/*
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"
#include <string>

/*
 * This is useful as a diagnostic tool for the bumpers, motor stalls, table IR
 * (peoplebot) and e-stop events.
 * It makes the robot wander, using sonar to avoid obstacles, if an event happens
 * it is printed to standard output with a timestamp. 
 * Refer to the ARIA ArRobot documentation and to your robot manual
 * (section on standard ARCOS SIP packet contents) for details on the stallval
 * format.
 *
 * Note, it lists bumpers by the bit in the stallval that was set, not
 * neccesarily by other bumper numbering conventions (depending on what kind
 * of robot it is).  E.g. on a DX, the front bumper ring triggers bits 2-6 from
 * right side to left side.  A PowerBot triggers bits 0-7.
 */



/* function to display a byte as a string of 8 '1' and '0' characters. */
std::string byte_as_bitstring(char byte) 
{
  char tmp[9];
  int bit; 
  int ch;
  for(bit = 7, ch = 0; bit >= 0; bit--,ch++)
    tmp[ch] = ((byte>>bit)&1) ? '1' : '0';
  tmp[8] = 0;
  return std::string(tmp);
}

/* function to display a 2-byte int as a string of 16 '1' and '0' characters. */
std::string int_as_bitstring(int16_t n) 
{
  char tmp[17];
  int bit;
  int ch;
  for(bit = 15, ch = 0; bit >= 0; bit--, ch++)
    tmp[ch] = ((n>>bit)&1) ? '1' : '0';
  tmp[16] = 0;
  return std::string(tmp);
}


/* Things that might only be evident in one robot cycle, so are set by a cycle
 * callback then cleared after being printed. */
bool wasLeftMotorStalled = false;
bool wasRightMotorStalled = false;
ArTypes::UByte2 cumulativeStallVal = 0;
ArTypes::UByte2 cumulativeRobotFlags = 0;
bool wasLeftIRTriggered = false;
bool wasRightIRTriggered = false;
bool wasEStopTriggered = false;

/* Robot cycle callback that accumulates positive states over several cycles
 * until the main thread gets around to checking and printing them out (since it
 * only logs once a second). */
bool cycleCallback(ArRobot* robot)
{
  cumulativeStallVal |= robot->getStallValue();
  cumulativeRobotFlags |= robot->getFlags();
  wasLeftMotorStalled = wasLeftMotorStalled || robot->isLeftMotorStalled();
  wasRightMotorStalled = wasRightMotorStalled || robot->isRightMotorStalled();
  wasEStopTriggered = wasEStopTriggered || robot->getEstop();
  wasLeftIRTriggered = wasLeftIRTriggered || (robot->hasTableSensingIR() && robot->isLeftTableSensingIRTriggered());
  wasRightIRTriggered = wasRightIRTriggered || (robot->hasTableSensingIR() && robot->isRightTableSensingIRTriggered());
  return true;
}

/* main function */
int main(int argc, char **argv)
{
  // robot and devices
  ArRobot robot;
  ArSonarDevice sonar;
  ArBumpers bumpers;
  ArIRs ir;

  // the actions we'll use to wander and avoid obstacles
  ArActionStallRecover recoverAct;
  ArActionBumpers bumpAct;
  ArActionAvoidFront avoidFrontNearAct("Avoid Front Near", 225, 0);
  ArActionAvoidFront avoidFrontFarAct;
  ArActionConstantVelocity constantVelocityAct("Constant Velocity", 400);

  // initialize aria and aria's logging destination and level
  Aria::init();
  ArLog::init(ArLog::StdErr, ArLog::Normal);

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

  printf("This program will make the robot wander around, avoiding obstacles with the sonar if possible, and print stall, bumper, e-stop and IR (Peoplebot) if and when they happen.\nPress Ctrl-C to exit.\n");
  
  // add the range devices to the robot
  robot.addRangeDevice(&sonar);
  robot.addRangeDevice(&bumpers);
  robot.addRangeDevice(&ir);
  
  // try to connect, if we fail exit
  if (!connector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    return 1;
  }

  // turn on the motors, turn off amigobot sound effects (for old h8-model amigobots)
  robot.enableMotors();
  robot.comInt(ArCommands::SOUNDTOG, 0);

  // add the actions created above
  robot.addAction(&recoverAct, 100);
  robot.addAction(&bumpAct, 75);
  robot.addAction(&avoidFrontNearAct, 50);
  robot.addAction(&avoidFrontFarAct, 49);
  robot.addAction(&constantVelocityAct, 25);

  // Cycle callback to check for events
  robot.addUserTask("checkevents", 1, new ArGlobalRetFunctor1<bool, ArRobot*>(&cycleCallback, &robot));


  // start the robot running, true means that if we lose robot connection the 
  // ArRobot runloop stops
  robot.runAsync(true);
  
  // Print data header
#define HEADFORMAT "%-24s %-16s %-6s %-6s %-6s %-6s %-6s %s"
#define DATAFORMAT "%-24s %-16s %-6s %-6s %-6s %-6s %-6s" // doesn't include bumps details on end
  printf("\n" HEADFORMAT "\n\n",
        "Time",
        "StallVal",
        "StallL",
        "StallR",
        "EStop",
        "IR L",
        "IR R",
        "Bumps Triggered"
    );

  // Print data every second
  char timestamp[24];
  while(robot.isRunning()) {
    robot.lock();
    if(cumulativeStallVal || wasEStopTriggered || wasLeftIRTriggered || wasRightIRTriggered)
    {
      time_t t = time(NULL);
      strftime(timestamp, 24, "%Y-%m-%d %H:%M:%S", localtime(&t));
      printf( DATAFORMAT,
          timestamp,
          int_as_bitstring(cumulativeStallVal).c_str(),
          (wasLeftMotorStalled?"YES":"   "), 
          (wasRightMotorStalled?"YES":"   "),
          (wasEStopTriggered ? "YES" : "   "),
          (wasLeftIRTriggered ? "YES" : "   " ),
          (wasRightIRTriggered ? "YES" : "   " )
        );

      // list indices of bumpers flaged in stallval
      // skip the last bit which is a motor stall flag
      ArTypes::UByte2 bumpmask = ArUtil::BIT15;
      int bump = 0;
      for(int bit = 16; bit > 0; bit--) 
      {
        if(bit == 9) // this is also a motor stall bit
        {
          bumpmask = bumpmask >> 1; 
          bit--;
          continue;
        }
        //printf("\n\tComparing stallval=%s to bumpmask=%s... ", int_as_bitstring(stallval).c_str(), int_as_bitstring(bumpmask).c_str());
        if(cumulativeStallVal & bumpmask)
          printf("%d ", bump);
        bumpmask = bumpmask >> 1;
        bump++;
      }

      puts(""); // newline
    }

    // clear values to accumulate for the next second
    cumulativeStallVal = 0;
    wasLeftMotorStalled = wasRightMotorStalled = wasLeftIRTriggered = wasRightIRTriggered = wasEStopTriggered = false;

    robot.unlock();
    ArUtil::sleep(1000);
  }
  
  // robot cycle stopped, probably because of lost robot connection
  Aria::shutdown();
  return 0;
}