/*

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 ARACTIONIRS_H
#define ARACTIONIRS_H

#include "ariaTypedefs.h"
#include "ArAction.h"
#include "ArRobotParams.h"
#include <vector>

/// Action to back up if short-range IR sensors trigger
/**
 * If the robot has front-mounted binary (triggered/not triggered) IR sensors, 
 * this action will respond to a sensor trigger by backing up and perhaps
 * turning, similar to bumpers.  This action assumes that if an IR triggers, the
 * robot caused it by moving forward into or under an obstacle, and backing up
 * is a good reaction.
 */

class ArActionIRs : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionIRs(const char *name = "IRs", 
		       double backOffSpeed = 100, int backOffTime = 5000,
		       int turnTime = 3000, bool setMaximums = false);
  /// Destructor
  AREXPORT virtual ~ArActionIRs();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const 
                                                        { return &myDesired; }
#endif
protected:
  ArActionDesired myDesired;
  bool mySetMaximums;
  double myBackOffSpeed;
  int myBackOffTime;
  int myTurnTime;
  int myStopTime;
  bool myFiring;
  double mySpeed;
  double myHeading;
  ArTime myStartBack;
  ArTime stoppedSince;
  ArRobotParams myParams;
  std::vector<int> cycleCounters;
};

#endif // ARACTIONIRS