/*
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 ARROBOTCONFIG_H
#define ARROBOTCONFIG_H

#include "ArFunctor.h"

class ArRobot;
class ArAnalogGyro;

/// Class for controlling robot movement parameters from config
class ArRobotConfig
{
public:
  /// Constructor
  AREXPORT ArRobotConfig(ArRobot *robot);
  /// Destructor
  AREXPORT virtual ~ArRobotConfig();
  /// Adds a gyro to turn on and off
  AREXPORT void addAnalogGyro(ArAnalogGyro *gyro);
  /// Called when we process the config
  AREXPORT bool processFile(void);
  /// Called when we connect to the robot
  AREXPORT void connectCallback(void);
protected:
  ArRobot *myRobot;
  ArAnalogGyro *myAnalogGyro;

  bool mySavedOriginalMovementParameters;
  int myOriginalTransVelMax;
  int myOriginalTransAccel;
  int myOriginalTransDecel;
  int myOriginalRotVelMax;
  int myOriginalRotAccel;
  int myOriginalRotDecel;

  bool myAddedMovementParams;
  int myTransVelMax;
  int myTransAccel;
  int myTransDecel;
  int myRotVelMax;
  int myRotAccel;
  int myRotDecel;

  bool myAddedGyro;
  bool myUseGyro;

  ArFunctorC<ArRobotConfig> myConnectCB;  
  ArRetFunctorC<bool, ArRobotConfig> myProcessFileCB;
};

#endif