/usr/include/Aria/ArMode.h is in libaria-dev 2.8.0+repack-1.2.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 | /*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
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
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#ifndef ARMODE_H
#define ARMODE_H
#include "ariaTypedefs.h"
#include "ArFunctor.h"
#include <string>
#include <list>
class ArRobot;
/// A class for different modes, mostly as related to keyboard input
/**
Each mode is going to need to add its keys to the keyHandler...
each mode should only use the keys 1-0, the arrow keys (movement),
the space bar (stop), z (zoom in), x (zoom out), and e (exercise)...
then when its activate is called by that key handler it needs to
first deactivate the ourActiveMode (if its not itself, in which case
its done) then add its key handling stuff... activate and deactivate
will need to add and remove their user tasks (or call the base class
activate/deactivate to do it) as well as the key handling things for
their other part of modes. This mode will ALWAYS bind help to /, ?, h,
and H when the first instance of an ArMode is made.
@ingroup OptionalClasses
**/
class ArMode
{
public:
/// Constructor
AREXPORT ArMode(ArRobot *robot, const char *name, char key, char key2);
/// Destructor
AREXPORT virtual ~ArMode();
/// Gets the name of the mode
AREXPORT const char *getName(void);
/// The function called when the mode is activated, subclass must provide
AREXPORT virtual void activate(void) = 0;
/// The function called when the mode is deactivated, subclass must provide
AREXPORT virtual void deactivate(void) = 0;
/// The ArMode's user task, don't need one, subclass must provide if needed
AREXPORT virtual void userTask(void) {}
/// The mode's help print out... subclass must provide if needed
/**
This is called as soon as a mode is activated, and should give
directions on to what keys do what and what this mode will do
**/
AREXPORT virtual void help(void) {}
/// The base activation, it MUST be called by inheriting classes,
/// and inheriting classes MUST return if this returns false
AREXPORT bool baseActivate(void);
/// The base deactivation, it MUST be called by inheriting classes,
/// and inheriting classes MUST return if this returns false
AREXPORT bool baseDeactivate(void);
/// This is the base help function, its internal, bound to ? and h and H
AREXPORT static void baseHelp(void);
/// An internal function to get the first key this is bound to
AREXPORT char getKey(void);
/// An internal function to get the second key this is bound to
AREXPORT char getKey2(void);
protected:
AREXPORT void addKeyHandler(int keyToHandle, ArFunctor *functor);
AREXPORT void remKeyHandler(ArFunctor *functor);
// Our activeArMode
AREXPORT 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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