/*

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 ARACTIONBUMPERS_H
#define ARACTIONBUMPERS_H

#include "ariaTypedefs.h"
#include "ArAction.h"

/// Action to deal with if the bumpers trigger
/**
   This class basically responds to the bumpers the robot has, what
   the activity things the robot has is decided by the param file.  If
   the robot is going forwards and bumps into something with the front
   bumpers, it will back up and turn.  If the robot is going backwards
   and bumps into something with the rear bumpers then the robot will
   move forward and turn.  
*/

class ArActionBumpers : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionBumpers(const char *name = "bumpers", 
			   double backOffSpeed = 100, int backOffTime = 3000,
			   int turnTime = 3000, bool setMaximums = false);
  /// Destructor
  AREXPORT virtual ~ArActionBumpers();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
  AREXPORT double findDegreesToTurn(int bumpValue, int whichBumper);
protected:
  ArActionDesired myDesired;
  bool mySetMaximums;
  double myBackOffSpeed;
  int myBackOffTime;
  int myTurnTime;
  //int myStopTime;
  bool myFiring;
  double mySpeed;
  double myHeading;
  int myBumpMask;
  ArTime myStartBack;
  //ArTime myStoppedSince;
};

#endif // ARACTIONBUMPERS
