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/**

 * Copyright (c) 2011 Colony Project

 * 

 * Permission is hereby granted, free of charge, to any person

 * obtaining a copy of this software and associated documentation

 * files (the "Software"), to deal in the Software without

 * restriction, including without limitation the rights to use,

 * copy, modify, merge, publish, distribute, sublicense, and/or sell

 * copies of the Software, and to permit persons to whom the

 * Software is furnished to do so, subject to the following

 * conditions:

 * 

 * The above copyright notice and this permission notice shall be

 * included in all copies or substantial portions of the Software.

 * 

 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,

 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES

 * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND

 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT

 * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,

 * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING

 * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR

 * OTHER DEALINGS IN THE SOFTWARE.

 */

#include "maze_solve.h"

#define D_THRESH 600

#define max(x,y) ((x > y) ? x : y)

using namespace std;

void maze_solve::spin_for(double duration)

{

    ros::Rate r(100);     // 100 hz

    int ticks = int(duration * 100);

    for (int i = 0; i < ticks; i++)

    {

        spinOnce();

        r.sleep();

    }

}

void maze_solve::run()

{    

    ROS_INFO("Starting to solve the maze");

    // Go up to the first line.

    follow_line();

    // Turn the sonar on.

    sonar->set_on();

    sonar->set_range(0, 23);

    ROS_INFO("Off we go!");

    while (!at_destination())

    {

        // Wait for sonar to update.

        spin_for(1.5);

        int* readings = sonar->get_sonar_readings();

        // Wait until the sonar gives us real values.

        bool readings_ok = true;

        cout << "[";

        for (int i = 0; i < 48; i++)

        {

            if (i == 24 || i == 36 || i == 0)

            {

                cout << "(" << readings[i] << ") ";

            }

            else

            {

                cout << readings[i] << " ";

            }

            if (readings[i] == 0)

            {

                ROS_INFO("Waiting. readings[%d] == 0.", i);

                readings_ok = false;

                break;

            }

        }

        cout << endl;

        if (!readings_ok)

        {

            continue;

        }

        int r_read = max(readings[23], max(readings[24], readings[25]));

        int s_read = max(readings[35], max(readings[36], readings[37]));

        int l_read = max(readings[47], max(readings[0],  readings[1]));

        ROS_INFO("Left: %d. Straight: %d. Right: %d.", l_read, s_read, r_read);

        if (r_read > D_THRESH)      // Right

        {

            ROS_INFO("Right.");

            turn_right();

        }

        else if (s_read > D_THRESH) // Straight

        {

            ROS_INFO("Straight.");

            turn_straight();

        }

        else if (l_read > D_THRESH)   // Left

        {

            ROS_INFO("Left.");

            turn_left();

        }

        else                                                        // Deadend

        {

            ROS_INFO("Dead end.");

            spot_turn();

        }

        follow_line();

    }

}

bool maze_solve::at_destination() 

{

    vector<uint32_t> readings = linesensor->query();

    //ROS_INFO("Readings: %d %d %d %d %d %d %d %d.", readings[0], readings[1], readings[2], readings[3], readings[4], readings[5], readings[6], readings[7]);

    if ( readings[0] > 200 &&

         readings[1] < 55 &&

         readings[2] < 55 &&

         readings[3] > 200 &&

         readings[4] > 200 &&

         readings[5] < 55 &&

         readings[6] < 55 &&

         readings[7] > 200 )

    {

        ROS_INFO("\n\nDESTINATION\n\n");

        return true;

    }

    return false;

}