myBackOffSpeed;
  int myBackOffTime;
  int myTurnTime;
  //int myStopTime;
  bool myFiring;
  double mySpeed;
  double myHeading;
  int myBumpMask;
  ArTime myStartBack;
  //ArTime myStoppedSince;
};

#endif // ARACTIONBUMPERS