#include "stdafx.h"

int main()
{
	//Init our robot
	Robot* localRobot = new Robot();

	sleep(1);//Wait for Hardware

	//Init Displays
	for(uint8 i = IO_DISPLAY_START; i < IO_DISPLAY_END; i++)
	{
		Display* newDisplay = new Display(i);
		localRobot->AddModule(newDisplay);
		newDisplay = NULL;
	}

	//Init Engines
	for(uint8 i = IO_ENGINE_START; i < IO_ENGINE_END; i++)
	{
		Engine* newEngine = new Engine(i);
		localRobot->AddModule(newEngine);
		newEngine = NULL;
	}

	//Init Dribbler
	for(uint8 i = IO_DRIBBLER_START; i < IO_DRIBBLER_END; i++)
	{
		Dribbler* newDribbler = new Dribbler(i);
		localRobot->AddModule(newDribbler);
		newDribbler = NULL;
	}

	//Init Kicker
	for(uint8 i = IO_KICKER_START; i < IO_KICKER_END; i++)
	{
		Kicker* newKicker = new Kicker(i);
		localRobot->AddModule(newKicker);
		newKicker = NULL;
	}

	//Init Aktuator
	for(uint8 i = IO_AKTUATOR_START; i < IO_AKTUATOR_END; i++)
	{
		Aktuator* newAktuator = new Aktuator(i);
		localRobot->AddModule(newAktuator);
		newAktuator = NULL;
	}

	//Init Wireless
	for(uint8 i = IO_WIRELESS_START; i < IO_WIRELESS_END; i++)
	{
		Wireless* newWireless = new Wireless(i);
		localRobot->AddModule(newWireless);
		newWireless = NULL;
	}

	//Init Sensors
	for(uint8 i = IO_SENSOR_START; i < IO_SENSOR_END; i++)
	{
		switch(i)
		{
			//Create correct type of sensor
			case IO_SENSOR_IR_0_DEG:
			case IO_SENSOR_IR_30_DEG:
			case IO_SENSOR_IR_60_DEG:
			case IO_SENSOR_IR_100_DEG:
			case IO_SENSOR_IR_180_DEG:
			case IO_SENSOR_IR_260_DEG:
			case IO_SENSOR_IR_300_DEG:
			case IO_SENSOR_IR_330_DEG:
			{
				IR_Sensor* newSensor = new IR_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
			case IO_SENSOR_DISTANCE_0_DEG:
			case IO_SENSOR_DISTANCE_90_DEG:
			case IO_SENSOR_DISTANCE_180_DEG:
			case IO_SENSOR_DISTANCE_270_DEG:
			{
				Distance_Sensor* newSensor = new Distance_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
			
				break;
			}
			case IO_SENSOR_MOUSE_LEFT:
			case IO_SENSOR_MOUSE_RIGHT:
			{
				Mouse_Sensor* newSensor = new Mouse_Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
			
				break;
			}
			//Other cases
			default:
			{
				Sensor* newSensor = new Sensor(i);
				localRobot->AddModule(newSensor);
				newSensor = NULL;
				break;
			}
		}
	}

	//Init Leds
	for(uint8 i = IO_LED_START; i < IO_LED_END; i++)
	{
		Led* newLed = new Led(i);
		localRobot->AddModule(newLed);
		newLed = NULL;
	}

	//Init Keyboards
	for(uint8 i = IO_KEYBOARD_START; i < IO_KEYBOARD_END; i++)
	{
		Keyboard* newKeyboard = new Keyboard(i);
		localRobot->AddModule(newKeyboard);
		newKeyboard = NULL;
	}

	//Init Position Tracker
	for(uint8 i = IO_POSITION_TRACKER_START; i < IO_POSITION_TRACKER_END; i++)
	{
		Position_Tracker* newPositionTracker = new Position_Tracker(i);
		localRobot->AddModule(newPositionTracker);
		newPositionTracker = NULL;
	}

	//Init Ball Tracker
	for(uint8 i = IO_BALL_TRACKER_START; i < IO_BALL_TRACKER_END; i++)
	{
		Ball_Tracker* newBallTracker = new Ball_Tracker(i);
		localRobot->AddModule(newBallTracker);
		newBallTracker = NULL;
	}

	//Init Navigators
	for(uint8 i = IO_NAVIGATOR_START; i < IO_NAVIGATOR_END; i++)
	{
		Navigator* newNavigator = new Navigator(i);
		localRobot->AddModule(newNavigator);
		newNavigator = NULL;
	}

	//Init Logics
	for(uint8 i = IO_LOGIC_START; i < IO_LOGIC_END; i++)
	{
		Logic* newLogic = new Logic(i);
		localRobot->AddModule(newLogic);
		newLogic = NULL;
	}

	sleep(1);
	
	//Debug code
	Display* ourDisplay = localRobot->GetModule<Display>(IO_DISPLAY_MAIN);
	ourDisplay->Clear();
	

	IR_Sensor* ourSensor = NULL;
	Distance_Sensor* distanceSensor = NULL;
	uint16 value = 0;
	int8 value2 = 0;
	
	Keyboard* ourKeyboard = localRobot->GetModule<Keyboard>(IO_KEYBOARD_MAIN);
	uint32 i = 1;
	Navigator* ourNavigator = localRobot->GetModule<Navigator>(IO_NAVIGATOR_MAIN);
	Position_Tracker* ourPosition_Tracker = localRobot->GetModule<Position_Tracker>(IO_POSITION_TRACKER_MAIN);
	Ball_Tracker* ourBallTracker = localRobot->GetModule<Ball_Tracker>(IO_BALL_TRACKER_MAIN);
	Dribbler* ourDribbler = localRobot->GetModule<Dribbler>(IO_DRIBBLER_MAIN);
	ourDribbler->SetSpeed(1);
	ourDribbler->SetEnabled(true);
	Aktuator* ourAktuator = localRobot->GetModule<Aktuator>(IO_AKTUATOR_MAIN);
	
	float rotation = 0;
	float speed = 200;

	//Mouse_Sensor* mouse_left = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_LEFT);
	//Mouse_Sensor* mouse_right = localRobot->GetModule<Mouse_Sensor>(IO_SENSOR_MOUSE_RIGHT);


	//Run
	while(true)
	{
		ourDisplay->Print(i++,1,1);

		msleep(100);
				
		if(!(i % 1))
		{
			ourDisplay->Clear();
			//ourDisplay->Print(ourPosition_Tracker->GetPositionX(),1,2);
			//ourDisplay->Print(ourPosition_Tracker->GetPositionY(),1,3);
			//ourDisplay->Print(ourPosition_Tracker->GetOrientation() * 180.0f / PI,1,4);
		}

		if(!(i % 50))
		{
			ourAktuator->Kick();
		}

		
		distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_0_DEG);
		value = distanceSensor->GetDistance();
		ourDisplay->Print(value, 1, 2);
		ourDisplay->Print(";");
		distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_90_DEG);
		value = distanceSensor->GetDistance();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_180_DEG);
		value = distanceSensor->GetDistance();
		ourDisplay->Print(value, 1, 3);
		ourDisplay->Print(";");
		distanceSensor = localRobot->GetModule<Distance_Sensor>(IO_SENSOR_DISTANCE_270_DEG);
		value = distanceSensor->GetDistance();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		
		uint8 someInput = ourKeyboard->GetInput();
		//ourDisplay->Print("Ready to accept...", 1, 2);
		switch(someInput)
		{
			case 0:
				ourNavigator->Stop();
				return 0;
				break;
			case 1:
				ourNavigator->Drive(225, rotation, speed, rotation);
				break;
			case 2:
				ourNavigator->Drive(180, rotation, speed, rotation);
				break;
			case 3:
				ourNavigator->Drive(135, rotation, speed, rotation);
				break;
			case 4:
				ourNavigator->Drive(270, rotation, speed, rotation);
				break;
			case 5:
				ourNavigator->Drive(0, rotation, 0, rotation);
				break;
			case 6:
				ourNavigator->Drive(90, rotation, speed, rotation);
				break;
			case 7:
				ourNavigator->Drive(315, rotation, speed, rotation);
				break;
			case 8:
				ourNavigator->Drive(0, rotation, speed, rotation);
				break;
			case 9:
				ourNavigator->Drive(45, rotation, speed, rotation);
				break;
			case 10:
				ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
				break;
			case 12:
				ourPosition_Tracker->SetPosition(0,0,0); // Reset Position_Tracker
				break;
		}
		
		//ourDisplay->Clear();
		/*ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_0_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value, 1, 2);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_30_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_60_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_100_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_180_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value, 1, 3);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_260_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_300_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");
		ourSensor = localRobot->GetModule<IR_Sensor>(IO_SENSOR_IR_330_DEG);
		value = ourSensor->GetIRIntensity();
		ourDisplay->Print(value);
		ourDisplay->Print(";");*/
		
		localRobot->Update();

		//ourDisplay->Print(ourBallTracker->GetBallDirection() * 180.0f / PI, 1, 4);

		//ourNavigator->Drive(ourBallTracker->GetBallDirection() * 180.0f / PI, 0, 255, 0);
	}

	//Cleanup
	delete localRobot;
	localRobot = NULL;
}