/*
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 program just drives the robot around with a joystick.

  This example uses a user task which has a joystick handler to drive the
  robot.
*/

// the clas which'll have the task to drive the robot
class Joydrive
{
public:
  // the constructor
  Joydrive(ArRobot *robot);
  // the destructor
  ~Joydrive(void);

  // the function which'll drive the robot
  void drive(void);

protected:
  // the joystick handler
  ArJoyHandler myJoyHandler;
  // robot pointer
  ArRobot *myRobot;
  // the callback
  ArFunctorC<Joydrive> myDriveCB;
};

/*
  the constructor, note the use of constructor chaining
*/
Joydrive::Joydrive(ArRobot *robot) :
  myDriveCB(this, &Joydrive::drive)
{
  // set the robot, and add joydrive as a task
  myRobot = robot;
  if (myRobot != NULL)
    myRobot->addUserTask("joydrive", 50, &myDriveCB);

  // initialize the joystick handler
  myJoyHandler.init();
  // set the values we'll get back out of the joystick handler
  myJoyHandler.setSpeeds(100, 700);

  // see if we have the joystick, and let the user know
  if (myJoyHandler.haveJoystick())
  {
    printf("Have a joystick\n\n");
  }
  // we don't have a joystick, exit
  else
  {
    printf("Do not have a joystick, set up the joystick then rerun the program\n\n");
    Aria::exit(1);
  }
}

Joydrive::~Joydrive(void)
{
  // remove the user task from the robot
  if (myRobot != NULL)
    myRobot->remUserTask(&myDriveCB);
}

void Joydrive::drive(void)
{
  int trans, rot;

  // print out some data about the robot
  printf("\rx %6.1f  y %6.1f  tth  %6.1f vel %7.1f mpacs %3d   ", 
	 myRobot->getX(), myRobot->getY(), myRobot->getTh(), 
	 myRobot->getVel(), myRobot->getMotorPacCount());
  fflush(stdout);

  // see if a joystick butotn is pushed, if so drive
  if (myJoyHandler.haveJoystick() && (myJoyHandler.getButton(1) ||
				    myJoyHandler.getButton(2)))
  {
    // get the values out of the joystick handler
    myJoyHandler.getAdjusted(&rot, &trans);
    // drive the robot
    myRobot->setVel(trans);
    myRobot->setRotVel(-rot);
  }
  // if a button isn't pushed, stop the robot
  else
  {
    myRobot->setVel(0);
    myRobot->setRotVel(0);
  }
}

int main(int argc, char **argv) 
{
  std::string str;
  int ret;
  
  // connection
  ArTcpConnection con;
  // robot, this starts it with state reflecting turned off
  ArRobot robot(NULL, false);
  // make the joydrive instance, which adds its task to the robot
  Joydrive joyd(&robot);

  // mandatory aria initialization
  Aria::init();
  
  // open the connection, if it fails, exit
  if ((ret = con.open()) != 0)
  {
    str = con.getOpenMessage(ret);
    printf("Open failed: %s\n", str.c_str());
    Aria::exit(1);
    return 1;
  }

  // set the robots connection
  robot.setDeviceConnection(&con);
  // try to connect, if we fail exit
  if (!robot.blockingConnect())
  {
    printf("Could not connect to robot... exiting\n");
    Aria::exit(1);
    return 1;
  }

  // turn off sonar, turn the motors on, turn off amigobot sound
  robot.comInt(ArCommands::SONAR, 0);
  robot.comInt(ArCommands::ENABLE, 1);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  // run the robot, true so that if connection is lost the run stops
  robot.run(true);
  // now exit
  Aria::exit(0);   // exit program
  return 0;
}