/*
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 is a test of Pan/Tilt/Zoom devices using ArPTZ.
*/

#define WAIT 4000

void testPan(ArPTZ *ptz, double pos, const char *tag = "")
{
  ArLog::log(ArLog::Normal, "Pan %s %f...", tag, pos);
  ptz->pan(pos);
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, " => At pan %f.", ptz->getPan());
}
void testTilt(ArPTZ *ptz, double pos, const char *tag = "")
{
  ArLog::log(ArLog::Normal, "Tilt %s %f...", tag, pos);
  ptz->tilt(pos);
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, " => At tilt %f.", ptz->getTilt());
}
void testZoom(ArPTZ *ptz, int pos, const char *tag = "")
{
  ArLog::log(ArLog::Normal, "Zoom %s %d...", tag, pos);
  ptz->zoom(pos);
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, " => At zoom %d.", ptz->getZoom());
}

void testPanRel(ArPTZ *ptz, double pos, const char *tag = "")
{
  ArLog::log(ArLog::Normal, "PanRel %s %f...", tag, pos);
  ptz->panRel(pos);
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, " => At pan %f.", ptz->getPan());
}
void testTiltRel(ArPTZ *ptz, double pos, const char *tag = "")
{
  ArLog::log(ArLog::Normal, "TiltRel %s %f...", tag, pos);
  ptz->tiltRel(pos);
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, " => At tilt %f.", ptz->getTilt());
}

int main(int argc, char **argv) 
{ 
  Aria::init();
  ArRobot robot;
  ArArgumentParser parser(&argc, argv);
  ArRobotConnector con(&parser, &robot);
  if (!con.connectRobot())
  {
  	ArLog::log(ArLog::Terse, "Error connecting to robot.");
    Aria::exit(1);
  }
  if(!Aria::parseArgs())
  {
  	ArLog::log(ArLog::Terse, "Error parsing program arguments.");
    Aria::logOptions();
    Aria::exit(2);
  }

  //ArRVisionPTZ ptz(&robot);
  ArVCC4 ptz(&robot);
  //ArSonyPTZ ptz(&robot);
  //ArDPPTU ptz(&robot);

  ArLog::log(ArLog::Normal, "Using robot connection. (Aux. serial port 1)");

  robot.runAsync(true);
  robot.comInt(ArCommands::SONAR, 0);
  robot.comInt(ArCommands::ENABLE, 0);
  robot.comInt(ArCommands::SOUNDTOG, 0);

  if(!ptz.init())
  {
  	ArLog::log(ArLog::Terse, "Error connecting to and initializing PTZ.");
    Aria::exit(3);
  }

  // ptz.getRealPanTilt();  // vcc4 only
  if(ptz.canGetRealPanTilt()) ArLog::log(ArLog::Normal, "PTU will report real measured pan/tilt positions.");
  else ArLog::log(ArLog::Normal, "PTU cannot report real measured pan/tilt positions, will report commanded positions instead.");
  testPan(&ptz, ptz.getMaxPosPan(), "max");
  testPan(&ptz, ptz.getMaxNegPan(), "min");
  testPan(&ptz, 45);
  testPan(&ptz, -45);
  testPan(&ptz, 0);
  ArLog::log(ArLog::Normal, "Reset...");
  ptz.reset();
  ArUtil::sleep(WAIT);
  testPanRel(&ptz, 45);
  testPanRel(&ptz, -45);
  testPan(&ptz, 0);
  ArLog::log(ArLog::Normal, "Reset...");
  ptz.reset();
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, "");

  testTilt(&ptz, ptz.getMaxPosTilt(), "max");
  testTilt(&ptz, ptz.getMaxNegTilt(), "min");
  testTilt(&ptz, 45);
  testTilt(&ptz, -45);
  testTilt(&ptz, 0);
  ArLog::log(ArLog::Normal, "Reset...");
  ptz.reset();
  ArUtil::sleep(WAIT);
  testTiltRel(&ptz, 45);
  testTiltRel(&ptz, -45);
  testTilt(&ptz, 0);
  ArLog::log(ArLog::Normal, "Reset...");
  ptz.reset();
  ArUtil::sleep(WAIT);
  ArLog::log(ArLog::Normal, "");

  if(ptz.canZoom())
  {
    if(ptz.canGetRealZoom()) ArLog::log(ArLog::Normal, "PTZ will report real measured zoom positions.");
    else ArLog::log(ArLog::Normal, "PTZ cannot report real measured zoom positions, will report commanded positions instead.");
    testZoom(&ptz, ptz.getMaxZoom(), "max");
    testZoom(&ptz, ptz.getMinZoom(), "min");
    testZoom(&ptz, 0);
    ptz.reset();
    ArUtil::sleep(WAIT);
  }
  else
  {
    ArLog::log(ArLog::Normal, "PTU has no zoom feature.");
  }


  Aria::exit(0);
}