92 lines
3.5 KiB
C++
92 lines
3.5 KiB
C++
/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#ifndef ARSONARAUTODISABLER_H
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#define ARSONARAUTODISABLER_H
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/// Class for automatically disabling sonar when the robot is stopped
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/**
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If you create one of this class it will disable the sonar when the
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robot stops moving and then enable the sonar when the robot moves.
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Later this may get more parameters and the ability to be turned on
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and off and things like that (email on aria-users if you want
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them).
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Note that this class assumes it is the only class turning the sonar
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on or off and that the sonar start on.
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@ingroup OptionalClasses
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**/
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#include "ariaTypedefs.h"
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#include "ariaUtil.h"
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#include "ArFunctor.h"
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class ArRobot;
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class ArSonarAutoDisabler
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{
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public:
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/// Constructor
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AREXPORT ArSonarAutoDisabler(ArRobot *robot);
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/// Destructor
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AREXPORT virtual ~ArSonarAutoDisabler();
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/// Supresses this disabler (which turns off the sonar)
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void supress(void) { mySupressed = true; }
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/// Gets the callback to supress the autodisabler
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ArFunctor *getSupressCallback(void) { return &mySupressCB; }
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/// Unsupresses this disabler (goes back to auto enabling/disabling)
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void unsupress(void) { mySupressed = false; }
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/// Gets the callback to supress the autodisabler
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ArFunctor *getUnsupressCallback(void) { return &myUnsupressCB; }
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/// Sets that we're autonomous drivign so we only enable some sonar
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void setAutonomousDriving(void) { myAutonomousDriving = true; }
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/// Gets the callback to set that we're driving autonomously
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ArFunctor *getSetAutonomousDrivingCallback(void)
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{ return &mySetAutonomousDrivingCB; }
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/// Sets that we're driving non-autonomously so we enable all sonar
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void clearAutonomousDriving(void) { myAutonomousDriving = false; }
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/// Gets the callback to set that we're not driving autonomously
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ArFunctor *getClearAutonomousDrivingCallback(void)
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{ return &myClearAutonomousDrivingCB; }
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protected:
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/// our user task
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AREXPORT void userTask(void);
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ArRobot *myRobot;
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ArTime myLastMoved;
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ArTime myLastSupressed;
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bool mySupressed;
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bool myAutonomousDriving;
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ArFunctorC<ArSonarAutoDisabler> myUserTaskCB;
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ArFunctorC<ArSonarAutoDisabler> mySupressCB;
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ArFunctorC<ArSonarAutoDisabler> myUnsupressCB;
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ArFunctorC<ArSonarAutoDisabler> mySetAutonomousDrivingCB;
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ArFunctorC<ArSonarAutoDisabler> myClearAutonomousDrivingCB;
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};
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#endif // ARSONARAUTODISABLER
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