ArMode.h

/*
MobileRobots Advanced Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007 MobileRobots Inc.

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
MobileRobots Inc, 19 Columbia Drive, Amherst, NH 03031; 800-639-9481
*/

#ifndef ARMODE_H
#define ARMODE_H

#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include <string>
#include <list>

class ArRobot;



class ArMode 
{
public:
  AREXPORT ArMode(ArRobot *robot, const char *name, char key, char key2);
  AREXPORT virtual ~ArMode();
  AREXPORT const char *getName(void);
  AREXPORT virtual void activate(void) = 0;
  AREXPORT virtual void deactivate(void) = 0;
  AREXPORT virtual void userTask(void) {}

  AREXPORT virtual void help(void) {}
  AREXPORT bool baseActivate(void); 
  AREXPORT bool baseDeactivate(void);
  AREXPORT static void baseHelp(void);
  AREXPORT char getKey(void);
  AREXPORT char getKey2(void);
protected:
  void addKeyHandler(int keyToHandle, ArFunctor *functor);
  void remKeyHandler(ArFunctor *functor);
  // Our activeArMode
  static ArMode *ourActiveMode;
  std::string myName;
  ArRobot *myRobot;
  ArFunctorC<ArMode> myActivateCB;
  ArFunctorC<ArMode> myDeactivateCB;
  ArFunctorC<ArMode> myUserTaskCB;
  char myKey;
  char myKey2;
  // our help callback, its NULL until its initialized
  static ArGlobalFunctor *ourHelpCB;
  static std::list<ArMode *> ourModes;
};

#endif // ARMODE_H

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