/*

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 ARRATIOINPUTROBOTJOYDRIVE_H
#define ARRATIOINPUTROBOTJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArActionRatioInput.h"

class ArRobotPacket;
class ArRobot;
class ArRobotJoyHandler;

/// Use robot's joystick to control an ArActionRatioInput action and drive the robot.
/**
   This class connects the joystick data obtained from  the robot's built
   in joystick port (if it has one, not all robots have a joystick port)
   to an ArActionRatioInput which drives the robot. (See ArRatioInputJoydrive
   for a similar class that uses a joystick plugged in to the computer.)

   A callback is attached to the ArActionRatioInput object which reads joystick
   information using an ArRobotJoyHandler object, and sets requested drive rations on the ArActionRatioInput
   object.


    @sa ArRatioInputJoydrive
    @sa ArActionRatioInput

**/
class ArRatioInputRobotJoydrive 
{
public:
  /// Constructor
  AREXPORT ArRatioInputRobotJoydrive(ArRobot *robot, 
				     ArActionRatioInput *input,
				     int priority = 75,
				     bool requireDeadmanPushed = true);
  /// Destructor
  AREXPORT virtual ~ArRatioInputRobotJoydrive();
protected:
  AREXPORT void fireCallback(void);

  ArRobot *myRobot;
  ArActionRatioInput *myInput;
  bool myRequireDeadmanPushed;
  bool myDeadZoneLast;

  ArRobotJoyHandler *myRobotJoyHandler;
  ArFunctorC<ArRatioInputRobotJoydrive> myFireCB;
};

#endif //ARRATIOINPUTROBOTJOYDRIVE_H
