/*

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 ARRATIOINPUTJOYDRIVE_H
#define ARRATIOINPUTJOYDRIVE_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArActionRatioInput.h"
#include "ArJoyHandler.h"

class ArRobot;

/// Use computer joystick to control an ArActionRatioInput and drive the robot.

/**
   This class obtains data from
   a joystick attached to the computer
   and provides it to an ArActionRatioInput which drives the robot. 
   (See ArRatioInputRobotJoydrive for a similar class that uses the robot's built in
   joystick interface.)
   A callback is attached to the ArActionRatioInput object which reads joystick
   information and sets requested drive rations on the ArActionRatioInput

   If the joystick button is pressed, then input values are set in the
   ArActionRatioDrive action object to request motion.
   If the button is not pressed, then either the robot will be stopped via the
   action (if @a stopIfNoButtonPressed is true), or no action will be requested
   and lower priority actions can take over (if @a stopIfNoButtonPressed is
   false) 
   
   You may need to calibrate the joystick for
   it to work right, for details about this see ArJoyHandler.  
   
   This class creates its own ArJoyHandler object to get input from the
   joystick, or uses the global ArJoyHandler object in the global Aria class if present.  Then it will scale the speed between 0 and the given max
   for velocity and turning, up and down on the joystick go
   forwards/backwards while right and left go right and left.  
   
   NOTE: The joystick does not save calibration information, so you
   may need to calibrate the joystick before each time you use it.  To do
   this, press the button for at least a half a second while the
   joystick is in the middle.  Then let go of the button and hold the
   joystick in the upper left for at least a half second and then in
   the lower right corner for at least a half second. See also ArJoyHandler. 

    @sa ArRatioInputRobotJoydrive
    @sa ArActionRatioInput
    @sa ArJoyHandler

**/
class ArRatioInputJoydrive
{
public:
  /// Constructor
  AREXPORT ArRatioInputJoydrive(ArRobot *robot, ArActionRatioInput *input,
				int priority = 50,
				bool stopIfNoButtonPressed = false,
				bool useOSCalForJoystick = true);
  /// Destructor
  AREXPORT virtual ~ArRatioInputJoydrive();
  /// Whether the joystick is initalized or not
  AREXPORT bool joystickInited(void);
  /// Set if we'll stop if no button is pressed, otherwise just do nothing
  AREXPORT void setStopIfNoButtonPressed(bool stopIfNoButtonPressed);
  /// Get if we'll stop if no button is pressed, otherwise just do nothing
  AREXPORT bool getStopIfNoButtonPressed(void);
  /// Sets whether to use OSCalibration the joystick or not
  AREXPORT void setUseOSCal(bool useOSCal);
  /// Gets whether OSCalibration is being used for the joystick or not
  AREXPORT bool getUseOSCal(void);
  /// Gets the joyHandler
  AREXPORT ArJoyHandler *getJoyHandler(void) { return myJoyHandler; }
protected:
  void fireCallback(void);
  ArRobot *myRobot;
  ArActionRatioInput *myInput;
  // if we're printing extra information for tracing and such
  bool myPrinting;
  // joystick handler
  ArJoyHandler *myJoyHandler;
  bool myFiredLast;
  // if we want to stop when no button is presesd
  bool myStopIfNoButtonPressed;
  // if we're using os cal for the joystick
  bool myUseOSCal;
  bool myPreviousUseOSCal;
  ArFunctorC<ArRatioInputJoydrive> myFireCB;
};

#endif //ARRATIOINPUTJOYDRIVE_H
