/*
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 actionGroupExample.cpp Example of using ArActionGroup objects to switch
 *         between two different kinds of behavior.
 *
 *  This program creates two action groups, a teleoperation
 *  group and a wander group. Each group contains actions
 *  that together effect the desired behavior: in teleoperation
 *  mode, input actions allow the robot to be driven by keyboard
 *  or joystick, and higher-priority limiter actions help avoid obstacles.
 *  In wander mode, a constant-velocity action drives the robot
 *  forward, but higher-priority avoidance actions make the robot
 *  turn away from obstacles, or back up if an obstacle is hit or
 *  the motors stall.  Keyboard commands (the T and W keys) are
 *  used to switch between the two modes, by activating the 
 *  action group for the chosen mode.
 *
 *  @see ArActionGroup
 *  @see @ref actions overview
 *  @see actionExample.cpp
 */

ArActionGroup *teleop;
ArActionGroup *wander;

// Activate the teleop action group. activateExlcusive() causes
// all other active action groups to be deactivated.
void teleopMode(void)
{
  teleop->activateExclusive();
  printf("\n== Teleoperation Mode ==\n");
  printf("   Use the arrow keys to drive, and the spacebar to stop.\n    For joystick control hold the trigger button.\n    Press 'w' to switch to wander mode.\n    Press escape to exit.\n");
}

// Activate the wander action group. activateExlcusive() causes
// all other active action groups to be deactivated.
void wanderMode(void)
{
  wander->activateExclusive();
  printf("\n== Wander Mode ==\n");
  printf("    The robot will now just wander around avoiding things.\n    Press 't' to switch to  teleop mode.\n    Press escape to exit.\n");
}


int main(int argc, char** argv)
{
  Aria::init();
  ArArgumentParser argParser(&argc, argv);
  ArSimpleConnector con(&argParser);
  ArRobot robot;
  ArSonarDevice sonar;

  argParser.loadDefaultArguments();
  if(!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    return 1;
  }

  /* - the action group for teleoperation actions: */
  teleop = new ArActionGroup(&robot);

  // don't hit any tables (if the robot has IR table sensors)
  teleop->addAction(new ArActionLimiterTableSensor, 100);

  // limiter for close obstacles
  teleop->addAction(new ArActionLimiterForwards("speed limiter near", 
						300, 600, 250), 95);

  // limiter for far away obstacles
  teleop->addAction(new ArActionLimiterForwards("speed limiter far", 
					       300, 1100, 400), 90);

  // limiter so we don't bump things backwards
  teleop->addAction(new ArActionLimiterBackwards, 85);

  // the joydrive action (drive from joystick)
  ArActionJoydrive joydriveAct("joydrive", 400, 15);
  teleop->addAction(&joydriveAct, 50);

  // the keydrive action (drive from keyboard)
  teleop->addAction(new ArActionKeydrive, 45);
  


  /* - the action group for wander actions: */
  wander = new ArActionGroup(&robot);

  // if we're stalled we want to back up and recover
  wander->addAction(new ArActionStallRecover, 100);

  // react to bumpers
  wander->addAction(new ArActionBumpers, 75);

  // turn to avoid things closer to us
  wander->addAction(new ArActionAvoidFront("Avoid Front Near", 225, 0), 50);

  // turn avoid things further away
  wander->addAction(new ArActionAvoidFront, 45);

  // keep moving
  wander->addAction(new ArActionConstantVelocity("Constant Velocity", 400), 25);

  

  /* - use key commands to switch modes, and use keyboard
   *   and joystick as inputs for teleoperation actions. */

  // create key handler if Aria does not already have one
  ArKeyHandler *keyHandler = Aria::getKeyHandler();
  if (keyHandler == NULL)
  {
    keyHandler = new ArKeyHandler;
    Aria::setKeyHandler(keyHandler);
    robot.attachKeyHandler(keyHandler);
  }

  // set the callbacks
  ArGlobalFunctor teleopCB(&teleopMode);
  ArGlobalFunctor wanderCB(&wanderMode);
  keyHandler->addKeyHandler('w', &wanderCB);
  keyHandler->addKeyHandler('W', &wanderCB);
  keyHandler->addKeyHandler('t', &teleopCB);
  keyHandler->addKeyHandler('T', &teleopCB);

  // if we don't have a joystick, let 'em know
  if (!joydriveAct.joystickInited())
    printf("Note: Do not have a joystick, only the arrow keys on the keyboard will work.\n");
  
  // set the joystick so it won't do anything if the button isn't pressed
  joydriveAct.setStopIfNoButtonPressed(false);


  /* - connect to the robot, then enter teleoperation mode.  */

  robot.addRangeDevice(&sonar);
  if(!con.connectRobot(&robot))
  { 
    ArLog::log(ArLog::Terse, "actionGroupExample: Could not connect to the robot.");
    Aria::exit(1);
  }

  robot.enableMotors();
  teleopMode();
  robot.run(true);

  Aria::exit(0);
}