/*
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 ARACTIONROBOTJOYDRIVE_H
#define ARACTIONROBOTJOYDRIVE_H

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

class ArRobotPacket;

/// 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 ArActionRobotJoydrive : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionRobotJoydrive(const char * name = "robotJoyDrive", 
				 bool requireDeadmanPushed = true);
  /// Destructor
  AREXPORT virtual ~ArActionRobotJoydrive();
  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 virtual void setRobot(ArRobot *robot);
protected:
  AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
  AREXPORT void connectCallback(void);
  // whether we require the deadman to be pushed to drive
  bool myRequireDeadmanPushed;

  bool myDeadZoneLast;
  int myButton1;
  int myButton2;
  int myJoyX;
  int myJoyY;
  int myThrottle;
  ArTime myPacketReceivedTime;
  // action desired
  ArActionDesired myDesired;
  ArRetFunctor1C<bool, ArActionRobotJoydrive, 
      ArRobotPacket *> myHandleJoystickPacketCB;
  ArFunctorC<ArActionRobotJoydrive> myConnectCB;
};

#endif //ARACTIONROBOTJOYDRIVE_H