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// ai.cc
// chuck - programme du robot 2007 {{{
//
// Copyright (C) 2007 Romain Becquet
//
// Robot APB Team/Efrei 2007.
//        Web: http://assos.efrei.fr/si2e/
//      Email: si2e AT efrei DOT fr
//
// 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.
//
// }}}
#include "ai.hh"
#include "config/config.hh"
#include "timer/timer.hh"

#include <cmath>

/// Fonction callback useless
static void
callback (void)
{}

//constructeur
Ai::Ai (const Config & config)
    :es_(config), log_ ("Ai"),
     schedulableMotor_(callback, motor_.getFd()),
     schedulableEs_(callback, es_.getFd()),
     round_duration_ (config.get<int> ("ai.round_duration")),
     schedule_time_ (config.get<int> ("ai.schedule_time")),
     reference_sensor_mask_ (config.get<int> ("ai.ref_sensor_mask"))
{
    scheduler_.insert (schedulableMotor_);
    scheduler_.insert (schedulableEs_);
}

Ai::~Ai(void)
{
    // On r�initialise
    // Initialise les moteurs
    // XXX
    motor_.reset();
    // initialise la carte es
    es_.reset ();
    // On sync
    do
      {
	scheduler_.schedule (500, true);
      }
    while (!sync ());
}

// Initialisation du robal
void
Ai::init (void)
{
    // Initialisation de motor
    motor_.reset ();
    // Initialisation de la carte Es
    es_.reset ();
    // Paf on sync
    while (!update ());
}

/// Stop the mouvement of the motor
void
Ai::stop (void)
{
    motor_.stop ();
    // XXX In fact, we should wait a little here...
    while (!update ());
}

/// Synchronize data of under class
bool
Ai::sync (void)
{
	bool motor = motor_.sync ();
	bool es = es_.sync ();
    return es && motor;
}

/// Wait for something to happened
bool
Ai::update (void)
{
    /// Wait schedule_time 
    scheduler_.schedule (schedule_time_, true);
    bool retour = sync ();
    // On v�rifie que le match n'est pas fini
    if (Timer::getRoundTime () > round_duration_)
	throw std::runtime_error ("End of match ! You win !");
    return retour;
}

/// Function to wait a little but still syncing data
void
Ai::temporisation(int msec)
{
    // Get current time of process
    int time = Timer::getProgramTime();
    time += msec;
    // Update until we have spend enough time
    do
    {
        update();
    }
    while (time > Timer::getProgramTime());
}

/// Wait until jack is out (true) or in (false)
void
Ai::waitJack (bool out)
{
    do
      {
	update ();
      }
    while (es_.isJackOut () != out);
}

/// Init things for a match.
void
Ai::prepare (void)
{
    es_.lcdPrint("");
    es_.lcdPrint("Prepa match...");
    coefcolor=es_.setcolorsens();
    es_.lcdPrint("G ma couleur");
    es_.lcdPrint("Inserer Jack");
    es_.setOthersStat (10);
    while (!update ());
    // XXX We should check if the jack is not already in
    // We first wait for the jack to be put inside
    waitJack (false);
    es_.lcdPrint("Virer le jack !");
    while (!update ());
    // We first wait for the jack to be put inside
    waitJack (true);
    // Set actual position
    motor_.getAsserv().setPos(0,0,0);
    // Ok the match begin ! Go go go !
    Timer::startRound ();
    //on fait tomber le roulo apr� le top d�part
    es_.roulo_tombe();
    es_.setOthersStat (0);
    // Shut up fucking beach !
    es_.setOthersStat (0);
    es_.setOthersStat (0);
    while (!update ());
}

/// Some after after a match
void
Ai::afterMatch(void)
{
    // On attend de mettre le jack apr�s le match
    es_.lcdPrint("FIN DU MATCH");
//     es_.lcdPrint("Inserer jack...");
    while (!update());
    waitJack(false);
    // On vide le barillet
    while (!update());
    waitJack(true);
    // On init les cartes histoire de
    es_.reset();
    motor_.reset();
    es_.lcdPrint("Power off!!");
    while (!update());
}

/// programme d'homologation du robal
void Ai::progHomoloRobal(void)
{
    /// On init le robal
    prepare();
    while (!update ());
    temporisation (1000);
    while (!update ());
    /// on avance un poil parce que le mur c'est mal
    std::cout << "Move !" << std::endl;
    motorMove(500, 0);
    std::cout << "Rotate !" << std::endl;
    motorRotate(-0.54);
    std::cout << "Move !" << std::endl;
    motorMove(1200, 0);
    std::cout << "Rotate !" << std::endl;
    motorRotate(1.40);
    motorMove(500, 0);
//    temporisation (100);
    std::cout << "Find hole !" << std::endl;
    
    /// On tourne XXX
///     motorRotate(-M_PI/4);
    /// On cherche au moins une balle (sinon c'est con)
///     motorMove(1000, 0); /// XXX Voir la distance
    /// XXX Avancer d'une certaine facon pour choper des balles
    /// XXX Ouais ba y'a encore ddes truc � faire l�
    /// On cherche un tru (repositionnement??)
///     motor_.lockGoodHole();
///     while (!update ());
///     motor_.findHole();
///     while (!update ());
    /// On trouve un trou, chouette
    /// Aspirer le trou
    //es_.extraitBalle();
    /// mettre une baballe
    while (!update ());
    temporisation (3000);
    while (!update ());
    temporisation (3000);
    motorMove(300, 0);
    while (!update ());
    temporisation (3000);
    while (!update ());
    temporisation (3000);
    motorMove(300, 0);
    /// Tourner 3 fois en chantant du Mickael Jackson
    /// Again....
    /// Fin du match
    afterMatch();
}

void
Ai::progMatch(void)
{
    double dummy, aStart, aEnd;

    // Init of cards
    init ();
    /// On pr�pare le robot
    prepare();
    /// Faire des cr�pes...
    while (!update ());
    /// En avant guingamp
    log_ ("match") << "Eloignement du bord";
    motorMove(900,0);//On fonce tout droit
    while (!update ());
    /// On tourner de 45�
    log_ ("match") << "Petite rotation de 45�";
    motorRotate(R45*(coefcolor));

    ///On avance a travers les ordures euh on est sens� en ramacer
    motorMove(900.,0.);
    
    ///On se positionne pour la marche arri�re 
    motorRotate(R45*(-3)*(coefcolor));
   
    ///tuuutuuuutuuuuu je fait mon cr�nau
    log_ ("match") << "Creneau";
    if (!motorMove (1000, 0))
      {
	log_ ("match") << "Un mur ! Reculons";
	motorMove (-60, 0);
      }
    /// On tourne bizarrement mais de 90�
    log_ ("match") << "On tourne � 90� en deux fois";
    motorMove(-36,36);
    motorMove(180, 180);
    /// On avance un peu
    log_ ("match") << "On avance de l'autre cot�";
    motorMove (1420, 0);
    log_ ("match") << "On recule un peu";
    motorMove (-150, 0);
    log_ ("match") << "On tourne";
    motorMove (216, 216);
    motorMove (-150, 0);

    /* Here, we are in front of all our holes */

    int rotationSens = 1;
    const double distanceMax[2] = { -1600., 200. };
    // Force a turn back !
    double distanceCur, remainingDist;
    int ret;

    /* Save angle */
    motor_.getPosition (dummy, dummy, aStart);
    afterMatch();
}

/// Avance le robal et dit si il a finit (true) ou si il a bloqu�
bool
Ai::motorMove (double d, double a)
{
    motor_.move(d, a); /// XXX Voir la distance
    do
      {
	update ();
      }
    while (!motor_.finish ()/* && !motor_.blocked()*/);
    if(motor_.finish())
	return true;
    return false;
}

void
Ai::motorRotate (double d)
{
    motor_.rotate (d);
    do
	{
	  update ();
	}
    while (!motor_.finish ());
}

void
Ai::motorDeblock (void)
{
}
/// The Best Evite Program ;p
void
Ai::avoidrobot(void)
{
    motorRotate(3.14116/2*(coefcolor));//faire calcul ailleur
    motorMove(100.,0.);
    motorRotate(3.14116/(-2)*(coefcolor));//voir plus haut
    motorMove(300.,0.);
    motorRotate(3.14116/(-2)*(coefcolor));
    motorMove(100.,0.);
    motorRotate(3.14116/2*(coefcolor));
    motorMove(300.,0.);
}