#include <iostream>
#include <stdlib.h>
#include "rec/robotino/api2/all.h"
#include <iostream>

using namespace rec::robotino::api2;
using namespace std;
bool _run = true;

class MyCom : public Com
{
public:
	MyCom()
	    : Com( "LineFollow" )
	{
	}

	void errorEvent( const char* errorString )
	{
		std::cerr << "Error: " << errorString << std::endl;
	}

	void connectedEvent()
	{
		std::cout << "Connected." << std::endl;
	}

	void connectionClosedEvent()
	{
		std::cout << "Connection closed." << std::endl;
	}

	void logEvent( const char* message, int level )
	{
		std::cout << message << std::endl;
	}
};

class MyBumper : public Bumper
{
public:
	MyBumper()
		: bumped( false )
	{
	}

	void bumperEvent( bool hasContact )
	{
		bumped |= hasContact;
    if (true == bumped){
      std::cout << "Bumper has " << ( hasContact ? "contact" : "no contact") << std::endl;
    }
	}

	bool bumped;
};

double x_distance = 0;
double y_distance = 0;
double phi_absolute = 0;
unsigned int sequence = 0;


int digital_inputs[8] = {0,0,0,0,0,0,0,0};

class MyOdometry: public Odometry{
  void readingsEvent(double x,double y, double phi, float vx, float vy, float omega, unsigned int seq ){
	// cout << "X: " << x << " Y: " << y << " Richtung: " << phi << " Sequenz: " << seq << endl;  
	x_distance = x;
	y_distance = y;
	phi_absolute = phi;
	sequence = seq;
	}
};




class MyDigitalInputArray: public DigitalInputArray{

    void valuesChangedEvent(const int *value, unsigned int size){

        for (int i=0; i<size; i++){
            digital_inputs[i] = value[i];
        }    
        cout << *value;
    } 
};


MyCom com;
MyBumper bumper;
OmniDrive omniDrive;
MyOdometry odo;
MyDigitalInputArray mydia;

void init( const std::string& hostname )
{

	// Connect
	std::cout << "Connecting...";
	com.setAddress( hostname.c_str() );

	com.connectToServer( true );

	if( false == com.isConnected() )
	{
		std::cout << std::endl << "Could not connect to " << com.address() << std::endl;
		rec::robotino::api2::shutdown();
		exit( 1 );
	}
	else
	{
		std::cout << "success" << std::endl;
	}
}


void rotate(){
	int Rotation = 0;
	int turning = 0;
	cout << "Enter Rotation (2.96 Ganze Umdrehung): ";
	cin >> Rotation;
	
	if (0 <= Rotation){
		turning = 1;
	}

	while (1 == turning){
		com.processEvents();
		omniDrive.setVelocity(0, 0, -0.4);
		cout << phi_absolute;
		rec::robotino::api2::msleep(100);
	    // cout << "X: " << x << " Y: " << y << "Richtung: " << phi << "Sequenz: " << s << endl;
		if (Rotation <= phi_absolute){
			turning = 0;
			
		}
	}
	com.processComEvents();
	

}

void DriveUntilWhite(){
    while (0 == digital_inputs){
        omniDrive.setVelocity(0.3,0,0);
    }
}

void DriveUntilBlack(){
    while (0 != digital_inputs){
        for (int i=0; i<5; i++){
            omniDrive.setVelocity(0.3, 0, 0);
        }
        for (int i=0; i<5; i++){
            omniDrive.setVelocity(-0.3, 0,0 );
        }
        for (int i=0; i<5; i++){
            omniDrive.setVelocity(0, 0.3, 0);
        }
        for (int i=0; i<5; i++){
            omniDrive.setVelocity(0, -0.3, 0);
        }
        
    
     
        com.processEvents();
    }
}


void drive()
{
  	odo.set(0,0,0,-1);
	

	while( com.isConnected() && false == bumper.value() && _run )
	{

	rec::robotino::api2::msleep(100); 
    
    
    DigitalInput();

    DriveUntilBlack();


	com.processEvents();
    rec::robotino::api2::msleep(100); 
    if (0 == digital_inputs[0]){
        omniDrive.setVelocity(0.2,0,0);
    }
    if (1 == digital_inputs[0]){
        omniDrive.setVelocity(0,0,0);
        rotate();
        if (digital_inputs != 0){
            omniDrive.setVelocity(0.2,0,0);
        }
    }

}


int main( int argc, char **argv )
{
	std::string hostname = "192.168.100.174";
	if( argc > 1 )
	{
		hostname = argv[1];
	}



	//main program routine starts in here
	try
	{
		//connect to your robotino (or try at least)
		init( hostname );
		//drive (this contains a while loop)
		drive();
		//exit
		com.disconnectFromServer();

	}
}