/*
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"

/* This tests the response time for IO packet requests sent to the robot.  It can
 * also test response for velocity commands if the section is uncommented.
 *
 * This can be used to see what the delay is in the time a command is sent to the
 * time the command takes effect.
 */

ArTime requestTime;
ArTime velTime;
int n = 0;
int vel = 0;
int ABOUT_RIGHT = 5;

void userTask(ArRobot *robot)
{
  if (robot->getIOPacketTime().mSecSince() > requestTime.mSecSince())
    return;
  else
  {
    ArLog::log(ArLog::Terse, "last packet time: %ld", requestTime.mSecSince() - robot->getIOPacketTime().mSecSince());
    fflush(stdout);
    robot->comInt(ArCommands::IOREQUEST, 1);
    requestTime.setToNow();
  }

  /*  Uncomment the next section to test response in velocity commands. */

  /*
  if (abs((int)(robot->getVel() - vel)) <= ABOUT_RIGHT &&
      velTime.secSince() > 5)
  {
    if (vel == 0)
      vel = 200;
    else if (vel == 200)
      vel = 400;
    else if (vel == 400)
      vel = 0;
    robot->setVel(vel);
    velTime.setToNow();
  }

  ArLog::log(ArLog::Terse, "vel requested: %d\trobot vel: %3.2f\tvel time: %d", vel, robot->getVel(), velTime.mSecSince());
  */

  ArLog::log(ArLog::Terse, "Aria cycle time: %d", robot->getCycleTime());
  fflush(stdout);
}

int main(int argc, char** argv)
{
  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);
  // robot
  ArRobot robot;
  // a key handler so we can do our key handling
  ArKeyHandler keyHandler;

  ArLog::init(ArLog::StdOut,ArLog::Verbose);

  // 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::Terse, NULL, true);

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

  // set up the robot for connecting
  if (!simpleConnector.connectRobot(&robot))
  {
    printf("Could not connect to robot... exiting\n");
    Aria::shutdown();
    keyHandler.restore();
    return 1;
  }

  // turn on the motors for the velocity response test
  robot.comInt(ArCommands::ENABLE, 1);
  velTime.setToNow();

  // turn off the sonar
  robot.comInt(ArCommands::SONAR, 0);

  ArGlobalFunctor1<ArRobot *> userTaskCB(&userTask, &robot);
  robot.addUserTask("iotest", 100, &userTaskCB);

  robot.comInt(ArCommands::IOREQUEST, 1);
  requestTime.setToNow();

  //start the robot running, true so that if we lose connection the run stops
  robot.run(true);
  
  // now exit
  Aria::shutdown();
  return 0;


}