/*
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"
#include "ArMTXIO.h"

/** @example mtxPowerControl.cpp  Shows how to turn power outputs on and off on
 * MTX.
 * The 'mtx' Linux kernel module must be loaded, and the /dev/mtx character
 * device must have been created (see mtxPowerControlDriver documentation).  You must
 * have read/write access to /dev/mtx.
 */

void testPower(ArMTXIO& io, const char* name, int bank, int bit, const char *conndesc)
{
  io.lock();
  ArLog::log(ArLog::Terse, "mtxPowerControl: Turning on %s (bank %d bit %d) for 3 seconds. This is at connector %s", name, bank, bit, conndesc);
  io.setPowerOutput(bank, bit, true);
  io.unlock();
  ArUtil::sleep(3000);
  io.lock();
  ArLog::log(ArLog::Terse, "mtxPowerControl: Turning off %s.", name);
  io.setPowerOutput(bank, bit, false);
  io.unlock();
  ArUtil::sleep(3000);
}

int main(int argc, char **argv)
{
  Aria::init();
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();
  ArRobot robot;

  ArRobotConnector robotConnector(&parser, &robot);
  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "mtxPowerControl: Could not connect to the robot.");
    if(parser.checkHelpAndWarnUnparsed())
    {
        // -help not given
        Aria::logOptions();
        Aria::exit(1);
    }
  }

  if (!Aria::parseArgs() || !parser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::exit(1);
  }
  ArLog::log(ArLog::Normal, "mtxPowerControl: Connected.");
  robot.comInt(ArCommands::JOYINFO, 0);

  ArMTXIO io;

  if(!io.isEnabled())
  {
    ArLog::log(ArLog::Terse, "mtxPowerControl: Error opening MTX IO device interface!");
    Aria::exit(4);
  }

  robot.runAsync(true);

  // Note that bank and bits are 0-indexed, so 1 is subtracted here to effect
  // that.
  testPower(io, "Aux_5V_Out", 3-1, 1-1, "AUX POWER pin #4");
  testPower(io, "Aux_12V_Out", 3-1, 2-1, "AUX POWER pin #5");
  testPower(io, "Aux_20V_Out", 3-1, 3-1, "AUX POWER pin #6");
  testPower(io, "Aux_24V_Raw_1", 2-1, 5-1, "USER POWER pin #7");
  testPower(io, "Aux_24V_Raw_2", 2-1, 6-1, "USER POWER pin #8");
  testPower(io, "Aux_24V_Raw_3_4", 2-1, 7-1, "USER POWER pins 9, 10 (no estop), 11, 12 with estop)");
  

  // You can control power to robot components as well. See manual for more
  // info.
  // LRF power is bank 1 bit 3
  // Wheel lights is bank 1 bit 6
  // Sonar 1 power is bank 1 bit 7
  // Sonar 2 power is bank 1 bit 8
  // Audio amp. is bank 3 bit 5
  // USB 1+2 is Bank 2 bit 1 (USB12_5V_SW on AUX SENSORS pin 9, and on USB connectors 1 and 2)
  // USB 3 is Bank 2 bit 2 (USB3_5V_SW on AUX SENSORS pin 14, and on USB connector 3)
  // Aux laser 1 power is bank 2 bit 3 (vert) (Vertical_Laser_Power, AUX SENSORS pins 5 and 10)
  // Aux laser 2 power is bank 2 bit 4 (foot) (Foot_Laser_Power, AUX SENSORS pin 15



  ArLog::log(ArLog::Terse, "mtxPowerControl: Exit");
  Aria::exit(0);

}