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/**
 * StarBoard Orange - Example application No.3 (Version 0.0.1)
 * Drive a CHORO Q HYBRID with wii nunchuk
 *
 * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_ja/
 * See also ... http://mbed.org/users/shintamainjp/notebook/starboard_example3_en/
 *
 * Copyright (C) 2010 Shinichiro Nakamura (CuBeatSystems)
 * http://shinta.main.jp/
 */

/*
 * Connection map.
 *
 * +---+----------------+---------+
 * |Pin|Target          |Direction|
 * +---+----------------+---------+
 * |p21|IR transmitter  |OUT      |
 * +---+----------------+---------+
 */

/*
 * Include files.
 */

#include <mbed.h>
#include <algorithm>
#include <ChoroQ.h>
#include <I2CConfig.h>
#include <WiiNunchuckReader.h>
#include "appconf.h"

/*
 * Objects.
 */

WiiNunchuckReader wn1(I2CPort_A::SDA, I2CPort_A::SCL);
WiiNunchuckReader wn2(I2CPort_B::SDA, I2CPort_B::SCL);
ChoroQ cq(p21);
BusOut led(LED4, LED3, LED2, LED1);

/**
 * Display a splash screen.
 */
void splash(void) {
    // Do nothing.
}

/**
 * Get an action from a coordinate.
 *
 * @param x X axis.
 * @param y Y axis.
 * @param dash State of dash.
 *
 * @return An action.
 */
ChoroQ::Action getAction(const int x, const int y, bool dash) {
    static const int MAX_X = 200;
    static const int MIN_X = 20;
    static const int MAX_Y = 200;
    static const int MIN_Y = 20;
    int px = ((x - MIN_X) * 100) / (MAX_X - MIN_X);
    int py = ((y - MIN_Y) * 100) / (MAX_Y - MIN_Y);
    px = std::max(0, std::min(100, px)) - 50;   // Range of a value is -50 to +50
    py = std::max(0, std::min(100, py)) - 50;   // Range of a value is -50 to +50

    if ((std::abs(px) <= 10) && (std::abs(py) <= 10)) {
        return ChoroQ::Stop;
    }

    if ((x == 0) && (y == 0)) {
        return ChoroQ::Stop;
    }

    if (std::abs(px) < 10) {
        if (py < 0) {
            if (dash) {
                return ChoroQ::DownDash;
            } else {
                return ChoroQ::Down;
            }
        } else {
            if (dash) {
                return ChoroQ::UpDash;
            } else {
                return ChoroQ::Up;
            }
        }
    }
    if (std::abs(py) < 10) {
        if (px < -20) {
            return ChoroQ::Left;
        }
        if (20 < px) {
            return ChoroQ::Right;
        }
    }
    if ((10 < px) && (10 < py)) {
        if (dash) {
            return ChoroQ::UpRightDash;
        } else {
            return ChoroQ::UpRight;
        }
    }
    if ((px < -10) && (10 < py)) {
        if (dash) {
            return ChoroQ::UpLeftDash;
        } else {
            return ChoroQ::UpLeft;
        }
    }
    if ((px < -10) && (py < -10)) {
        if (dash) {
            return ChoroQ::DownLeftDash;
        } else {
            return ChoroQ::DownLeft;
        }
    }
    if ((10 < px) && (py < -10)) {
        if (dash) {
            return ChoroQ::DownRightDash;
        } else {
            return ChoroQ::DownRight;
        }
    }
    return ChoroQ::Stop;
}

/**
 * Entry point.
 */
int main() {
    /*
     * Splash.
     */
    splash();

    /*
     * Setup a configuration.
     */
    appconf_t conf;
    appconf_init(&conf);
    if (appconf_read(&conf) != 0) {
        error("Please check the configuration.");
    }

    /*
     * Application loop.
     */
    while (true) {
        led = led + 1;
        wn1.RequestRead();
        ChoroQ::Action ac1 = getAction(wn1.getJoyX(), wn1.getJoyY(), (wn1.getButtonZ() == 1) ? true : false);
        cq.execute(conf.ch1, ac1, false);
        wait_ms(25);

        led = led + 1;
        wn2.RequestRead();
        ChoroQ::Action ac2 = getAction(wn2.getJoyX(), wn2.getJoyY(), (wn2.getButtonZ() == 1) ? true : false);
        cq.execute(conf.ch2, ac2, false);
        wait_ms(25);
    }
}