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/**
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 * Copyright (c) 2011 Colony Project
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 * 
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 * Permission is hereby granted, free of charge, to any person
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 * obtaining a copy of this software and associated documentation
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 * files (the "Software"), to deal in the Software without
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 * restriction, including without limitation the rights to use,
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 * copy, modify, merge, publish, distribute, sublicense, and/or sell
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 * copies of the Software, and to permit persons to whom the
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 * Software is furnished to do so, subject to the following
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 * conditions:
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 * 
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 * The above copyright notice and this permission notice shall be
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 * included in all copies or substantial portions of the Software.
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 * 
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 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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 * OTHER DEALINGS IN THE SOFTWARE.
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 */
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/**
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 * @file SonarControl.cpp
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 * @brief Contains sonar function implementation
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 * 
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 * Contains functions for the use of sonar control.
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 *
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 * @author Colony Project, CMU Robotics Club
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 * @author Priyanka Deo
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 * @author Alex Zirbel
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 **/
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#include "SonarControl.h"
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#define MAX_ATTEMPTS 10
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using namespace std;
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/**
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 * @brief Initialize the sonar module of libscout.
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 *
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 * Initialize the libscout node as a publisher of sonar_set_scan and 
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 * sonar_toggle and a client of query_sonar.
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 */
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SonarControl::SonarControl(const ros::NodeHandle& libscout_node,
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                           string scoutname)
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    : node(libscout_node)
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{
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    sonar_set_scan_client =
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        node.serviceClient<sonar::sonar_set_scan>(scoutname+"/set_sonar_scan");
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    sonar_toggle_client = 
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        node.serviceClient<sonar::sonar_toggle>(scoutname + "/toggle_sonar");
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    sonar_distance_sub = node.subscribe(scoutname + "/sonar_distance",
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                                        QUEUE_SIZE,
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                                        &SonarControl::distance_callback,
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                                        this);
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    // Initialize all the sonar readings to 0 and timestamps to undefined
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    for (int i = 0; i < 48; i++)
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    {
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        readings[i] = 0;
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        timestamps[i] = ros::Time::now(); // A common shortcut for no reading
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    }
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    /// @todo Test, and replace 10 with a const int
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    num_attempts = MAX_ATTEMPTS;
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}
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/**
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 * Update the array of sonar values, and the last read timestamps,
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 * to reflect the new reading received.
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 */
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void SonarControl::distance_callback(const sonar::sonar_distance::ConstPtr& msg)
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{
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    // Error checking so that the array doesn't cause a segfault
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    if (msg->pos < 0 || msg-> pos > 23)
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    {
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        ROS_ERROR("SonarControl received an invalid sonar position.");
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        return;
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    }
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    readings[msg->pos] = msg->distance0;
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    readings[msg->pos + 24] = msg->distance1;
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    timestamps[msg->pos] = msg->header.stamp;
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    timestamps[msg->pos + 24] = msg->header.stamp;
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}
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/**
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 * @brief Sets the sonar to a position.
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 *
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 * @param position Value between 0-180 of degree position to set sonar
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 */
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void SonarControl::set_single(int position)
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{
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    set_range(position, position);
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}
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/**
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 * @brief Sets the sonar to scan between two positions
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 *
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 * @param start_pos The leftmost (smallest) value that the sonar can take
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 * @param end_pos The rightmost (largest) value that the sonar can take
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 */
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void SonarControl::set_range(int start_pos, int end_pos)
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{
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    // Check that the range is valid
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    if (start_pos < 0 || end_pos < 0 || start_pos > 23 || end_pos > 23)
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    {
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        ROS_ERROR("Commanded SonarControl::set_range to a bad value.");
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        return;
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    }
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    // Sort the start and end positions into increasing order
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    if (start_pos > end_pos)
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    {
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        int temp = start_pos;
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        start_pos = end_pos;
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        end_pos = temp;
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    }
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    // Make sure sonar is on
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    set_on();
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    // Set scan range
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    sonar::sonar_set_scan srv;
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    srv.request.stop_l = start_pos;
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    srv.request.stop_r = end_pos;
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    // Check if the service call failed or if the response was false
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    if (!sonar_set_scan_client.call(srv) || srv.response.ack == false)
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    {
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        if (--num_attempts == 0)
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        {
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            ROS_ERROR("SonarControl::set_range() failed permanently.");
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        }
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        ROS_WARN("SonarControl::set_range() failed once.");
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    }
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}
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/**
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 * @brief Turn on sonar readings
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 *
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 * (Re)starts sonar panning and taking readings.
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 */
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void SonarControl::set_on()
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{
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    set_power(true);
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}
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/**
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 * @brief Turn off sonar readings
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 *
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 * Stops sonar from panning and taking readings.
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 */
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void SonarControl::set_off()
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{
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    set_power(false);
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}
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/**
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 * @brief Turn sonar readings either off or on.
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 *
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 * Attempts to turn the readings off or on, num_attempts times.
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 *
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 * @param is_on True if power should be set on, false if should be off.
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 */
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void SonarControl::set_power(bool is_on)
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{
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    sonar::sonar_toggle srv;
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    srv.request.set_on = is_on;
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    // Check if the service call failed or if the response was false
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    if (!sonar_toggle_client.call(srv) || srv.response.ack == false)
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    {
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        if (--num_attempts == 0)
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        {
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            ROS_ERROR("SonarControl::set_power() failed permanently.");
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        }
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        ROS_WARN("SonarControl::set_power() failed once.");
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    }
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    // Reset num_attempts
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    num_attempts = MAX_ATTEMPTS;
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}
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int* SonarControl::get_sonar_readings()
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{
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  return readings;
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}
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/**
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 * @brief Converts value returne by sonar to physical distances.
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 *
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 * @param sonar_value The returned value of the sonar
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 * @return The physical distance measured by the sonar.
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 **/
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//float sonar_to_dist(float sonar_value)
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//{
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    //TODO impelement later based on sonar readings
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//    return sonar_value;
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//}
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/**
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 * @brief Converts values from physical distances to values read by sonar
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 *
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 * @param distance The physical distance as measured.
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 * @return The value read by the sonar that corresponds to the given distance
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 **/
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//float dist_to_sonar(float distance)
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//{
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    //TODO implement later based on sonar readings
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//    return distance;
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//}