/*
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 ARRATIOINPUTROBOTJOYDRIVE_H
#define ARRATIOINPUTROBOTJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArActionRatioInput.h"

class ArRobotPacket;
class ArRobot;
class ArRobotJoyHandler;

/// Use robot's joystick to control an ArActionRatioInput action and drive the robot.
/**
   This class connects the joystick data obtained from  the robot's built
   in joystick port (if it has one, not all robots have a joystick port)
   to an ArActionRatioInput which drives the robot. (See ArRatioInputJoydrive
   for a similar class that uses a joystick plugged in to the computer.)

   A callback is attached to the ArActionRatioInput object which reads joystick
   information using an ArRobotJoyHandler object, and sets requested drive rations on the ArActionRatioInput
   object.


    @sa ArRatioInputJoydrive
    @sa ArActionRatioInput


  @ingroup OptionalClasses
**/
class ArRatioInputRobotJoydrive 
{
public:
  /// Constructor
  AREXPORT ArRatioInputRobotJoydrive(ArRobot *robot, 
				     ArActionRatioInput *input,
				     int priority = 75,
				     bool requireDeadmanPushed = true);
  /// Destructor
  AREXPORT virtual ~ArRatioInputRobotJoydrive();
protected:
  AREXPORT void fireCallback(void);

  ArRobot *myRobot;
  ArActionRatioInput *myInput;
  bool myRequireDeadmanPushed;
  bool myDeadZoneLast;

  ArRobotJoyHandler *myRobotJoyHandler;
  ArFunctorC<ArRatioInputRobotJoydrive> myFireCB;
};

#endif //ARRATIOINPUTROBOTJOYDRIVE_H