/*
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 armExample.cpp Example program showing use of the original 5DOF P2 arm accessory.
 *
 *  Demonstrates how to connect with the Pioneer 2 controller
 *  and set up the P2Arm class, including the ARMpac handler.
 *  It simply queries and prints the status of the arm, moving it to a position, then exits.
 *  Note, The P2Arm class is only for use with the microcontroller-integrated original 5DOF 
 *  Pioneer 2 arm (Robotica arm).  The newer Energid Cyton 7DOF arm is accessed through 
 *  separate cyton libraries.
 *
*/

int main(int argc, char **argv)
{
  Aria::init();
  ArSimpleConnector con(&argc, argv);
  ArRobot robot;
  ArP2Arm arm;


  if(!Aria::parseArgs()) 
  {
    Aria::logOptions();
    Aria::exit(1);
    return 1;
  }

  ArLog::log(ArLog::Normal, "armExample: Connecting to the robot.");
  if(!con.connectRobot(&robot))
  {
    ArLog::log(ArLog::Terse, "armExample: Could not connect to the robot. Exiting.");
    Aria::exit(1);
    return 1;
  }
  robot.runAsync(true);

  // turn off sonar
  robot.comInt(28, 0);

  // Set up and initialize the arm
  arm.setRobot(&robot);
  if (arm.init() != ArP2Arm::SUCCESS)
  {
    ArLog::log(ArLog::Terse, "armExample: Error initializing the P2 Arm!");
    return 1;
  }

  // Print out some of the settings
  P2ArmJoint *joint;
  printf("Current joint info:\nJoint   Vel  Home  Center\n");
  for (int i=1; i<=ArP2Arm::NumJoints; i++)
  {
    joint = arm.getJoint(i);
    printf("  %2i:  %5i %5i   %5i\n", i, joint->myVel, joint->myHome, joint->myCenter);
  }
  printf("\n");

  // Put the arm to work
  printf("Powering on  (takes a couple seconds to stabilize)\n");
  arm.powerOn();

  // Request one status packet and print out the arm's status
  printf("Current arm status:\n");
  arm.requestStatus(ArP2Arm::StatusSingle);
  ArUtil::sleep(200);  // Give time to get the packet
  printf("Arm Status: ");
  if (arm.getStatus() & ArP2Arm::ArmGood)
    printf("Good=1 ");
  else
    printf("Good=0 ");
  if (arm.getStatus() & ArP2Arm::ArmInited)
    printf("Inited=1 ");
  else
    printf("Inited=0 ");
  if (arm.getStatus() & ArP2Arm::ArmPower)
    printf("Power=1 ");
  else
    printf("Power=0 ");
  if (arm.getStatus() & ArP2Arm::ArmHoming)
    printf("Homing=1 ");
  else
    printf("Homing=0 ");
  printf("\n\n");

  // Move the arm joints to specific positions
  printf("Moving Arm...\n");
  int deploy_offset[] = {0, -100, 10, 40, 80, -55, 20};
  for (int i=1; i<=ArP2Arm::NumJoints; i++)
  {
    joint = arm.getJoint(i);
    arm.moveToTicks(i, joint->myCenter + deploy_offset[i]);
  }

  // Wait for arm to achieve new position, printing joint positions and M for
  // moving, NM for not moving.
  arm.requestStatus(ArP2Arm::StatusContinuous);
  ArUtil::sleep(300); // wait a moment for arm status packet update with joints moving
  bool moving = true;
  while (moving)
  {
      moving = false;
      printf("Joints: ");
      for (int i=1; i<=ArP2Arm::NumJoints; i++)
      {
        printf("[%d] %.0f, ", i, arm.getJointPos(i));
        if (arm.getMoving(i))
        {
	        printf("M;  ");
	        moving = true;
	      }
        else
        {
          printf("NM; ");
        }
	    }
      printf("\r");
  }
  printf("\n\n");

  // Return arm to park, wait, and disconnect. (Though the arm will automatically park
  // on client disconnect)
  printf("Parking arm.\n");
  arm.park();

  // Wait 5 seconds or until arm shuts off
  for(int i = 5; (i > 0) && (arm.getStatus() & ArP2Arm::ArmPower); i--)
  {
    ArUtil::sleep(1000);
  }

  // Disconnect from robot, etc., and exit.
  printf("Shutting down ARIA and exiting.\n");
  Aria::exit(0);
  return(0);
}