/*---------------------------------------------------------------------------
Jason Friskey
EGR 474 - Systems Integration
Dr. Hugh Jack
Term: Spring/Summer 2003
File: robot_code.c

Robot control program for workcell
---------------------------------------------------------------------------*/

#include <stdio.h>
#include <stdlib.h>
#include <libpq-fe.h>
#include <unistd.h>
#include <math.h>
#include "serial_io.h"
#include <string.h>

serial_io	*serial;
PGresult	*res;
PGconn		*conn;

int check_db();
void write_db();
void run_robot(int);

int main(){

	int command;
	char query_string[256];
	
	printf("Initializing serial connection \n");
	serial = new serial_io("B9600,F/dev/ttyS0"); //initialize serial connection
	
	printf("Connecting to database \n");
	conn = PQconnectdb("hostaddr=192.168.1.206 dbname=workcell user=friskeyj password=adidas");
	printf("Checking connection \n");
	while(PQstatus(conn) != CONNECTION_BAD){
		sprintf(query_string, "SELECT status FROM Robot");
		res = PQexec(conn, query_string);
		if(strncmp(PQgetvalue(res,0,0), "executing", 9) == 0){
			printf("Checking robot status: [%s] \n", PQgetvalue(res,0,0));
			command = check_db(); //retrieve current command from database
			printf("Executing load/unload tasks \n");
			run_robot(command);   //run robot_program based on command
			printf("Updating database \n");
			write_db();           //update robot status to 'done'
			printf("Done updating database \n");
		} //exectue if statement when robot status becomes 'executing'
	} //check for 'exectuing' robot status while connected to database

	printf("Disconnecting from database \n");
	PQfinish(conn);
	delete serial;
	printf("Disconnecting from serial \n");
	printf("Done \n");

	return 0;
}

int check_db(){
	
	char* 	  command;
	char	  query_string1[256];

	sprintf(query_string1, "SELECT command FROM Robot");
	res = PQexec(conn, query_string1);

	if(PQresultStatus(res) == PGRES_TUPLES_OK){
		command = PQgetvalue(res,0,0);
		PQclear(res);
	} else {
		printf("The query failed \n");
	}

	return atoi(command); //return current robot command as an integer

} //retreive current robot command from database

void write_db(){

	char	query_string2[256];

	sprintf(query_string2, "UPDATE Robot SET status = 'done'");
	res = PQexec(conn, query_string2);

	if(PQresultStatus(res) == PGRES_COMMAND_OK){
		PQclear(res);
	} else {
		printf("The database entry failed \n");
	}

} //update robot status in database to 'done'

void run_robot(int command) {

	if(command == 1){											
		serial->writer("RN 20\n");
		sleep(45);					
	}	
	if(command == 2){											
		serial->writer("RN 120\n");
		sleep(30);					
	}	

} //execute desired robot tasks based on command value retrieved from check_db()