%
%     Implementation by Piotr Hołownia <holownia@student.agh.edu.pl>
%
%     Copyright (C) 2006-9 by the HeKatE Project
%
%     PlNXT has been develped by the HeKatE Project, 
%     see http://hekate.ia.agh.edu.pl
%
%     This file is part of PlNXT.
%
%     PlNXT is free software: you can redistribute it and/or modify
%     it under the terms of the GNU General Public License as published by
%     the Free Software Foundation, either version 3 of the License, or
%     (at your option) any later version.
%
%     PlNXT is distributed in the hope that it will be useful,
%     but WITHOUT ANY WARRANTY; without even the implied warranty of
%     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%     GNU General Public License for more details.
%
%     You should have received a copy of the GNU General Public License
%     along with PlNXT.  If not, see <http://www.gnu.org/licenses/>.
%

:- module(nxt_sensomoto,[
			 nxt_connection_open/0,
			 nxt_connection_close/0,
			 nxt_motor/2, nxt_motor/3,
			 nxt_touch_sensor/2,
			 nxt_sound_sensor/2,
			 nxt_light_sensor/2,
			 nxt_light_sensor_LED/2,
			 nxt_ultrasonic_sensor/2,
			 nxt_voltage/1,
			 nxt_voltage_millivolt/1,
			 nxt_start_program/1,
			 nxt_stop_program/0,
			 nxt_play_sound_file/1,
			 nxt_play_sound_file/2,
			 nxt_stop_sound_playback/0,
			 nxt_play_tone/2,
			 nxt_brick_name/1
			]).

/** <module> NXT Mindstroms - Sensomoto.

@author Piotr Hołownia
@license GNU General Public License
*/

:- use_module(nxt_actions_icommand).
:- use_module(threads).

%%	nxt_connection_open
%
%	Opens connection.

nxt_connection_open :- nxt_actions_connection_open.

%%	nxt_connection_close
%
%	Closes connection.

nxt_connection_close :- nxt_actions_connection_close.

%%	nxt_motor(+Motor,+Speed).
%%	nxt_motor(+Motor,-Speed).
%
%	Reads speed of the specified motor
%	or rotates it at specified speed.

nxt_motor(_,Speed) :-
	nonvar(Speed),
	Speed > 900,
	writeln('Rotational speed is to high!').

nxt_motor(_,Speed) :-
	nonvar(Speed),
	Speed < -900,
	writeln('Rotational speed is to high!').

nxt_motor(Motor,Speed) :-
	nonvar(Motor),nonvar(Speed),
	Speed > 0,
	nxt_actions_motor_forward(Motor,Speed).

nxt_motor(Motor,Speed) :-
	nonvar(Motor),nonvar(Speed),
	Speed < 0,
	BackwardSpeed is -Speed,
	nxt_actions_motor_backward(Motor,BackwardSpeed).

nxt_motor(Motor,Speed) :-
	% Returns absolute value of speed.
	nonvar(Motor),var(Speed),
	nxt_actions_motor_get_speed(Motor,Speed).

nxt_motor(Motor,0) :-
	nonvar(Motor),
	nxt_actions_motor_stop(Motor).

%%	nxt_motor(+Motor,+Speed,+Spec).
%
%	Rotates motor forward if Speed is positive, backward if Speed is negative. Character of this rotation depends on Spec. Spec is one of:
%
%		* time(+Time)
%		Changes motor speed for a specified time.
%
%		* angle(+Angle)
%		Rotates motor at specified speed.
%		Motor will stop, when specified revolution (Angle in degrees) is reached.
%
%		* +Angle
%		The same as angle(+Angle)

nxt_motor(_,Speed,_) :-
	nonvar(Speed),
	Speed > 900,
	writeln('Rotational speed is to high!').

nxt_motor(_,Speed,_) :-
	nonvar(Speed),
	Speed < -900,
	writeln('Rotational speed is to high!').


nxt_motor(Motor,Speed,time(Time)) :-
	nonvar(Motor),nonvar(Speed),nonvar(Time),
	nxt_motor(Motor,OldSpeed),
	nxt_motor(Motor,Speed),
	timer_create(_,Time,nxt_motor(Motor,OldSpeed)).

nxt_motor(Motor,Speed,angle(Angle)) :-
	nonvar(Motor),nonvar(Speed),nonvar(Angle),
	Speed > 0,
	nxt_actions_motor_rotate(Motor,Speed,Angle).

nxt_motor(Motor,Speed,angle(Angle)) :-
	nonvar(Motor),nonvar(Speed),nonvar(Angle),
	Speed < 0,
	MinusSpeed is -Speed,
	MinusAngle is -Angle,
	nxt_actions_motor_rotate(Motor,MinusSpeed,MinusAngle).

nxt_motor(Motor,Speed,Angle) :- 
	nxt_motor(Motor,Speed,angle(Angle)). 

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

nxt_touch_sensor(Port,Value) :-
	nonvar(Port),
	nxt_actions_touch_sensor(Port,Value).

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

nxt_sound_sensor(Port,Value) :-
	nonvar(Port),
	nxt_actions_sound_sensor(Port,Value).

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

nxt_light_sensor(Port,Value) :-
	nonvar(Port),
	nxt_actions_light_sensor(Port,Value).

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

nxt_light_sensor_LED(Port,Setting) :-
	nonvar(Port),
	nxt_actions_light_sensor_LED(Port,Setting).

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

nxt_ultrasonic_sensor(Port,Value) :-
	nonvar(Port),
	nxt_actions_ultrasonic_sensor(Port,Value).

%%	nxt_voltage(-Voltage).
%
%	Returns battery voltage in V.

nxt_voltage(Voltage) :-
	nxt_actions_voltage(Voltage).

%%	nxt_voltage_millivolt(-Voltage).
%
%	Returns battery voltage in mV.

nxt_voltage_millivolt(Voltage) :-
	nxt_actions_voltage_millivolt(Voltage).

%%	nxt_start_program(+File)
%
%	Starts a Lego executable file on the NXT.
%	DOES NOT WORK PROPERLY!!

nxt_start_program(File) :-
	nxt_actions_start_program(File).

%%	nxt_stop_program.
%
%	Stops the currently running Lego executable on the NXT.
%	DOES NOT WORK PROPERLY!!

nxt_stop_program :-
	nxt_actions_stop_program.

%%	nxt_play_sound_file(+File).
%%	nxt_play_sound_file(+File,+Repeat).
%
%	Plays a sound file from the NXT.
%	Files use the .rso extension.
%	The filename is not case sensitive.
%	nxt_play_sound_file/1 plays sound once.
%	nxt_play_sound_file/2 plays sound once if Repeat is true
%	or till nxt_stop_sound_playback is used if Repeat is
%	false.
%	DOES NOT WORK PROPERLY!!

nxt_play_sound_file(File) :-
	nxt_actions_play_sound_file(File,false).

nxt_play_sound_file(File,Repeat) :-
	nxt_actions_play_sound_file(File,Repeat).

%%	nxt_stop_sound_playback.
%
%	Stops a sound file that has been playing/repeating.
%	DOES NOT WORK PROPERLY!!

nxt_stop_sound_playback :-
	nxt_actions_stop_sound_playback.

%%	nxt_play_tone(Frequency,Duration).
%
%	Plays tone at specified frequency.
%	DOES NOT WORK PROPERLY!!

nxt_play_tone(Frequency,Duration) :-
	nxt_actions_play_tone(Frequency,Duration).

%%	nxt_brick_name(+Name).
%%	nxt_brick_name(-Name).
%
%	Gets or sets the name of the brick.
%	DOES NOT WORK PROPERLY!!

nxt_brick_name(Name) :-
	var(Name),
	nxt_actions_get_brick_name(Name).

nxt_brick_name(Name) :-
	nonvar(Name),
	nxt_actions_set_brick_name(Name).