/*
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"

/** @example joydriveActionExample.cpp Example ArAction object that uses
 * ArJoyHandler to get joystick input.
 *
  This program just drives the robot around with a joystick,
  by way of an ArAction class which reads data fram an ArJoyHandler.
  Its a practical example of actions.
*/

// the action which will drive the robot
class JoydriveAction : public ArAction
{
public:
  // constructor
  JoydriveAction(void);
  // empty destructor
  virtual ~JoydriveAction(void);
  //the fire which will actually tell the resolver what to do
  virtual ArActionDesired *fire(ArActionDesired currentDesired);
  // whether the joystick is initalized or not
  bool joystickInited(void);
protected:
  // action desired
  ArActionDesired myDesired;
  // joystick handler
  ArJoyHandler myJoyHandler;
};

/*
  Note the use of constructor chaining with ArAction.
*/  
JoydriveAction::JoydriveAction(void) :
  ArAction("Joydrive Action", "This action reads the joystick and sets the translational and rotational velocity based on this.")
{
  // initialize the joystick
  myJoyHandler.init();
  // set up the speed parameters on the joystick
  myJoyHandler.setSpeeds(50, 700);
}

JoydriveAction::~JoydriveAction(void)
{
}

// whether the joystick is there or not
bool JoydriveAction::joystickInited(void)
{
  return myJoyHandler.haveJoystick();
}

// the guts of the thing
ArActionDesired *JoydriveAction::fire(ArActionDesired currentDesired)
{
  int rot, trans;

  // print out some info about hte robot
  printf("\rx %6.1f  y %6.1f  tth  %6.1f vel %7.1f mpacs %3d", myRobot->getX(),
	 myRobot->getY(), myRobot->getTh(), myRobot->getVel(), 
	 myRobot->getMotorPacCount());
  fflush(stdout);

  // see if one of the buttons is pushed, if so drive
  if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
				    myJoyHandler.getButton(2)))
  {
    // get the readings from the joystick
    myJoyHandler.getAdjusted(&rot, &trans);
    // set what we want to do
    myDesired.setVel(trans);
    myDesired.setDeltaHeading(-rot);
    // return the actionDesired
    return &myDesired;
  }
  else
  {
    // set what we want to do
    myDesired.setVel(0);
    myDesired.setDeltaHeading(0);
    // return the actionDesired
    return &myDesired;
  }
}


int main(int argc, char **argv)
{
  ArRobot robot;
  Aria::init();
  ArSimpleConnector connector(&argc, argv);
  if (!connector.parseArgs() || argc > 1)
  {
    connector.logOptions();
    return 1;
  }

  // Instance of the JoydriveAction class defined above
  JoydriveAction jdAct;

  // if the joydrive action couldn't find the joystick, then exit.
  if (!jdAct.joystickInited())
  {
    printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
    Aria::exit(1);
    return 1;
  }
  
  // Connect to the robot
  if (!connector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    return 2;
  }


  // disable sonar, enable motors, disable amigobot sound
  robot.comInt(ArCommands::SONAR, 0);
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  // add the action
  robot.addAction(&jdAct, 100);
  // run the robot, true so it'll exit if we lose connection
  robot.run(true);
  
  // now exit program
  Aria::exit(0);
  return 0;
}