%
%     Implementation by Marcin Ziółkowski
%
%     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_actions_sockets,[
			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
		       ]).

/** <module> NXT Mindstroms - Actions Sockets.
@authors: 	API: Piotr Hołownia
			Definitions: Marcin Ziółkowski

Motors: 'A', 'B', 'C'.
Sensors ports: 'S1', 'S2', 'S3', 'S4'.
*/
			   
:- use_module(library(socket)).
:- dynamic nxt_actions_sockets/2.

%%	nxt_actions_open_connection
%
%	Opens connection.

nxt_actions_connection_open :-
        tcp_socket(Socket),
        tcp_connect(Socket, '127.0.0.1':2056),
        tcp_open_socket(Socket, ReadFd, WriteFd),
	
		assert(nxt_actions_sockets(ReadFd, WriteFd)),
		
		write_canonical(WriteFd, 'nxt; open'),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),
		
		write_canonical(WriteFd, 'shortrep'),
		flush_output(WriteFd).

%%	nxt_actions_close_connection
%
%	Closes connection.

nxt_actions_connection_close :-
		nxt_actions_sockets(ReadFd, WriteFd),

		write_canonical(WriteFd, 'nxt; close'),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),

		write_canonical(WriteFd, 'bye'),
		flush_output(WriteFd),
		
		close(ReadFd),
		close(WriteFd),
		
		retractall(nxt_actions_sockets(_,_)).

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

nxt_actions_motor_forward(Motor,RotSpeed) :-
		Speed is RotSpeed / 9,
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('motor; setForward;', Motor, A),
		string_concat(A, ';', B),
		string_concat(B, Speed, C),
		write_canonical(WriteFd, C),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _).

%%	nxt_actions_motor_backward(+Motor,+RotSpeed).
%
%	Rotates motor backward at specified speed.

nxt_actions_motor_backward(Motor,RotSpeed) :-
		Speed is RotSpeed / 9,
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('motor; setReverse;', Motor, A),
		string_concat(A, ';', B),
		string_concat(B, Speed, C),
		write_canonical(WriteFd, C),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _).

%%	nxt_actions_motor_get_speed(+Motor,-RotSpeed).
%
%	Gets speed of the motor.

nxt_actions_motor_get_speed(Motor,RotSpeed) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('motor; getRotationCount;', Motor, A),
		write_canonical(WriteFd, A),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, Speed),
		RotSpeed is Speed * 9.

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

nxt_actions_motor_stop(Motor) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('motor; stop;', Motor, A),
		string_concat(A, '; false', B),
		write_canonical(WriteFd, B),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _).

%%	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,RotSpeed,Angle) :-
		Speed is RotSpeed / 9,
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('motor; goTo;', Motor, A),
		string_concat(A, ';', B),
		string_concat(B, Speed, C),
		string_concat(C, ';', D),
		string_concat(D, Angle, E),
		string_concat(E, '; false', F),
		write_canonical(WriteFd, F),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _).

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

nxt_actions_touch_sensor(Port,Value) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; setTouch;', Port, A),
		write_canonical(WriteFd, A),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),
		
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; getValue;', Port, B),
		write_canonical(WriteFd, B),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, Value).

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

nxt_actions_sound_sensor(Port,Value) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; setSound;', Port, A),
		write_canonical(WriteFd, A),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),
		
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; getValue;', Port, B),
		write_canonical(WriteFd, B),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, Value).

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

nxt_actions_light_sensor(Port,Value) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; setLight;', Port, A),
		write_canonical(WriteFd, A),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),
		
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; getValue;', Port, B),
		write_canonical(WriteFd, B),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, Value).
		
%%	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) :-
	write('Light sensor LED connected to port '),
	write(Port),
	write(' has been set to: '),
	write(Setting),
	write(' state. '),nl.

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

nxt_actions_ultrasonic_sensor(Port,Value) :-
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; setSonar;', Port, A),
		write_canonical(WriteFd, A),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, _),
		
		nxt_actions_sockets(ReadFd, WriteFd),
		string_concat('sensor; getSonarValue;', Port, B),
		write_canonical(WriteFd, B),
		flush_output(WriteFd),
		read_line_to_codes(ReadFd, Value).