mRoomba_driver.h

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#ifndef HRK_M_ROOMBA_DRIVER_H
#define HRK_M_ROOMBA_DRIVER_H

#include "Run_driver.h"
#include "Power_manager.h"


namespace hrk
{
    class mRoomba_driver : public Run_driver, public Power_manager
    {
    public:
        mRoomba_driver();
        ~mRoomba_driver();

        const char* what() const;

        bool open(const std::string& device_name);

        void close();
        Connection* connection();
        void set_connection(Connection* connection);
        void set_straight_velocity(double m_per_sec);
        double straight_velocity() const;
        void set_rotate_velocity(const Angle& angle_per_sec);
        Angle rotate_velocity() const;
        void set_straight_acceleration(double m_per_sec2);
        void set_rotate_acceleration(const Angle& angle_per_sec2);
        PositionF position(const Locatable* coordinate) const;
        void set_position(const PositionF& position,
                          const Locatable* coordinate);
        double path_change_distance();
        bool is_stable();
        void follow_line(const PositionF& line, const Locatable* coordinate);
        void follow_circle(const PointF& center, double radius,
                           const Locatable* coordinate);
        void stop_to_line(const PositionF& line, const Locatable* coordinate);
        void spin(const Angle& spin_angle);
        void spin_to_direction(const Angle& target_angle,
                               const Locatable* coordinate);
        void stop();
        double distance_to(const PointF& point, const Locatable* coordinate);
        double distance_to_perpendicular(const PositionF& line,
                                         const Locatable* coordinate);
        Angle angle_to(const Angle& angle, const Locatable* coordinate);

        bool sleep();
        bool wake_up();
        bool power_down();
        bool dock();
        bool is_charging();
        int charged_percent();

        void set_vacuum(bool on = true);
        void control_wheel_velocity(double right_m_per_sec,
                                    double left_m_per_sec);

        void set_simulator_position(const PositionF& position);

    private:
        mRoomba_driver(const mRoomba_driver& rhs);
        mRoomba_driver& operator = (const mRoomba_driver& rhs);

        struct pImpl;
        std::auto_ptr<pImpl> pimpl;
    };
}

#endif