/*
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"

/** @example seekurPower.cpp Control Seekur or Seekur Jr. accessory power
 * switching from command line options.   Run with -help for help on command
 * line options. See robot manuals and notes on http://robots.mobilerobots.com
 * for more information.
 */

typedef struct {
  const char *option;
  int port;
  const char *description;
  int set;
} powerspec;

powerspec PowerSpecs[] = {
  {"pc2", 1,  "Turn onboard computer #2 on or off.", 0},
  {"pc3", 13,  "Turn onboard computer #3 on or off.", 0},
  {"pc4", 14,  "Turn onboard computer #4 on or off", 0},
  {"pc5", 15,  "Turn onboard computer #5 on or off.", 0},
  {"lrf1", 9,  "Turn laser rangefinder #1 on or off.", 0},
  {"lrf2", 24,  "Turn laser rangefinder #2 on or off.", 0},
  {"lrf1heat", 11,  "Turn laser rangefinder #1's heater on or off.", 0},
  {"lrf2heat", 27,  "Turn laser rangefinder #2's heater on or off.", 0},
  {"gps", 6, "Turn GPS receeiver on or off.", 0},
  {"poe", 4, "Turn 12V Power over Ethernet port on or off.", 0},
  {"lan", 5, "Turn internal LAN ethernet switch on or off.", 0},
  {"camera", 12, "Turn the 24V RVision camera on or off.", 0},
  {"rvision", 12, "Turn the 24V RVision camera on or off.", 0},
  {"ptu1", 9, "Turn pan/tilt unit #1 on or off.", 0},
  {"ptu2", 22, "Turn pan/tilt unit #2 on or off.", 0},
  {"ptu3", 23, "Turn pan/tilt unit #3 on or off.", 0},
  {"arm", 29, "Turn the 24V manipulator arm on or off.", 0},
  {"armcam", 7, "Turn the arm camera or other 12V arm accessories on or off.", 0}
};

int main(int argc, char **argv)
{
  int numPowerSpecs = sizeof(PowerSpecs)/sizeof(powerspec);
  Aria::init();
  ArArgumentParser parser(&argc, argv);
  parser.loadDefaultArguments();
  ArRobot robot;
  ArRobotConnector robotConnector(&parser, &robot);

  if(!robotConnector.connectRobot())
  {
    ArLog::log(ArLog::Terse, "seekurPower: Error: Could not connect to the robot.");
    Aria::logOptions();
    Aria::exit(1);
  }

  if (!Aria::parseArgs() || parser.checkArgument("help"))
  {
    Aria::logOptions();
    ArLog::log(ArLog::Terse, "Options for seekurPower command (your robot may not have some of these devices):");
    ArLog::log(ArLog::Terse, "-<n> <on|off|reset>\t\tTurn port <n> on or off, or reset by turning off then on again. Refer to robot documentation or http://robots.mobilerobots.com/wiki/Seekur_Switched_Power_Outputs for list and notes.");
    for(int i = 0; i < numPowerSpecs; ++i)
      ArLog::log(ArLog::Terse, "-%s <on|off|reset>\t\t%s (port %d)", PowerSpecs[i].option, PowerSpecs[i].description, PowerSpecs[i].port);
    ArLog::log(ArLog::Terse, "-robotOff\t\tTurn whole robot off");
    Aria::exit(2);
  }

  if(parser.checkArgument("-robotOff"))
  {
    ArLog::log(ArLog::Terse, "-robotOff given -- powering down entire robot with command #119 in 5 seconds...");
    for(int i = 5; i > 0; --i)
    {
      ArLog::log(ArLog::Terse, "Shutting down in %d seconds...", i);
      ArUtil::sleep(1000);
    }
    robot.com(119);
    Aria::exit(0);
  }
      

  std::list<powerspec> todo;

  int nargs = parser.getArgc();
  for(int argi = 1; argi < nargs; ++argi)
  {
    const char *opt = parser.getArg(argi);
    if(opt[0] != '-')
    {
      ArLog::log(ArLog::Terse, "seekurPower: Error: invalid option %s. Use -help for list of options.", opt);
      Aria::exit(4);
    }
    ++opt;
    if(opt[0] == '-')
      ++opt;
    bool found = false;
    if(argi == nargs-1) // option given as last argument, with no value
    {
      ArLog::log(ArLog::Terse, "seekurPower: Error: Missing argument to last option %s. Specify on, off or reset.", opt);
      Aria::exit(7);
    }
    const char *val = parser.getArg(++argi);
    for(int pi = 0; pi < numPowerSpecs; ++pi)
    {
      powerspec ps = PowerSpecs[pi];
      if(strcmp(opt, ps.option) == 0) 
      {
        found = true;
        if(strcmp(val, "on") == 0)
          ps.set = 1;
        else if(strcmp(val, "off") == 0)
          ps.set = 0;
        else if(strcmp(val, "reset") == 0)
          ps.set = 2;
        else
        {
          ArLog::log(ArLog::Terse, "seekurPower: Error: Invalid value '%s' for option %s. Use on, off or reset.", val, opt);
          Aria::exit(6);
        }
        todo.push_back(ps);
        break;
      }
    }
    if(!found)
    {
      if(ArUtil::isOnlyNumeric(opt))
      {
        found = true;
        powerspec ps;
        ps.option = opt;
        ps.description = NULL;
        ps.port = atoi(opt);
        if(strcmp(val, "on") == 0)
          ps.set = 1;
        else if(strcmp(val, "off") == 0)
          ps.set = 0;
        else if(strcmp(val, "reset") == 0)
          ps.set = 2;
        todo.push_back(ps);
      }
    }
    if(!found)
    {
      ArLog::log(ArLog::Terse, "seekurPower: Warning: unrecognized option %s. Use -help for list of options.", opt);
    }
  }


  for(std::list<powerspec>::const_iterator i = todo.begin(); i != todo.end(); ++i)
  {
    powerspec ps = *i;
    if(ps.set == 2)
    {
      ArLog::log(ArLog::Normal, "seekurPower: Switching %s (port %d) off, waiting 2 seconds., then switching it back on again...", ps.option, ps.port);
      robot.com2Bytes(116, ps.port, 0);
      ArUtil::sleep(2000);
      robot.com2Bytes(116, ps.port, 1);
    }
    else
    {
      ArLog::log(ArLog::Normal, "seekurPower: Switching %s (port %d) %s...", ps.option, ps.port, ps.set?"on":"off");
      robot.com2Bytes(116, ps.port, ps.set);
    }
  }
  

  Aria::exit(0);
}