#!/usr/bin/perl -w
#
# ortho_ui.pm - User Interface for Ortho of Borg
#
# 
#

package ortho_ui;
require Exporter;
@ISA    = qw(Exporter);
@EXPORT = qw(ui_open ui_close ui_get_menu_choice ui_get_number ui_set_x ui_set_y ui_x_inches ui_y_inches ui_toggle_repeat_mode ui_repeat_mode ui_set_max_output ui_max_output);

use POSIX;
use strict;

use ssc;

my $clear_string;

# user input for desired positions

my $x_inches = 20;
my $y_inches = 20;
my $repeat_mode = 0;
my $max_output = 127;

sub ui_open()
{
    $clear_string = `clear`;
    system("stty", "-icanon");
}

sub ui_close()
{
    system("stty", "icanon");
}

sub ui_get_menu_choice()
{
    my $char;

    print ("Press a key...\a");
    getc();

    do {
#	print $clear_string;
	print "\nORTHO OF BORG MENU\n\n";
	print "\tl: Line Following\n";
	print "\tq: Quick Trip\n";
	print "\tt: T-Time\n";
	print "\tc: Can-Can\n";
	print "\ts: Square/rectangle pattern\n\n";
	print "\to: set maximum output (currently $max_output)\n";
	print "\tr: toggle Repeat mode (currently ", $repeat_mode ? "ON" : "OFF", ")\n";
	print "\tx: set X (sideways) distance (currently $x_inches) inches\n";
	print "\ty: set Y (forward) distance (currently $y_inches) inches\n\n";
	print "\t+: change direction to X\n";
	print "\t-: change direction to Y\n\n";
	print "\t4: jog drive motor negative by X / Y inches\n";
	print "\t6: jog drive motor positive by X / Y inches\n";
	print "\tm: motor test menu\n\n"; 
	print "\ti: read IR sensors\n\n";
	print "\te: Exit\n\n";
	print "Select an option: \a";
	$char = getc();
	if ($char =~ "m") {
	    test_drive_motor();
	}
	elsif ($char =~ "i") {
	    read_ir_sensors();
	}
    } until ($char =~ /[lqtcsorxy+-46e]/);
    
    print "\nYour selection: $char\n";
    return $char;
}

sub ui_get_number($) {

    my $return_value = 0;
    my $char;

    print shift;
    for (;;) {
	$char = getc();
	if ($char =~ /[0-9]/) {
	    $return_value = $return_value * 10 + $char;
	}
	elsif ($char =~ /[\n]/) {
	    print "\nNew value = $return_value\n";
	    return $return_value;
	}
    }
}

sub ui_set_x() {
    $x_inches = ui_get_number("Enter desired X distance in inches: ");
    return 1;
}

sub ui_set_y() {
    $y_inches = ui_get_number("Enter desired Y distance in inches: ");
    return 1;
}

sub ui_x_inches() {
    return $x_inches;
}

sub ui_y_inches() {
    return $y_inches;
}

sub ui_toggle_repeat_mode() {
    $repeat_mode = 1 - $repeat_mode;
    return 1;
}

sub ui_repeat_mode() {
    return $repeat_mode;
}

sub ui_set_max_output() {
    $max_output = ui_get_number("Enter maximum output (0-127): ");
    if ($max_output > 127) {
	$max_output = 127;
    }
    elsif ($max_output < 0) {
	$max_output = 0;
    }
    return 1;
}

sub ui_max_output() {
    return $max_output;
}

sub test_drive_motor() {

    my $current_output0 = 128;
    my $current_output1 = 128;
    my $char;
    my $current_motor = 0;

    ssc_set_servo(0, $current_output0);
    ssc_set_servo(1, $current_output1);

    do {
	ssc_set_servo(0, $current_output0);
	ssc_set_servo(1, $current_output1);
	print $clear_string;
	print "\nMOTOR TEST MENU\n\n";
	print "\tCurrent motor = $current_motor\n";
	print "\tCurrent outputs = $current_output0 $current_output1\n\n";
	print "\td: Select Drive motor (#0)\n";
	print "\tc: Select Change motor (#1)\n\n";
	print "\t+: Increase output\n";
	print "\t-: Decrease output\n";
	print "\tf: Set output to full Forward (255)\n";
	print "\tr: Set output to full Reverse (0)\n";
	print "\ts: Stop motor\n\n";
	print "\te: Exit\n\n";
	print "Select an option: \a";

	$char = getc();

	if ($char =~ /d/) { $current_motor = 0; }
	elsif ($char =~ /c/) { $current_motor = 1; }
	elsif ($char =~ /\+/) {
	    if ($current_motor == 0) { $current_output0++ }
	    else { $current_output1++ }
	}
	elsif ($char =~ /\-/) {
	    if ($current_motor == 0) { $current_output0-- }
	    else { $current_output1-- }
	}
	elsif ($char =~ /f/) {
	    if ($current_motor == 0) { $current_output0 = 255 }
	    else { $current_output1 = 255 }
	}
	elsif ($char =~ /r/) {
	    if ($current_motor == 0) { $current_output0 = 0 }
	    else { $current_output1 = 0 }
	}
	elsif ($char =~ /s/) {
	    $current_output0 = 128;
	    $current_output1 = 128;
	}

    } until ($char =~ /e/);
    ssc_set_servo(0, 128);
    ssc_set_servo(1, 128);
}


sub read_ir_sensors() {

    my $i;
    my $reading;

    for ($i = 1; $i <= 4; $i++) {
	if (defined($reading = ir_read($i))) {
	    print "IR sensor $i = $reading\n";
	}
	else {
	    print "UNABLE TO READ IR $i\n";
	}
    }

    print "Press a key to continue...";
    getc();
}

return 1;