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#ifndef ARSERVERMODEDRIVE_H
#define ARSERVERMODEDRIVE_H
#include "ariaTypedefs.h"
#include "Aria.h"
#include "ArNetworking.h"
#include "ArServerMode.h"
class ArServerModeDrive : public ArServerMode
{
public:
AREXPORT ArServerModeDrive(ArServerBase *server, ArRobot *robot,
bool takeControlOnJoystick = false);
AREXPORT virtual ~ArServerModeDrive();
AREXPORT virtual void activate(void);
AREXPORT virtual void deactivate(void);
/// This adds commands that'll let you disable and enable safe driving
AREXPORT void addControlCommands(ArServerHandlerCommands *handlerCommands);
AREXPORT void driveJoystick(double vel,
double rotVel,
bool isActivating = true);
AREXPORT void serverDriveJoystick(ArServerClient *client,
ArNetPacket *packet);
AREXPORT virtual void userTask(void);
AREXPORT void setThrottleParams(int lowSpeed, int highSpeed);
AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myDriveGroup;}
AREXPORT void setSafeDriving(bool safe);
AREXPORT bool getSafeDriving(void);
/// this action will be activated in unsafe mode
AREXPORT void setExtraUnsafeAction(ArAction *action)
{ myExtraUnsafeAction = action; }
protected:
AREXPORT void serverSafeDrivingEnable(void);
AREXPORT void serverSafeDrivingDisable(void);
AREXPORT void joyUserTask(void);
ArAction *myExtraUnsafeAction;
ArJoyHandler *myJoyHandler;
ArActionJoydrive myJoydriveAction;
ArActionInput *myInputAction;
ArActionStop myStopAction;
ArActionGroupInput myDriveGroup;
ArFunctor2C<ArServerModeDrive, ArServerClient *, ArNetPacket *> myServerDriveJoystickCB;
ArFunctorC<ArServerModeDrive> myJoyUserTaskCB;
bool myDriveSafely;
bool myNewDriveSafely;
double myVel;
double myRotVel;
bool myTakeControlOnJoystick;
// for the simple commands
ArServerHandlerCommands *myHandlerCommands;
ArFunctorC<ArServerModeDrive> myServerSafeDrivingEnableCB;
ArFunctorC<ArServerModeDrive> myServerSafeDrivingDisableCB;
};
#endif // ARNETMODEDRIVE_H
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