/*

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 ARACTIONJOYDRIVE_H
#define ARACTIONJOYDRIVE_H

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

/// This action will use the joystick for input to drive the robot
/**
   This class creates its own ArJoyHandler to get input from the
   joystick.  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.  You
   must press in one of the two joystick buttons for the class to pay
   attention to the joystick.
   
   @note The joystick does not save calibration information, so you
   must 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.
**/
class ArActionJoydrive : public ArAction
{
public:
  /// Constructor
  AREXPORT ArActionJoydrive(const char * name = "joydrive", 
			    double transVelMax = 400, 
			    double turnAmountMax = 15, 
			    bool stopIfNoButtonPressed = true,
			    bool useOSCalForJoystick = true);
  /// Destructor
  AREXPORT virtual ~ArActionJoydrive();
  AREXPORT virtual ArActionDesired *fire(ArActionDesired currentDesired);
  /// Whether the joystick is initalized or not
  AREXPORT bool joystickInited(void);
  /// Set Speeds
  AREXPORT void setSpeeds(double transVelMax, double turnAmountMax);
  /// 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 the params on the throttle (throttle unused unless you call this)
  AREXPORT void setThrottleParams(double lowSpeed, double highSpeed);
  /// 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; }
  AREXPORT virtual ArActionDesired *getDesired(void) { return &myDesired; }
#ifndef SWIG
  AREXPORT virtual const ArActionDesired *getDesired(void) const { return &myDesired; }
#endif
protected:
  bool myUseThrottle;
  double myLowThrottle;
  double myHighThrottle;
  // action desired
  ArActionDesired myDesired;
  // joystick handler
  ArJoyHandler *myJoyHandler;
  // full spped
  double myTransVelMax;
  // full amount to turn
  double myTurnAmountMax;
  // 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;
};

#endif //ARACTIONJOYDRIVE_H