/*
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 monitors the time it takes to receive a new value
 * for Sonar #3.
 *
 * (Or, you can uncomment code in main() to experiment with different
 * sonar polling sequences).
 */


class SonarMonitor
{
private:
  ArRobot* myRobot;
  int mySonarNum;
  ArTime myTimer;
  ArFunctorC<SonarMonitor> myCB;

public:

  SonarMonitor(ArRobot* r, int s) : 
    myRobot(r), mySonarNum(s), myCB(this, &SonarMonitor::cycleCallback)
  {
    ArLog::log(ArLog::Normal, "Sonar Monitor: Monitoring sonar transducer #%d", s);
    myTimer.setToNow();
    myRobot->addSensorInterpTask("SonarMonitor", 1, &myCB);
  }

  void cycleCallback()
  {
    if(myRobot->isSonarNew(mySonarNum))
    {
      ArLog::log(ArLog::Normal, "Sonar Monitor: It took %d ms for sonar #%d to be refreshed (range value=%d)",
        myTimer.mSecSince(), mySonarNum, myRobot->getSonarRange(mySonarNum));
      myTimer.setToNow();
    }
  }
};

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, "Sonar Monitor: Error: Could not connect to robot... exiting\n");
    return 2;
  }

  ArLog::log(ArLog::Normal, "Sonar Monitor: Connected.\n");

  // Check the state of sonar index 1 (the second sonar) every cycle
  SonarMonitor sonarMon(&robot, 1);

  // Check the state of sonar index 4 (the fifth sonar) every cycle
  SonarMonitor sonarMon2(&robot, 4);

  // You can experiment with different polling sequences by commenting
  // out one of the following commands:
  
  /* 
   * Change the polling sequence to only enable one sonar (#0 if you are
   * counting from 0 like ARIA, but 1 counting from 1 like ARCOS):
   */
  //char sequence[1] = {2};
  //robot.comStrN(ArCommands::POLLING, sequence, 2);

  /* 
   * This would work too:
   */
  //char sequence[8] = {2, 2, 2, 2, 2, 2, 2, 2};
  //robot.comStrN(ArCommands::POLLING, sequence, 8);

  /* 
   * Only enable the left-front side of a pioneer, or the front of an amigo:
   */
  //char sequence[4] = {2, 3, 4, 5};
  //robot.comStrN(ArCommands::POLLING, sequence, 4);

  // Run robot loop until killed.
  robot.run(true);
  return 0;
}