/*
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 "ArRatioInputRobotJoydrive.h"
#include "ArRobot.h"
#include "ArRobotJoyHandler.h"
#include "ariaInternal.h"
#include "ArCommands.h"

/**
   @param robot robot
   @param input Action to attach to and use to drive the robot. 
   @param priority Priority of this joystick input handler with respect to other input
   objects attached to the @a input action object.
   @param requireDeadmanPushed if this is true the joystick "dead man" button must be
   pushed for us to drive. If  this is false we'll follow the
   joystick input no matter what
**/

AREXPORT ArRatioInputRobotJoydrive::ArRatioInputRobotJoydrive(
	ArRobot *robot, ArActionRatioInput *input, 
	int priority, bool requireDeadmanPushed) :
  myFireCB(this, &ArRatioInputRobotJoydrive::fireCallback)
{
  myRobot = robot;
  myInput = input;
  myRequireDeadmanPushed = requireDeadmanPushed;
  myDeadZoneLast = false;
  
  if ((myRobotJoyHandler = Aria::getRobotJoyHandler()) == NULL)
  {
    myRobotJoyHandler = new ArRobotJoyHandler(robot);
    Aria::setRobotJoyHandler(myRobotJoyHandler);
  }

  myFireCB.setName("RobotJoydrive");
  myInput->addFireCallback(priority, &myFireCB);

}

AREXPORT ArRatioInputRobotJoydrive::~ArRatioInputRobotJoydrive()
{

}

AREXPORT void ArRatioInputRobotJoydrive::fireCallback(void)
{
  bool printing = false;

  bool button1 = myRobotJoyHandler->getButton1();
  // if we need the deadman to activate and it isn't pushed just bail
  if (myRequireDeadmanPushed && !button1)
  {
    if (printing)
      printf("Nothing\n");
    myDeadZoneLast = false;
    return;
  }

  double rotRatio;
  double transRatio;
  double throttleRatio;

  myRobotJoyHandler->getDoubles(&rotRatio, &transRatio, &throttleRatio);
  
  rotRatio *= 100.0;
  transRatio *= 100.0;
  throttleRatio *= 100.0;

  bool doTrans = true;
  bool doRot = true;

  
  if (!myRequireDeadmanPushed)
  {
    doTrans = ArMath::fabs(transRatio) > 33;
    doRot = ArMath::fabs(rotRatio) > 33;
  }

  if (!doTrans && !doRot)
  {
    // if the joystick is in the center, we don't need the deadman,
    // and we were stopped lasttime, then just let other stuff go
    if (myDeadZoneLast && !myRequireDeadmanPushed) 
    {
      if (printing)
	printf("deadzone Nothing\n");
      return;
    }
    // if the deadman doesn't need to be pushed let something else happen here
    if (printing)
      printf("deadzone\n");
    //myInput->setRatios(transRatio, rotRatio, throttleRatio);
    myInput->setRatios(0, 0, throttleRatio);
    myDeadZoneLast = true;
    return;
  }

  myDeadZoneLast = false;
  if (!doRot)
    rotRatio = 0;
  if (!doTrans)
    transRatio = 0;

  if (printing)
    printf("%.0f %.0f %.0f\n", transRatio, rotRatio, throttleRatio);
  
  if (printing)
    printf("(%ld ms ago) we got %d %d %.2f %.2f %.2f (speed %.0f %.0f)\n", 
	   myRobotJoyHandler->getDataReceivedTime().mSecSince(),
	   button1, myRobotJoyHandler->getButton2(), transRatio, rotRatio, 
	   throttleRatio, myRobot->getVel(), myRobot->getRotVel());

  myInput->setRatios(transRatio, rotRatio, throttleRatio);
}