/*
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"

ArRobot *robot;

void printer(void)
{
  printf("vel %5.0f rot vel %5.0f\n", robot->getVel(), robot->getRotVel());
}


int main(int argc, char **argv)
{
  double speed = 1000;
  double squareSide = 2000;

  // whether to use the sim for the laser or not, if you use the sim
  // for hte laser, you have to use the sim for the robot too
  // robot
  robot = new ArRobot;
  // the laser
  ArSick sick;
  // set up our simpleConnector
  ArSimpleConnector simpleConnector(&argc, argv);

  // set up a key handler so escape exits and attach to the robot
  ArKeyHandler keyHandler;
  robot->attachKeyHandler(&keyHandler);

  // parse its arguments
  if (simpleConnector.parseArgs())
  {
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }

  // if there are more arguments left then it means we didn't
  // understand an option
  /*
  if (argc > 1)
  {    
    simpleConnector.logOptions();
    keyHandler.restore();
    exit(1);
  }
  */

  // set a default filename
  //std::string filename = "c:\\log\\1scans.2d";
  std::string filename = "1scans.2d";
  // see if we want to use a different filename
  //if (argc > 1)
  //Lfilename = argv[1];
  printf("Logging to file %s\n", filename.c_str());
  // start the logger with good values
  
  //sick.configureShort(useSim, ArSick::BAUD38400, 	 ArSick::DEGREES180, ArSick::INCREMENT_HALF);
  ArSickLogger logger(robot, &sick, 300, 25, filename.c_str());
  
  // mandatory init
  Aria::init();

  // add it to the robot
  robot->addRangeDevice(&sick);

  //ArAnalogGyro gyro(robot);


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

  robot->setRotVelMax(300);
  robot->setRotAccel(300);
  robot->setRotDecel(300);

  robot->setAbsoluteMaxTransVel(2000);
  robot->setTransVelMax(2000);
  robot->setTransAccel(500);
  robot->setTransDecel(500);
  /*
  robot->comInt(82, 30); // rotkp
  robot->comInt(83, 200); // rotkv
  robot->comInt(84, 0); // rotki
  robot->comInt(85, 15); // transkp
  robot->comInt(86, 450); // transkv
  robot->comInt(87, 4); // transki
  */
  robot->comInt(82, 30); // rotkp
  robot->comInt(83, 200); // rotkv
  robot->comInt(84, 0); // rotki
  robot->comInt(85, 30); // transkp
  robot->comInt(86, 450); // transkv
  robot->comInt(87, 4); // transki
  // run the robot, true here so that the run will exit if connection lost
  robot->runAsync(true);



  // set up the laser before handing it to the laser mode
  simpleConnector.setupLaser(&sick);

  // now that we're connected to the robot, connect to the laser
  sick.runAsync();

 if (!sick.blockingConnect())
  {
    printf("Could not connect to SICK laser... exiting\n");
    robot->disconnect();
    Aria::shutdown();
    return 1;
  }

  robot->lock();
  robot->addUserTask("printer", 50, new ArGlobalFunctor(&printer));
  robot->unlock();

#ifdef WIN32
  // wait until someone pushes the motor button to go
  while (1)
  {
    robot->lock();
    if (!robot->isRunning())
      exit(0);
    if (robot->areMotorsEnabled())
    {
      robot->unlock();
      break;
    }
    robot->unlock();
    ArUtil::sleep(100);
  }
#endif

  // basically from here on down the robot just cruises around a bit

  printf("Starting moving\n");
  robot->lock();
  // enable the motors, disable amigobot sounds
  robot->comInt(ArCommands::ENABLE, 1);
  robot->setHeading(0);
  robot->setVel(1000);
  robot->unlock();

  ArUtil::sleep(speed / 500.0 * 1000.0);
  printf("Should be up to speed, moving on first side\n");
  ArUtil::sleep(squareSide / speed * 1000);
  printf("Turning to second side\n");
  robot->lock();
  robot->setHeading(90);
  robot->setVel(speed);
  robot->unlock();
  ArUtil::sleep(squareSide / speed * 1000);
  printf("Turning to third side\n");
  robot->lock();
  robot->setHeading(180);
  robot->setVel(speed);
  robot->unlock();
  ArUtil::sleep(squareSide / speed * 1000);
  printf("Turning to last side\n");
  robot->lock();
  robot->setHeading(-90);
  robot->setVel(speed);
  robot->unlock();
  ArUtil::sleep(squareSide / speed * 1000);
  printf("Pointing back original direction and stopping\n");
  robot->lock();
  robot->setHeading(0);
  robot->setVel(0);
  robot->unlock();
  ArUtil::sleep(300);

  printf("Stopped\n");
  sick.lockDevice();
  sick.disconnect();
  sick.unlockDevice();
  robot->lock();
  robot->disconnect();
  robot->unlock();

  // now exit
  Aria::shutdown();
  return 0;
}