/*

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 ARTCMCOMPASSROBOT_H
#define ARTCMCOMPASSROBOT_H

#include "ariaUtil.h"
#include "ArCommands.h"
#include "ArFunctor.h"
#include "ArRobot.h"
#include "ArTCM2.h"

/** Interface to a TCM 2/2.5/2.6 3-axis compass through the robot microcontroller.
 *  When most Pioneer robots are equipped with a TCM compass, it is connected
 *  to the robot microcontroller, which returns compass information in the SIP
 *  as well as in extra compass-specific data packets.  This class communicates
 *  with the robot microcontroller to configure the compass and recieve data
 *  from it. 
 *
*/
class ArTCMCompassRobot : public virtual ArTCM2
{
public:

  AREXPORT ArTCMCompassRobot(ArRobot *robot);
  AREXPORT virtual ~ArTCMCompassRobot();

  virtual void commandOff(void) { myRobot->comInt(ArCommands::TCM2, 0); }
  virtual void commandJustCompass(void) { myRobot->comInt(ArCommands::TCM2, 1); }
  virtual void commandOnePacket(void) { myRobot->comInt(ArCommands::TCM2, 2); }
  virtual void commandContinuousPackets(void) { myRobot->comInt(ArCommands::TCM2, 3); }
  virtual void commandUserCalibration(void) { myRobot->comInt(ArCommands::TCM2, 4); }
  virtual void commandAutoCalibration(void) { myRobot->comInt(ArCommands::TCM2, 5); }
  virtual void commandStopCalibration(void) { myRobot->comInt(ArCommands::TCM2, 6); }
  virtual void commandSoftReset(void) { myRobot->comInt(ArCommands::TCM2, 7); }

private:  
  ArRobot *myRobot;
  ArRetFunctor1C<bool, ArTCMCompassRobot, ArRobotPacket*> myPacketHandlerCB;
  bool packetHandler(ArRobotPacket *packet);
};


#endif 
