#include <chrono>

#include <thread>

#include <stdexcept>

#include <ev3dev.h>

/*

-----------------------------------------------------------------------------

Copyright (c) 2015 Denis Demidov <dennis.demidov@gmail.com>

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.

-----------------------------------------------------------------------------

This demo shows how to remote control an Explor3r robot with

touch sensor attachment.

Red buttons control left motor, blue buttons control right motor.

Leds are used to indicate movement direction.

Whenever an obstacle is bumped, robot backs away and apologises.

*/

namespace ev3 = ev3dev;

//---------------------------------------------------------------------------

void precondition(bool cond, const std::string &msg) {

if (!cond) throw std::runtime_error(msg);

}

//---------------------------------------------------------------------------

template <class Motor, class Leds>

std::function<void(bool)> roll(Motor &motor, Leds &leds, int dir) {

return [&motor, &leds, dir](bool state) {

if (state) {

motor.set_speed_sp(900 * dir).run_forever();

ev3::led::set_color(leds, dir > 0 ? ev3::led::green : ev3::led::red);

} else {

motor.set_stop_action("brake").stop();

for(auto led : leds) led->off();

}

};

}

//---------------------------------------------------------------------------

int main() {

ev3::large_motor lmotor(ev3::OUTPUT_B);

ev3::large_motor rmotor(ev3::OUTPUT_C);

ev3::remote_control rc;

ev3::touch_sensor ts;

precondition(lmotor.connected(), "Motor on outB is not connected");

precondition(rmotor.connected(), "Motor on outC is not connected");

precondition(rc.connected(), "Infrared sensor is not connected");

precondition(ts.connected(), "Touch sensor is not connected");

rc.on_red_up = roll(lmotor, ev3::led::left, 1);

rc.on_red_down = roll(lmotor, ev3::led::left, -1);

rc.on_blue_up = roll(rmotor, ev3::led::right, 1);

rc.on_blue_down = roll(rmotor, ev3::led::right, -1);

// Enter event processing loop

while (!ev3::button::enter.pressed()) {

rc.process();

// Backup when an obstacle is bumped

if (ts.is_pressed()) {

ev3::sound::speak("Oops, excuse me!");

lmotor.set_stop_action("brake").stop();

rmotor.set_stop_action("brake").stop();

// Turn red lights on

ev3::led::set_color(ev3::led::left, ev3::led::red);

ev3::led::set_color(ev3::led::right, ev3::led::red);

// Run both motors backwards for 0.5 seconds

lmotor.set_time_sp(500).set_speed_sp(-900).run_timed();

rmotor.set_time_sp(500).set_speed_sp(-900).run_timed();

// Wait 0.5 seconds while motors are rolling

std::this_thread::sleep_for(std::chrono::milliseconds(500));

ev3::led::all_off();

}

std::this_thread::sleep_for(std::chrono::milliseconds(10));

}

}