/*

ARIA header files for use with ARNL 1.7.1

Copyright(C) 2004, 2005 ActivMedia Robotics, LLC. 
Copyright(C) 2006, 2007, 2008, 2009 MobileRobots Inc.
All rights reserved.

This copy of Aria was relicensed for use with Arnl and the Arnl
license by MobileRobots Inc.  If you wish to download a seperate
distribution of Aria licensed under the GPL or a commercial license go to
http://www.mobilerobots.com/SOFTWARE/aria.html or contact MobileRobots
Inc, at robots@mobilerobots.com or MobileRobots Inc,
10 Columbia Drive, Amherst, NH 03031; 800-639-9481

MobileRobots Inc hereby grants to other individuals or
organizations permission to use this software with Arnl and in
compliance with the Arnl license.  This software may not be
distributed to others except by MobileRobots Inc.

MobileRobots Inc does not make any representations about the
suitability of this software for any purpose.  It is provided "as is"
without express or implied warranty.

*/
#ifndef ARSONARAUTODISABLER_H
#define ARSONARAUTODISABLER_H

/// Class for automatically disabling sonar when the robot is stopped
/**
   If you create one of this class it will disable the sonar when the
   robot stops moving and then enable the sonar when the robot moves.
   Later this may get more parameters and the ability to be turned on
   and off and things like that (email on aria-users if you want
   them).

   Note that this class assumes it is the only class turning the sonar
   on or off and that the sonar start on.
 **/

#include "ariaTypedefs.h"
#include "ariaUtil.h"
#include "ArFunctor.h"

class ArRobot;

class ArSonarAutoDisabler
{
public:
  /// Constructor
  AREXPORT ArSonarAutoDisabler(ArRobot *robot);
  /// Destructor
  AREXPORT virtual ~ArSonarAutoDisabler();

protected:
  /// our user task
  AREXPORT void userTask(void);
  ArRobot *myRobot;
  ArTime myLastMoved;
  bool mySonarEnabled;
  ArFunctorC<ArSonarAutoDisabler> myUserTaskCB;
};

#endif // ARSONARAUTODISABLER
