/*
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"

/* Tests the MOVE command */

int main(int argc, char **argv)
{
  ArRobot robot;
  Aria::init();
  ArSimpleConnector connector(&argc, argv);
  if (!connector.parseArgs() || argc > 1)
  {
    connector.logOptions();
    return 1;
  }
  
  if (!connector.connectRobot(&robot))
  {
    ArLog::log(ArLog::Terse, "moveCommandTest: Could not connect to robot... exiting.");
    return 2;
  }

  robot.runAsync(true);

  robot.lock();
  robot.enableMotors();
  robot.unlock();

  ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 500 mm...");
  robot.lock();
  robot.move(500);
  robot.unlock();
  ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 5 seconds...\n");
  ArUtil::sleep(5000);

  ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 2000 mm...");
  robot.lock();
  robot.move(2000);
  robot.unlock();
  ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 10 seconds...\n");
  ArUtil::sleep(10000);

  ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 5000 mm...");
  robot.lock();
  robot.move(5000);
  robot.unlock();
  ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 15 seconds...\n");
  ArUtil::sleep(15000);

  ArLog::log(ArLog::Normal, "moveCommandTest: Sending command to MOVE 10000 mm... The robot may ignore this command, since the argument is so large.");
  robot.lock();
  robot.move(10000);
  robot.unlock();
  ArLog::log(ArLog::Normal, "moveCommandTest: Sleeping for 30 seconds...\n");
  ArUtil::sleep(30000);
  
  ArLog::log(ArLog::Normal, "moveCommandTest: Ending robot thread and exiting.");
  robot.stopRunning();
  return 0;
}