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#ifndef ARNETMODESTOP_H
#define ARNETMODESTOP_H
#include "Aria.h"
#include "ArServerMode.h"
class ArServerModeStop : public ArServerMode
{
public:
AREXPORT ArServerModeStop(ArServerBase *server, ArRobot *robot,
bool defunct = false);
AREXPORT virtual ~ArServerModeStop();
AREXPORT virtual void activate(void);
AREXPORT virtual void deactivate(void);
AREXPORT void stop(void);
AREXPORT void netStop(ArServerClient *client, ArNetPacket *packet);
AREXPORT virtual void userTask(void);
AREXPORT virtual void checkDefault(void) { activate(); }
AREXPORT virtual ArActionGroup *getActionGroup(void) { return &myStopGroup; }
/// Adds to the config
AREXPORT void addToConfig(ArConfig *config, const char *section = "Teleop settings");
/// Sets whether we're using the range devices that depend on location
AREXPORT void setUseLocationDependentDevices(
bool useLocationDependentDevices, bool internal = false);
/// Gets whether we're using the range devices that depend on location
AREXPORT bool getUseLocationDependentDevices(void);
protected:
ArActionDeceleratingLimiter *myLimiterForward;
ArActionDeceleratingLimiter *myLimiterBackward;
ArActionDeceleratingLimiter *myLimiterLateralLeft;
ArActionDeceleratingLimiter *myLimiterLateralRight;
ArActionGroupStop myStopGroup;
bool myUseLocationDependentDevices;
ArFunctor2C<ArServerModeStop, ArServerClient *, ArNetPacket *> myNetStopCB;
};
#endif // ARNETMODESTOP_H
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