/*

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 ARBUMPERS_H
#define ARBUMPERS_H

#include "ariaTypedefs.h"
#include "ArRangeDevice.h"


/// A class that treats the robot's bumpers as a range device.
/**
   The class treats bumpers like a range device.  When a bumper
   is bumped, it reports the approximate position of the bump
   in a buffer.  The positions are kept current for a specified 
   length of time.
*/
class ArBumpers : public ArRangeDevice
{
public:
  AREXPORT ArBumpers(size_t currentBufferSize = 30, 
		     size_t cumulativeBufferSize = 30,
		     const char *name = "bumpers",
		     int maxSecondsToKeepCurrent = 15,
		     double angleRange = 135);
  AREXPORT virtual ~ArBumpers(void);

  AREXPORT virtual void setRobot(ArRobot *robot);
  AREXPORT void processReadings(void);
  AREXPORT void addBumpToBuffer(int bumpValue, int whichBumper);

protected:
  ArFunctorC<ArBumpers> myProcessCB;
  ArRobot *myRobot;
  int myBumpMask;
  double myAngleRange;
};


#endif // ARBUMPERS_H