/** <module> NXT Mindstroms - Actions iCommand.
@author Piotr Hołownia

Motors: 'A', 'B', 'C'.
Sensors ports: 'S1', 'S2', 'S3', 'S4'.
*/

:- module(nxt_actions_icommand,[
			nxt_actions_connection_open/0,
			nxt_actions_connection_close/0,
			nxt_actions_motor_forward/2,
			nxt_actions_motor_backward/2,
			nxt_actions_motor_get_speed/2,
			nxt_actions_motor_stop/1,
			nxt_actions_motor_rotate/3,
			nxt_actions_touch_sensor/2,
			nxt_actions_sound_sensor/2,
			nxt_actions_light_sensor/2,
			nxt_actions_light_sensor_LED/2,
			nxt_actions_ultrasonic_sensor/2
		       ]).

:- dynamic nxt_actions_touch_sensor_connected/2,
	nxt_actions_sound_sensor_connected/2,
	nxt_actions_light_sensor_connected/2,
	nxt_actions_ultrasonic_sensor_connected/2.

%%	nxt_actions_open_connection
%
%	Opens connection via Bluetooth using iCommand.

nxt_actions_connection_open :-
	jpl_call('icommand.nxt.comm.NXTCommand','open',[],_),
	writeln('Connected via Bluetooth using iCommand!').

%%	nxt_actions_close_connection
%
%	Closes connection via Bluetooth using iCommand.

nxt_actions_connection_close :-
	jpl_call('icommand.nxt.comm.NXTCommand','close',[],_),
	writeln('Disconnected!').

%%	nxt_actions_motor_forward(+Motor,+Speed).
%
%	Rotates motor forward at specified speed.

nxt_actions_motor_forward(Motor,Speed) :-
	jpl_get('icommand.nxt.Motor',Motor,MotorHandle),
	jpl_call(MotorHandle,'setSpeed',[Speed],_),
	jpl_call(MotorHandle,'forward',[],_).

%%	nxt_actions_motor_forward(+Motor,+Speed).
%
%	Rotates motor backward at specified speed.

nxt_actions_motor_backward(Motor,Speed) :-
	jpl_get('icommand.nxt.Motor',Motor,MotorHandle),
	jpl_call(MotorHandle,'setSpeed',[Speed],_),
	jpl_call(MotorHandle,'backward',[],_).

%%	nxt_actions_motor_speed(+Motor,+Speed).
%
%	Gets speed of the motor.

nxt_actions_motor_get_speed(Motor,Speed) :-
	jpl_get('icommand.nxt.Motor', Motor, MotorHandle),
	jpl_call(MotorHandle, 'getSpeed', [], Speed).

%%	nxt_motor_stop(+Motor).
%
%	Stops motor.

nxt_actions_motor_stop(Motor) :-
	jpl_get('icommand.nxt.Motor',Motor,MotorHandle),
	jpl_call(MotorHandle,'stop',[],_),
	jpl_call(MotorHandle,'setSpeed',[0],_).


%%	nxt_actions_motor_rotate(+Motor,+Speed,+Angle).
%
%	Rotates motor at specified speed.
%	Forward if Angle is positive, backward if Angle is negative.
%	Motor will stop, when specified revolution (Angle in degrees) is reached.

nxt_actions_motor_rotate(Motor,Speed,Angle) :-
	jpl_get('icommand.nxt.Motor',Motor,MotorHandle),
	jpl_call(MotorHandle,'setSpeed',[Speed],_),
	jpl_call(MotorHandle,'rotate',[Angle,@(true)],_),
	jpl_call(MotorHandle,'setSpeed',[0],_).

%%	nxt_actions_touch_sensor(+Port,-Value).
%
%	Gets touch sensor reading.
%	Returns 1 if pressed, 0 otherwise.

nxt_actions_touch_sensor(Port,Value) :-
	not(nxt_actions_touch_sensor_connected(Port,_)),
	retractall(nxt_actions_touch_sensor_connected(_,_)),
	jpl_get('icommand.nxt.SensorPort',Port,PortHandle),
	jpl_new('icommand.nxt.TouchSensor',[PortHandle],SensorHandle),
	assert(nxt_actions_touch_sensor_connected(Port,SensorHandle)),
	nxt_actions_touch_sensor(_,Value).

nxt_actions_touch_sensor(_,Value) :-
	nxt_actions_touch_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'isPressed',[],Pressed),
	nxt_actions_touch_sensor_return(Pressed,Value).

nxt_actions_touch_sensor_return(Pressed,Value) :-
	Pressed == @(false),
	Value is 0.

nxt_actions_touch_sensor_return(Pressed,Value) :-
	Pressed == @(true),
	Value is 1.


%%	nxt_actions_sound_sensor(+Port,-Value).
%
%	Gets sound sensor reading.

nxt_actions_sound_sensor(Port,Value) :-
	not(nxt_actions_sound_sensor_connected(Port,_)),
	retractall(nxt_actions_sound_sensor_connected(_,_)),
	jpl_get('icommand.nxt.SensorPort',Port,PortHandle),
	jpl_new('icommand.nxt.SoundSensor',[PortHandle],SensorHandle),
	assert(nxt_actions_sound_sensor_connected(Port,SensorHandle)),
	nxt_actions_sound_sensor(_,Value).

nxt_actions_sound_sensor(_,Value) :-
	nxt_actions_sound_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'getdBA',[],DBA),
	Value is DBA.

%%	nxt_actions_light_sensor(+Port,-Value).
%
%	Gets light sensor reading.

nxt_actions_light_sensor(Port,Value) :-
	not(nxt_actions_light_sensor_connected(Port,_)),
	retractall(nxt_actions_light_sensor_connected(_,_)),
	jpl_get('icommand.nxt.SensorPort',Port,PortHandle),
	jpl_new('icommand.nxt.LightSensor',[PortHandle],SensorHandle),
	assert(nxt_actions_light_sensor_connected(Port,SensorHandle)),
	nxt_actions_light_sensor(_,Value).

nxt_actions_light_sensor(_,Value) :-
	nxt_actions_light_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'getLightPercent',[],Percent),
	Value is Percent.

%%	nxt_actions_light_sensor_LED(+Port,+Setting).
%
%	Sets the LED on if Setting is activate or off if passivate.

nxt_actions_light_sensor_LED(Port,Setting) :-
	not(nxt_actions_light_sensor_connected(Port,_)),
	retractall(nxt_actions_light_sensor_connected(_,_)),
	jpl_get('icommand.nxt.SensorPort',Port,PortHandle),
	jpl_new('icommand.nxt.LightSensor',[PortHandle],SensorHandle),
	assert(nxt_actions_light_sensor_connected(Port,SensorHandle)),
	nxt_actions_light_sensor_LED(_,Setting).

nxt_actions_light_sensor_LED(_,activate) :-
	nxt_actions_light_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'activate',[],_).

nxt_actions_light_sensor_LED(_,passivate) :-
	nxt_actions_light_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'passivate',[],_).


%%	nxt_actions_ultrasonic_sensor(+Port,-Value).
%
%	Gets ultrasonic sensor reading.

nxt_actions_ultrasonic_sensor(Port,Value) :-
	not(nxt_actions_ultrasonic_sensor_connected(Port,_)),
	retractall(nxt_actions_ultrasonic_sensor_connected(_,_)),
	jpl_get('icommand.nxt.SensorPort',Port,PortHandle),
	jpl_new('icommand.nxt.UltrasonicSensor',[PortHandle],SensorHandle),
	assert(nxt_actions_ultrasonic_sensor_connected(Port,SensorHandle)),
	nxt_actions_ultrasonic_sensor(_,Value).

nxt_actions_ultrasonic_sensor(_,Value) :-
	nxt_actions_ultrasonic_sensor_connected(_,SensorHandle),
	jpl_call(SensorHandle,'getDistance',[],Distance),
	Value is Distance.