ArRobotJoyHandler.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 ARROBOTJOYHANDLER_H
#define ARROBOTJOYHANDLER_H

#include "ariaTypedefs.h"
#include "ariaUtil.h"

class ArRobot;
class ArRobotPacket;


class ArRobotJoyHandler
{
 public:
  AREXPORT ArRobotJoyHandler(ArRobot *robot);
  AREXPORT ~ArRobotJoyHandler();
  AREXPORT void getDoubles(double *x, double *y, double *z);
  bool getButton1(void) { return myButton1; }
  bool getButton2(void) { return myButton2; }
  AREXPORT ArTime getDataReceivedTime(void) { return myDataReceived; }
  AREXPORT bool gotData(void) { return myGotData; }
 protected:
  AREXPORT bool handleJoystickPacket(ArRobotPacket *packet);
  AREXPORT void connectCallback(void);

  ArRobot *myRobot;
  ArTime myDataReceived;
  bool myButton1;
  bool myButton2;
  double myJoyX;
  double myJoyY;
  double myThrottle;
  bool myGotData;
  
  ArTime myStarted;
  ArRetFunctor1C<bool, ArRobotJoyHandler,
      ArRobotPacket *> myHandleJoystickPacketCB;
  ArFunctorC<ArRobotJoyHandler> myConnectCB;

};


#endif // ARJOYHANDLER_H

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