/*
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 <assert.h>

struct VelParams {
  int transVel, transNegVel, transAccel, transDecel, rotVel, rotAccel, rotDecel, latVel, latAccel, latDecel;
  void assertEqual(const VelParams &p)
  {
    assert(p.transVel == transVel);
    assert(p.transNegVel == transNegVel);
    assert(p.transAccel == transAccel);
    assert(p.transDecel == transDecel);
    assert(p.rotVel == rotVel);
    assert(p.rotAccel == rotAccel);
    assert(p.rotDecel == rotDecel);
    assert(p.latVel == latVel);
    assert(p.latAccel == latAccel);
    assert(p.latDecel == latDecel);
  }
};

VelParams SentMax, RecdMax;


bool handleAbsoluteMaxesReplyPacket(ArRobotPacket *pkt)
{
  if(pkt->getID() != 213) return false;
  ArLog::log(ArLog::Normal, "Received ABSOLUTE_MAXES reply with:");
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransVel=%d (SentMax %d)", RecdMax.transVel= pkt->bufToByte2(), SentMax.transVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransNegVel=%d (SentMax %d)", RecdMax.transNegVel = pkt->bufToByte2(), SentMax.transNegVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransAccel=%d (SentMax %d)", RecdMax.transAccel = pkt->bufToByte2(), SentMax.transAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransDecel=%d (SentMax %d)", RecdMax.transDecel = pkt->bufToByte2(), SentMax.transDecel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotVel=%d (SentMax %d)", RecdMax.rotVel = pkt->bufToByte2(), SentMax.rotVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotAccel=%d (SentMax %d)", RecdMax.rotAccel = pkt->bufToByte2(), SentMax.rotAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotDecel=%d (SentMax %d)", RecdMax.rotDecel = pkt->bufToByte2(), SentMax.rotDecel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatVel=%d (SentMax %d)", RecdMax.latVel = pkt->bufToByte2(), SentMax.latVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatAccel=%d (SentMax %d)", RecdMax.latAccel = pkt->bufToByte2(), SentMax.latAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatDecel=%d (SentMax %d)", RecdMax.latDecel = pkt->bufToByte2(), SentMax.latDecel);
  SentMax.assertEqual(RecdMax);
  return true;
}

int main(int argc, char **argv)
{
  Aria::init();
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();
  ArRobot robot;

  ArRobotConnector robotConnector(&parser, &robot);
  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "testAbsoluteMaxesCommand: Could not connect to the robot.");
    if(parser.checkHelpAndWarnUnparsed())
    {
        // -help not given
        Aria::logOptions();
        Aria::exit(1);
    }
  }

  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(1);
  }

  ArLog::log(ArLog::Normal, "testAbsoluteMaxesCommand: Connected.");

  // Start the robot processing cycle running in the background.
  // True parameter means that if the connection is lost, then the 
  // run loop ends.
  robot.runAsync(true);

  ArUtil::sleep(500);
  ArLog::log(ArLog::Normal, "Initial ARIA defaults for absolute maximums:");
  robot.lock();
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransVel=%d", robot.getAbsoluteMaxTransVel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransNegVel=%d", robot.getAbsoluteMaxTransNegVel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransAccel=%d", robot.getAbsoluteMaxTransAccel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransDecel=%d", robot.getAbsoluteMaxTransDecel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotVel=%d", robot.getAbsoluteMaxRotVel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotAccel=%d", robot.getAbsoluteMaxRotAccel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotDecel=%d", robot.getAbsoluteMaxRotDecel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatVel=%d", robot.getAbsoluteMaxLatVel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatAccel=%d", robot.getAbsoluteMaxLatAccel());
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatDecel=%d", robot.getAbsoluteMaxLatDecel());
  robot.unlock();

  // Send ABSOLUTE_MAXES
  ArRobotPacket pkt;
  pkt.setID(ArCommands::ABSOLUTE_MAXES);
  pkt.byte2ToBuf(SentMax.transVel = 500);  
  pkt.byte2ToBuf(SentMax.transNegVel = 500);
  pkt.byte2ToBuf(SentMax.transAccel = 200);
  pkt.byte2ToBuf(SentMax.transDecel = 200);
  pkt.byte2ToBuf(SentMax.rotVel = 50);
  pkt.byte2ToBuf(SentMax.rotAccel = 20);
  pkt.byte2ToBuf(SentMax.rotDecel = 20);
  pkt.byte2ToBuf(SentMax.latVel = 500);
  pkt.byte2ToBuf(SentMax.latAccel = 200);
  pkt.byte2ToBuf(SentMax.latDecel = 200);
  pkt.finalizePacket();
  ArLog::log(ArLog::Normal, "Sending ABSOLUTE_MAXES command with:");
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransVel=%d", SentMax.transVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransNegVel=%d", SentMax.transNegVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransAccel=%d", SentMax.transAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxTransDecel=%d", SentMax.transDecel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotVel=%d", SentMax.rotVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotAccel=%d", SentMax.rotAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxRotDecel=%d", SentMax.rotDecel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatVel=%d", SentMax.latVel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatAccel=%d", SentMax.latAccel);
  ArLog::log(ArLog::Normal, "\tAbsoluteMaxLatDecel=%d", SentMax.latDecel);
  robot.lock();
  robot.getPacketSender()->sendPacket(&pkt);
  robot.unlock();



  ArLog::log(ArLog::Normal, "testAbsoluteMaxesCommand: Waiting for robot disconnect...");
  robot.waitForRunExit();
  ArLog::log(ArLog::Normal, "testAbsoluteMaxesCommand: Exiting.");
  Aria::exit(0);
  return 0;
}