/**
 * Copyright (c) 2011 Aldebaran Robotics
 */

#include "bumper.h"

#include <alvalue/alvalue.h>
#include <alcommon/alproxy.h>
#include <alcommon/albroker.h>
#include <qi/log.hpp>
#include <althread/alcriticalsection.h>

Bumper::Bumper(
  boost::shared_ptr<AL::ALBroker> broker,
  const std::string& name): AL::ALModule(broker, name),
    fCallbackMutex(AL::ALMutex::createALMutex())
{
  setModuleDescription("This module presents how to subscribe to a simple event (here RightBumperPressed) and use a callback method.");

  functionName("onRightBumperPressed", getName(), "Method called when the right bumper is pressed. Makes a LED animation.");
  BIND_METHOD(Bumper::onRightBumperPressed);
}

Bumper::~Bumper() {
  fMemoryProxy.unsubscribeToEvent("onRightBumperPressed", "Bumper");
}

void Bumper::init() {
  try {
    /** Create a proxy to ALMemory.
    */
    fMemoryProxy = AL::ALMemoryProxy(getParentBroker());

    fState = fMemoryProxy.getData("RightBumperPressed");
    /** Subscribe to event LeftBumperPressed
    * Arguments:
    * - name of the event
    * - name of the module to be called for the callback
    * - name of the bound method to be called on event
    */
    fMemoryProxy.subscribeToEvent("RightBumperPressed", "Bumper",
                                  "onRightBumperPressed");
  }
  catch (const AL::ALError& e) {
    qiLogError("module.example") << e.what() << std::endl;
  }
}

void Bumper::onRightBumperPressed() {
  qiLogInfo("module.example") << "Executing callback method on right bumper event" << std::endl;
  /**
  * As long as this is defined, the code is thread-safe.
  */
  AL::ALCriticalSection section(fCallbackMutex);

  /**
  * Check that the bumper is pressed.
  */
  fState =  fMemoryProxy.getData("RightBumperPressed");
  if (fState  > 0.5f) {
    return;
  }
  try {
    fTtsProxy = AL::ALTextToSpeechProxy(getParentBroker());
    fTtsProxy.say("Right bumper pressed");
  }
  catch (const AL::ALError& e) {
    qiLogError("module.example") << e.what() << std::endl;
  }
}