/*
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"

ArRobot *robot;

/**
   This program will repeatedly test the ArActionTriangleDriveTo
   by backing away a random amount and direction, then using the 
   action to move forwards.  It'll pause to allow time to mark the 
   location relative to the world (using a laser pointer, for example)

 **/

int main(int argc, char **argv)
{
  // parse our args and make sure they were all accounted for
  ArSimpleConnector connector(&argc, argv);

  // the robot
  robot = new ArRobot;
  // the laser
  ArSick sick;

  Aria::init();

  if (!connector.parseArgs() || argc > 1)
  {
    connector.logOptions();
    exit(1);
  }
  
  // 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);

  // add the laser to the robot
  robot->addRangeDevice(&sick);

  ArSonarDevice sonar;
  robot->addRangeDevice(&sonar);
  
  //ArLineFinder lineFinder(&sick);
  ArActionTriangleDriveTo triangleDriveTo;
  ArFunctorC<ArActionTriangleDriveTo> lineGoCB(&triangleDriveTo, 
				      &ArActionTriangleDriveTo::activate);
  //keyHandler.addKeyHandler('g', &lineGoCB);
  //keyHandler.addKeyHandler('G', &lineGoCB);
  ArFunctorC<ArActionTriangleDriveTo> lineStopCB(&triangleDriveTo, 
					&ArActionTriangleDriveTo::deactivate);
  //keyHandler.addKeyHandler('s', &lineStopCB);
  //keyHandler.addKeyHandler('S', &lineStopCB);
  ArLineFinder lineFinder(&sick);
  ArFunctorC<ArLineFinder> findLineCB(&lineFinder, 
				      &ArLineFinder::getLinesAndSaveThem);
  keyHandler.addKeyHandler('f', &findLineCB);
  keyHandler.addKeyHandler('F', &findLineCB);
  //lineFinder.setVerbose(true);

  ArActionLimiterForwards limiter("limiter", 150, 0, 0, 1.3);
  robot->addAction(&limiter, 70);
  ArActionLimiterBackwards limiterBackwards;
  robot->addAction(&limiterBackwards, 69);
  
  robot->addAction(&triangleDriveTo, 60);

  ArActionKeydrive keydrive;
  robot->addAction(&keydrive, 55);


  ArActionStop stopAction;
  robot->addAction(&stopAction, 50);
  
  // try to connect, if we fail exit
  if (!connector.connectRobot(robot))
  {
    printf("Could not connect to robot->.. exiting\n");
    Aria::shutdown();
    return 1;
  }

  robot->comInt(ArCommands::SONAR, 1);
  robot->comInt(ArCommands::ENABLE, 1);
  
  // start the robot running, true so that if we lose connection the run stops
  robot->runAsync(true);

  // now set up the laser
  connector.setupLaser(&sick);

  sick.runAsync();

  if (!sick.blockingConnect())
  {
    printf("Could not connect to SICK laser... exiting\n");
    Aria::shutdown();
    return 1;
  }

  //printf("If you press the 'g' key it'll go find a triangle, if you press 's' it'll stop.\nPress 'f' to save lines\n");
  printf("\nPress 'f' to save lines\n");
  bool lastSucceeded = false;
  int numGood = 0;
  int numBad = 0;
  // how many times to run, if this is negative it'll go forever (well
  // until it wraps at 2 billion)
  int timesToRun = -1;
  for (int i=0; (i != timesToRun) && (robot->isRunning()); i++) {
    bool done = false;
    printf("\nStarting run: %d",i);
    // move back

    if (lastSucceeded)
    {
      robot->lock();
      robot->move(-300);
      robot->unlock();
    }
    do {
      ArUtil::sleep(100);
      robot->lock();
      done = robot->isMoveDone();
      robot->unlock();
    } while (!done);
    // figure out how much to rotate
    int rotation = ArMath::random()%60;
    // make it positive or negative
    rotation = rotation - 30;
    printf("...rotating");
    robot->lock();
    robot->setDeltaHeading(rotation);
    robot->unlock();
    do {
      ArUtil::sleep(100);
      robot->lock();
      done = robot->isHeadingDone(5);
      robot->unlock();
    } while (!done);
    // figure out how much to move back
    int distance_back = ArMath::random()%1500;
    // make it at least half a meter
    if (lastSucceeded)
    {
      distance_back = -1*(distance_back + 1200);
      printf("...moving");
      robot->lock();
      robot->move(distance_back);
      robot->unlock();
      do {
	ArUtil::sleep(100);
	robot->lock();
	done = robot->isMoveDone(100);
	robot->unlock();
      } while (!done);
    }
    // activate the action
    printf("...activating\n");
    robot->lock();
    robot->clearDirectMotion();
    triangleDriveTo.activate();
    robot->unlock();
    // insert cool way to see if we're done with the driveTo
    // for now, just sleep for a while
    do { 
      ArUtil::sleep(100);
      robot->lock();
      if (triangleDriveTo.getState() == 
	  ArActionTriangleDriveTo::STATE_SUCCEEDED)
      {
	numGood++;
	printf("succeeded (made %d of %d)...", numGood, numGood + numBad);
	done = true;
	lastSucceeded = true;
      }
      else if (triangleDriveTo.getState() == 
	       ArActionTriangleDriveTo::STATE_FAILED)
      {
	numBad++;
	printf("failed (made %d of %d)...", numGood, numGood + numBad);
	done = true;
	lastSucceeded = false;
      }
      else
	done = false;
      robot->unlock();
    } while (!done);
    printf("\a");
    printf("...sleeping");
    ArUtil::sleep(3000);
    // deactivate the action
    printf("...deactivating");
    robot->lock();
    triangleDriveTo.deactivate();
    robot->unlock();
  }
  printf("\n\n");
  robot->lock();
  robot->disconnect();
  robot->unlock();
  Aria::shutdown();
  printf("\n");
  return 0;
}