57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
#ifndef ARSERVERMODEDRIVE_H
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#define ARSERVERMODEDRIVE_H
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#include "ariaTypedefs.h"
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#include "Aria.h"
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#include "ArNetworking.h"
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#include "ArServerMode.h"
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class ArServerModeDrive : public ArServerMode
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{
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public:
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AREXPORT ArServerModeDrive(ArServerBase *server, ArRobot *robot,
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bool takeControlOnJoystick = false);
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AREXPORT virtual ~ArServerModeDrive();
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AREXPORT virtual void activate(void);
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AREXPORT virtual void deactivate(void);
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/// This adds commands that'll let you disable and enable safe driving
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AREXPORT void addControlCommands(ArServerHandlerCommands *handlerCommands);
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AREXPORT void driveJoystick(double vel,
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double rotVel,
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bool isActivating = true);
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AREXPORT void serverDriveJoystick(ArServerClient *client,
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ArNetPacket *packet);
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AREXPORT virtual void userTask(void);
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AREXPORT void setThrottleParams(int lowSpeed, int highSpeed);
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AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myDriveGroup;}
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AREXPORT void setSafeDriving(bool safe);
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AREXPORT bool getSafeDriving(void);
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/// this action will be activated in unsafe mode
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AREXPORT void setExtraUnsafeAction(ArAction *action)
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{ myExtraUnsafeAction = action; }
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protected:
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AREXPORT void serverSafeDrivingEnable(void);
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AREXPORT void serverSafeDrivingDisable(void);
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AREXPORT void joyUserTask(void);
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ArAction *myExtraUnsafeAction;
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ArJoyHandler *myJoyHandler;
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ArActionJoydrive myJoydriveAction;
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ArActionInput *myInputAction;
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ArActionStop myStopAction;
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ArActionGroupInput myDriveGroup;
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ArFunctor2C<ArServerModeDrive, ArServerClient *, ArNetPacket *> myServerDriveJoystickCB;
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ArFunctorC<ArServerModeDrive> myJoyUserTaskCB;
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bool myDriveSafely;
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bool myNewDriveSafely;
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double myVel;
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double myRotVel;
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bool myTakeControlOnJoystick;
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// for the simple commands
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ArServerHandlerCommands *myHandlerCommands;
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ArFunctorC<ArServerModeDrive> myServerSafeDrivingEnableCB;
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ArFunctorC<ArServerModeDrive> myServerSafeDrivingDisableCB;
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};
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#endif // ARNETMODEDRIVE_H
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