/*
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 ARACTIONKEYDRIVE_H
#define ARACTIONKEYDRIVE_H

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

class ArRobot;

/// This action will use the keyboard arrow keys for input to drive the robot
/// @ingroup ActionClasses
class ArActionKeydrive : public ArAction
{
public:
  /// Constructor
 AREXPORT ArActionKeydrive(const char *name = "keydrive",
			   double transVelMax = 400,
			   double turnAmountMax = 24,
			   double velIncrement = 25,
			   double turnIncrement = 8);
  /// Destructor
  AREXPORT virtual ~ArActionKeydrive();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  /// For setting the maximum speeds
  AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
  /// For setting the increment amounts
  AREXPORT void setIncrements(double velIncrement, double turnIncrement);
  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);
  AREXPORT virtual void activate(void);
  AREXPORT virtual void deactivate(void);
  /// 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 left arrow
  AREXPORT void left(void);
  /// Internal, callback for right arrow
  AREXPORT void right(void);
  /// Internal, callback for space key
  AREXPORT void space(void);

protected:
  ArFunctorC<ArActionKeydrive> myUpCB;
  ArFunctorC<ArActionKeydrive> myDownCB;
  ArFunctorC<ArActionKeydrive> myLeftCB;
  ArFunctorC<ArActionKeydrive> myRightCB;
  ArFunctorC<ArActionKeydrive> mySpaceCB;
  // action desired
  ArActionDesired myDesired;
  // full speed
  double myTransVelMax;
  // full amount to turn
  double myTurnAmountMax;
  // amount to increment vel by on an up arrow or decrement on a down arrow
  double myVelIncrement;
  // amount to increment turn by on a left arrow or right arrow
  double myTurnIncrement;
  // amount we want to speed up
  double myDeltaVel;
  // amount we want to turn 
  double myTurnAmount;
  // what speed we want to go
  double myDesiredSpeed;
  // if our speeds been reset
  bool mySpeedReset;
};


#endif // ARACTIONKEYDRIVE_H