/*
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"

void sigHandlerTest(int signal)
{
  printf("Sig %d %s\n", signal, ArSignalHandler::nameSignal(signal));
}

int main(int argc, char** argv)
{
  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);
  // robot
  ArRobot robot;
  // a laser in case one is used
  ArSick sick;
  // a key handler so we can do our key handling
  ArKeyHandler keyHandler;
  // sonar, must be added to the robot, for teleop and wander
  ArSonarDevice sonarDev;

  // parse the args and if there are more arguments left then it means
  // we didn't understand an option
  if (!simpleConnector.parseArgs() || argc > 1)
  {    
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }

  // mandatory init
  Aria::init();
  //ArLog::init(ArLog::StdOut, ArLog::Verbose);

  ArGlobalFunctor1<int> signalHandlerCB(&sigHandlerTest);
  ArSignalHandler::addHandlerCB(&signalHandlerCB, ArListPos::FIRST);

  // let the global aria stuff know about it
  Aria::setKeyHandler(&keyHandler);
  // toss it on the robot
  robot.attachKeyHandler(&keyHandler);

  // 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::shutdown();
    keyHandler.restore();
    return 1;
  }

  simpleConnector.setupLaser(&sick);

  // 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::shutdown();
    keyHandler.restore();
    return 1;
  }
  
  // we need to lock the robot since we'll be setting up these modes
  // while the robot is already running and don't want anything to
  // break
  robot.lock();
  
  // now add all the modes
  ArModeLaser laser(&robot, "laser", 'l', 'L', &sick);
  ArModeTeleop teleop(&robot, "teleop", 't', 'T');
  ArModeUnguardedTeleop unguardedTeleop(&robot, "unguarded teleop", 'u', 'U');
  ArModeWander wander(&robot, "wander", 'w', 'W');
  ArModeGripper gripper(&robot, "gripper", 'g', 'G');
  ArModeCamera camera(&robot, "camera", 'c', 'C');
  ArModeSonar sonar(&robot, "sonar", 's', 'S');
  ArModeBumps bumps(&robot, "bumps", 'b', 'B');
  ArModePosition position(&robot, "position", 'p', 'P', &gyro);
  ArModeIO io(&robot, "io", 'i', 'I');
  ArModeActs actsMode(&robot, "acts", 'a', 'A');

  // activate the default mode
  teleop.activate();

  // turn on the motors
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::JOYDRIVE, 1);

  robot.unlock();
  
  robot.waitForRunExit();
  // now exit
  Aria::shutdown();
  return 0;


}