/*
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
*/
#include "Aria.h"

int main(int argc, char **argv)
{
  bool done;

  bool shouldSpin = true;
  int spinTime = 10000;
  double distToTravel = 1000;

  double rotVelMax = 50;
  double rotAccel = 100;
  double rotDecel = 100;
  double transVelMax = 1500;
  double transAccel = 600;
  double transDecel = 600;

  Aria::init();


    // set up our parser
  ArArgumentParser parser(&argc, argv);
  // set up our simple connector
  ArSimpleConnector simpleConnector(&parser);
  // robot
  ArRobot robot;
  // a laser in case one is used
  ArSick sick;
  // sonar, must be added to the robot, for teleop and wander
  ArSonarDevice sonarDev;


  parser.addDefaultArgument("-connectLaser -laserIncrement half");

  // load the default arguments 
  parser.loadDefaultArguments();

  // parse the command line... fail and print the help if the parsing fails
  // or if the help was requested
  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {    
    Aria::logOptions();
    exit(1);
  }
  
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);

  // if you're using a program at startup in linux you must NOT
  // include a keyhandler or you'll get lockups when trying to read
  // keys with no terminal

  // a key handler so we can do our key handling
  ArKeyHandler keyHandler;
  // let the global aria stuff know about it
  Aria::setKeyHandler(&keyHandler);
  // toss it on the robot
  robot.attachKeyHandler(&keyHandler);
  printf("You may press escape to exit\n");

  // add the sonar to the robot
  robot.addRangeDevice(&sonarDev);
  // add the laser to the robot
  robot.addRangeDevice(&sick);

  // add a gyro, it'll see if it should attach to the robot or not
  ArAnalogGyro gyro(&robot);

  // set up the robot for connecting
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::exit(1);
  }

  robot.setRotVelMax(rotVelMax);
  robot.setRotAccel(rotAccel);
  robot.setRotDecel(rotDecel);
  robot.setTransVelMax(transVelMax);
  robot.setTransAccel(transAccel);
  robot.setTransDecel(transDecel);

  // start the robot running, true so that if we lose connection the run stops
  robot.runAsync(true);

  // set up the laser before handing it to the laser mode
  sick.runAsync();

  // connect the laser if it was requested
  if (!simpleConnector.connectLaser(&sick))
  {
    printf("Could not connect to laser... exiting\n");
    Aria::exit(2);
  }

  ArUtil::sleep(300);

  robot.lock();

  // set a default filename
  //std::string filename = "c:\\log\\1scans.2d";
  std::string filename = "1scans.2d";
  // see if we want to use a different filename
  //if (argc > 1)
  printf("Logging to file %s\n", filename.c_str());
  // start the logger with good values
  ArSickLogger logger(&robot, &sick, 300, 25, filename.c_str());

  //Make a couple action groups, one for driving in a straight line, one for turning
  
  ArActionGroup drive(&robot);
  ArActionDriveDistance driveAction("driveDistance", transVelMax, transDecel);
  ArActionDeceleratingLimiter limiterAction;
  limiterAction.setParameters(200, 100, 100, 0, 100, 100, 2000, 1000, true, 0);

  drive.addAction(&driveAction, 50);
  drive.addAction(&limiterAction, 75);

  ArActionGroup spin(&robot);
  ArActionInput spinAction;
  
  spin.addAction(&spinAction, 100);

		  

  robot.unlock();

#ifdef WIN32
  // wait until someone pushes the motor button to go (since vnc hoses
  // timing)
  while (1)
  {
    robot.lock();
    if (!robot.isRunning())
      exit(0);
    if (robot.areMotorsEnabled())
    {
      robot.unlock();
      break;
    }
    robot.unlock();
    ArUtil::sleep(100);
  }
#endif

  // basically from here on down the robot just cruises around a bit

  robot.lock();
  // enable the motors
  robot.comInt(ArCommands::ENABLE, 1);

  ArTime startTime;

  ArLog::log(ArLog::Normal, "Driving out");
  // move a couple meters
  drive.activateExclusive();
  driveAction.setDistance(distToTravel);
  robot.unlock();
  done = false;
  startTime.setToNow();
  do {
    ArUtil::sleep(100);
    robot.lock();
    done = (driveAction.haveAchievedDistance() || startTime.secSince() > 10 || 
	    (startTime.secSince() > 2 && fabs(robot.getVel() < 2)));
    robot.unlock();
  } while (!done);


  if (shouldSpin)
  {
    ArLog::log(ArLog::Normal, "Spinning counter clockwise");
    robot.lock();
    spin.activateExclusive();
    spinAction.setRotVel(rotVelMax);
    spinAction.setVel(0);
    robot.unlock();
    ArUtil::sleep(spinTime);
    ArLog::log(ArLog::Normal, "Spinning clockwise");
    robot.lock();
    spin.activateExclusive();
    spinAction.setRotVel(-rotVelMax);
    spinAction.setVel(0);
    robot.unlock();
    ArUtil::sleep(spinTime);
  }

  ArLog::log(ArLog::Normal, "Pointing back");
  robot.lock();
  spin.activateExclusive();
  spinAction.setHeading(180);
  robot.unlock();
  done = false;
  startTime.setToNow();
  do {
    ArUtil::sleep(100);
    robot.lock();
    done = (fabs(ArMath::subAngle(robot.getTh(), 180)) < 2 && 
	    fabs(robot.getRotVel() < 2)) || startTime.secSince() > 10;
    robot.unlock();
  } while (!done);

  ArLog::log(ArLog::Normal, "Driving back");
  robot.lock();
  drive.activateExclusive();
  driveAction.setDistance(distToTravel);
  robot.unlock();
  done = false;
  startTime.setToNow();
  do {
    ArUtil::sleep(100);
    robot.lock();
    done = (driveAction.haveAchievedDistance() || startTime.secSince() > 10 || 
	    (startTime.secSince() > 2 && fabs(robot.getVel() < 2)));
    robot.unlock();
  } while (!done);


  ArLog::log(ArLog::Normal, "Pointing out");
  robot.lock();
  spin.activateExclusive();
  spinAction.setHeading(0);
  robot.unlock();
  done = false;
  startTime.setToNow();
  do {
    ArUtil::sleep(100);
    robot.lock();
    done = (fabs(ArMath::subAngle(robot.getTh(), 0)) < 2 && 
	    fabs(robot.getRotVel() < 2)) || startTime.secSince() > 10;
    robot.unlock();
  } while (!done);

  ArLog::log(ArLog::Normal, "Done");
  sick.lockDevice();
  sick.disconnect();
  sick.unlockDevice();
  robot.lock();
  robot.disconnect();
  robot.unlock();
  // now exit
  Aria::shutdown();
  return 0;
}