/*
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 ARACTIONIRS_H
#define ARACTIONIRS_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArRobotParams.h"
#include <vector>

/// Action to back up if short-range IR sensors trigger
/**
 * If the robot has front-mounted binary (triggered/not triggered) IR sensors, 
 * this action will respond to a sensor trigger by backing up and perhaps
 * turning, similar to bumpers.  This action assumes that if an IR triggers, the
 * robot caused it by moving forward into or under an obstacle, and backing up
 * is a good reaction.

* @ingroup ActionClasses
 */

class ArActionIRs : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionIRs(const char *name = "IRs", 
		       double backOffSpeed = 100, int backOffTime = 5000,
		       int turnTime = 3000, bool setMaximums = false);
  /// Destructor
  AREXPORT virtual ~ArActionIRs();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
protected:
  ArActionDesired myDesired;
  bool mySetMaximums;
  double myBackOffSpeed;
  int myBackOffTime;
  int myTurnTime;
  int myStopTime;
  bool myFiring;
  double mySpeed;
  double myHeading;
  ArTime myStartBack;
  ArTime stoppedSince;
  ArRobotParams myParams;
  std::vector<int> cycleCounters;
};

#endif // ARACTIONIRS