---

ManualController.h

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//
//       Title           : ManualController.hpp
//       Project         : D&D
//       Created         : Thursday  August 1, 1996
//       Author          : Mitch Pryor & Chetan Kapoor
//       Platforms       : WIN32                        
//       Copyright       : The University of Texas at Austin
//                         All Rights Reserved.
//       Access          : Company Confidential
//       Purpose         : develop a class hierarchy for manual controllers             
//
//-------------------------------------------------------------------------
//
//       Classes:
//               ManualController
//
//       Global Functions:
//               <none>
//
//       Global Variables:
//               <none>
//
//-------------------------------------------------------------------------
//
//       $Revisions$
//          Modified June 9, 1998 by Chalongrath Pholsiri
//                      Added collsion avoidance stuff April 15, 1999 by Chalongrath Pholsiri
//                      Added client-server capability July 9, 1999 by Chalongrath Pholsiri
//
//       $Log: ManualController.h,v $
//       Revision 1.3  2005/03/14 21:54:08  pmarch
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.2  2004/05/27 19:24:04  pmarch
//       Added /defgroup and /ingroup tags.
//
//       Revision 1.1  2003/08/18 21:23:27  pmarch
//       Initial commit of ManualController
//
//
#ifndef ManualController_h
#define ManualController_h

#include "Base/Base.h"
#include "Base/CommIncludes.h"
#include "Math/Vector.h"
#include "FileData/MatrixData.h"
#include "Math/Matrix.h"
#include "Math/HandPose.h"
#include "Math/MathUtilities.h"
#include "PCSHandPose.h"
#include "Communications/TCP.h"

#define LISA_IP_ADDRESS "129.116.146.242"
#define BUZZ_IP_ADDRESS "129.116.140.120"

namespace OSCAR {

  class ManualController : public virtual Base
  {
          public:
                  enum MC_TYPE {LOCAL, SERVER, CLIENT};
                  //constructors
                  ManualController(int numberOfButtons,
                                                          int numberOfDeltas,
                                                          const HandPose& startingHand,
                                                          const String& name, MC_TYPE type);
                  
                  //destuctor
                  virtual ~ManualController();

                  //public methods
                  const int GetNumberOfButtons();
                  const int GetNumberOfDeltas();
                  const int GetCurrentHand(HandPose& currentHand);
                  const int GetCurrentButtonStatus(Vector& buttons);
                  const int GetCurrentButtonPressed();
                  const int GetDeltas(Vector& deltas);
                                  
                  int SetCurrentHand(HandPose& currenthand);

                  int SetDeltaMaximums(Vector& deltaMaximums);
                  int SetADeltaMaximum(int number, double newDelta);
                  int GetDeltaMaximums(Vector& deltaMaximums) const;
                  
                  int SetDeltaScaling(Vector& deltaScaling);
                  int SetADeltaScaler(int number, double newScaler);
                  int GetDeltaScaling(Vector& deltaScaling) const;

                  void SetDeltaScalerOn();
                  void SetDeltaScalerOff();
                  void SetDeltaCheckerOn();
                  void SetDeltaCheckerOff();

                  void SetDominantAxisOn(bool on);
                  void SetRotationOn(bool on);
                  void SetTranslationOn(bool on);

      void SetMapAxesOn(){MAPAXES=true;}
      void SetMapAxesOff(){MAPAXES=false;}
      void SetAxisMap(Rot3by3& _axisMap); //used for mapping controller axes to 
                                            //application axes
      void SetDomAxisOn(){DOMINANT_AXIS = true;}
      void SetDomAxisOff(){DOMINANT_AXIS = false;}

                  // Notify server of quitting
                  int SendQuitMessage();

                  // pure virtual functions
                  virtual int Initialize() = 0;
                  virtual int GetPacketFromMC() = 0;
                  virtual int GetPacketFromServer() = 0;
                  virtual int Listen() = 0;
                  
          protected:
                  //protected data members
                  int             numberOfButtons;
                  int             numberOfDeltas;
                  int                           buttonPressed;
                  Vector                *buttons;
                  HandPose      currentHand;
  //        PCSHandPose   currentPCSHand;
                  Vector                *deltas;
                  Vector                *deltaScaling;
                  Vector                *deltaMaximums;
                  
                  BOOL ISINITIALIZED;
                  BOOL DELTASCALER;
                  BOOL DELTACHECKER;
                  BOOL AVOIDANCE;
      BOOL MAPAXES;
      bool DOMINANT_AXIS;

                  // client-server related members
                  MC_TYPE                       type;
                  TCPClient             *client;
                  TCPServer             *server;
                  unsigned char *sndClientBuf;
                  unsigned char *rcvFlag;
                  unsigned char *rcvClientBuf;
                  unsigned char *sndServerBuf;

      Matrix axisMap;

                  //protected methods
      void MapAxes();
                  void ScaleDeltas();
                  int  CheckDeltas();
                  void ErrorHandler(char* errorDescription, DWORD errorCode);
                  
  };

}
#endif //ManualController_h

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