/*
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 "ArExport.h"
#include "ariaOSDef.h"
#include "ArActionLimiterRot.h"
#include "ArRobot.h"
#include "ArCommands.h"
#include "ariaInternal.h"
#include "ArRobotConfigPacketReader.h"
#include "ArRangeDevice.h"

/**
   @param name name of the action
*/
AREXPORT ArActionLimiterRot::ArActionLimiterRot(
	const char *name) :
  ArAction(name,
      "Applies a limit to rotation if there are sensor readings in the radius")
{
  setParameters();

  myUseLocationDependentDevices = true;
}

AREXPORT ArActionLimiterRot::~ArActionLimiterRot()
{

}

/**
   @param checkRadius True to check the radius and apply this speed, false not to
   @param inRadiusSpeed the speed to go at if something is in the radius
   
*/
AREXPORT void ArActionLimiterRot::setParameters(
	bool checkRadius, double inRadiusSpeed)
{
  myCheckRadius = checkRadius;
  myInRadiusSpeed = inRadiusSpeed;
}

AREXPORT void ArActionLimiterRot::addToConfig(ArConfig *config, 
						       const char *section, 
						       const char *prefix)
{
  std::string strPrefix;
  std::string name;
  if (prefix == NULL || prefix[0] == '\0')
    strPrefix = "";
  else
    strPrefix = prefix;

  config->addParam(ArConfigArg(ArConfigArg::SEPARATOR), section, ArPriority::NORMAL);  

  name = strPrefix;
  name += "CheckRadius";
  config->addParam(
	  ArConfigArg(name.c_str(), &myCheckRadius, 
		      "True to check the robot's radius and apply InRadiusSpeed, false not to"), 
	  section, ArPriority::NORMAL);

  name = strPrefix;
  name += "InRadiusSpeed";
  config->addParam(
	  ArConfigArg(name.c_str(), &myInRadiusSpeed, 
		      "Maximum speed to allow if CheckRadius is true and there are sensor readings in the robot's radius, 0 or less means allow no rotation (deg/sec)"), 
	  section, ArPriority::NORMAL);

  config->addParam(ArConfigArg(ArConfigArg::SEPARATOR), section, ArPriority::NORMAL);
}

AREXPORT ArActionDesired *
ArActionLimiterRot::fire(ArActionDesired currentDesired)
{
  bool printing = false;


  if (!myCheckRadius)
  {
    if (printing)
      printf("Nothing\n");
    return NULL;
  }

  double leftDist;
  const ArRangeDevice *leftRangeDevice = NULL;
  double rightDist;
  const ArRangeDevice *rightRangeDevice = NULL;

  double dist;
  const ArRangeDevice *rangeDevice = NULL;

  //ArLog::LogLevel verboseLogLevel = ArLog::Verbose;
  ArLog::LogLevel verboseLogLevel = ArLog::Verbose;
  if (printing)
    verboseLogLevel = ArLog::Normal;


  leftDist = myRobot->checkRangeDevicesCurrentPolar(
	  0, 179.999, NULL, &leftRangeDevice, myUseLocationDependentDevices);

  rightDist = myRobot->checkRangeDevicesCurrentPolar(
	  -179.999, 0, NULL, &rightRangeDevice, myUseLocationDependentDevices);
  
  if (leftDist > 0 && rightDist < 0)
  {
    dist = leftDist;
    rangeDevice = leftRangeDevice;
  }
  else if (rightDist > 0 && leftDist < 0)
  {
    dist = rightDist;
    rangeDevice = rightRangeDevice;
  }
  else if (leftDist > 0 && rightDist > 0)
  {
    if (leftDist < rightDist)
    {
      dist = leftDist;
      rangeDevice = leftRangeDevice;
    }
    else 
    {
      dist = rightDist;
      rangeDevice = rightRangeDevice;
    }
  }
  else
  {
    dist = -1;
    rangeDevice = NULL;
  }

  if (printing)
    printf("left %.0f right %.0f dist %.0f robotRadius %.0f\n", 
	   leftDist, rightDist, dist, myRobot->getRobotRadius());

  if (dist > 0 && dist < myRobot->getRobotRadius())
  {
    if (myInRadiusSpeed <= 0)
    {
      if (printing)
	printf("rot of zero\n");
      myDesired.setMaxRotVel(0);
    }
    else
    {
      if (printing)
	printf("rot of %.0f\n", myInRadiusSpeed);
      myDesired.setMaxRotVel(myInRadiusSpeed);
    }
    return &myDesired;
  }
  else
  {
    if (printing)
      printf("Nothing at the end\n");
    return NULL;
  }
}