import lejos.nxt.*;
import lejos.nxt.addon.*;
import lejos.util.TextMenu;
 
public class View {
     
    public static void main (String[] aArg)
    throws Exception
    {
        String sys = "System info";
        String batt = "Battery :";
        String tot = "Tot mem :";
        String free = "Free mem:";
        String sensVal = "Sensor Value";
        String mot = "Motors";
        String mots = "Motors:";
        String tach = "Tacho:";
        String port = "Port:";
        String type = "Type:";
        String val = "Value:";
        String pressed = "pressed ";
        String released = "released";
         
        String[] viewItems = {"System", "Sensors", "Motors", "Exit"};
         
        TextMenu main = new TextMenu(viewItems, 1, "View Example");
         
        String[] sensorItems = {"Touch","Light(Floodlit)","Light(Ambient)","Sound DB","Sound DBA","RCX Light","Ultrasonic"};
         
        TextMenu pickSensor = new TextMenu(sensorItems, 1, "Pick Sensor");
         
        String[] sensorPorts = {"S1","S2","S3","S4"};
        TextMenu pickSensorPort = new TextMenu(sensorPorts, 1, "Pick Port");
 
        String[] motors = {"A","B","C","A&B","A&C","B&C"};
        TextMenu pickMotor = new TextMenu(motors,1,"Pick Motor");
         
        String[] motorMethods = {"forward","backward","flt","stop"};
        TextMenu operation = new TextMenu(motorMethods, 1, "Pick option");
         
        int selection;
         
        for(;;)
        {
            LCD.clear();
            selection = main.select();
             
            if (selection == -1 || selection == 3)
            {
                LCD.clear();
                LCD.drawString("Finished",3,4);
                LCD.refresh();  
                return;
            }
             
            if (selection == 0) // System Info
            {
                LCD.clear();
                LCD.drawString(sys, 0, 0);
                LCD.drawString(batt, 0, 2);
                LCD.drawInt(Battery.getVoltageMilliVolt(), 4, 10, 2);
                LCD.drawString(tot, 0, 3);
                LCD.drawInt((int)(Runtime.getRuntime().totalMemory()), 5, 10, 3);
                LCD.drawString(free, 0, 4);
                LCD.drawInt((int)(Runtime.getRuntime().freeMemory()), 5, 10,4);
                LCD.refresh();
                 
                Button.ESCAPE.waitForPressAndRelease();
            }
             
            if (selection == 1) // Sensors              
            {
                LCD.clear();
                int portId = pickSensorPort.select();
                if (portId < 0) 
                {
                    Button.ESCAPE.waitForPressAndRelease();
                    continue;
                }
 
                LCD.clear();
                int sensor = pickSensor.select();               
                if (sensor < 0)
                {
                    Button.ESCAPE.waitForPressAndRelease();
                    continue;
                } 
                 
                LCD.clear();
                LCD.drawString(sensVal, 0, 0);              
                LCD.drawString(port, 0, 2);
                LCD.drawString(sensorPorts[portId],6,2);
                LCD.drawString(type, 0, 3);
                LCD.drawString(sensorItems[sensor],6,3);
                LCD.drawString(val,0,4);
                 
                if (sensor == 0)
                {
                    TouchSensor touch = new TouchSensor(SensorPort.PORTS[portId]);
                     
                    while (!Button.ESCAPE.isPressed())
                    {
                        if (touch.isPressed()) LCD.drawString(pressed,7,4);
                        else LCD.drawString(released, 7, 4);
                         
                        LCD.refresh();
                        Thread.sleep(100);
                    }
                }
                 
                if (sensor == 1 || sensor == 2)
                {
                    LightSensor light = new LightSensor(SensorPort.PORTS[portId], sensor == 1);
                     
                    while (!Button.ESCAPE.isPressed())
                    {
                        LCD.drawInt(light.readValue(), 3, 7, 4);
                         
                        LCD.refresh();
                        Thread.sleep(100);
                    }
                }
 
                if (sensor == 3 || sensor == 4)
                {
                    SoundSensor sound = new SoundSensor(SensorPort.PORTS[portId], sensor == 4);
                     
                    while (!Button.ESCAPE.isPressed())
                    {
                        LCD.drawInt(sound.readValue(), 3, 7, 4);
                         
                        LCD.refresh();
                        Thread.sleep(100);
                    }
                }   
                 
                if (sensor == 5) // RCX Light Sensor
                {
                    RCXLightSensor light = new RCXLightSensor(SensorPort.PORTS[portId]);
                     
                    while (!Button.ESCAPE.isPressed())
                    {
                        LCD.drawInt(light.readValue(), 3, 7, 4);
                         
                        LCD.refresh();
                        Thread.sleep(100);
                    }
                }
                 
                if (sensor == 6) // Ultrasonic
                {
                    UltrasonicSensor sonar = new UltrasonicSensor(SensorPort.PORTS[portId]);
                     
                    while (!Button.ESCAPE.isPressed())
                    {
                        LCD.drawInt(sonar.getDistance(), 3, 7, 4);
                         
                        LCD.refresh();
                        Thread.sleep(100);
                    }
                }
                Button.ESCAPE.waitForPressAndRelease();
            }
             
            if (selection == 2) // Motors
            {
                LCD.clear();
                int motor = pickMotor.select();             
                if (motor < 0)
                {
                    Button.ESCAPE.waitForPressAndRelease();
                    continue;
                }
                 
                for(;;)
                {               
                  LCD.clear();
                  int op = operation.select();                
                  if (op < 0)
                  {
                      Button.ESCAPE.waitForPressAndRelease();
                      break;
                  }
                 
                  if (op == 0) // forwards
                  {
                    if (motor == 0 || motor == 3 || motor == 4) Motor.A.forward();
                    if (motor == 1 || motor == 3 || motor == 5) Motor.B.forward();
                    if (motor == 2 || motor == 4 || motor == 5) Motor.C.forward();
                  }
                   
                  if (op == 1) // backwards
                  {
                    if (motor == 0 || motor == 3 || motor == 4) Motor.A.backward();
                    if (motor == 1 || motor == 3 || motor == 5) Motor.B.backward();
                    if (motor == 2 || motor == 4 || motor == 5) Motor.C.backward();
                  }
                   
                  if (op == 2) // float
                  {
                    if (motor == 0 || motor == 3 || motor == 4) Motor.A.flt();
                    if (motor == 1 || motor == 3 || motor == 5) Motor.B.flt();
                    if (motor == 2 || motor == 4 || motor == 5) Motor.C.flt();
                  }
                   
                  if (op == 3) // stop
                  {
                    if (motor == 0 || motor == 3 || motor == 4) Motor.A.stop();
                    if (motor == 1 || motor == 3 || motor == 5) Motor.B.stop();
                    if (motor == 2 || motor == 4 || motor == 5) Motor.C.stop();
                  }
                   
                  // Display tach reading until Escape is pressed
                  while(!Button.ESCAPE.isPressed())
                  {
                      LCD.clear();
                      LCD.drawString(mot,0,0);
                      LCD.drawString(mots, 0, 2);
                      LCD.drawString(motors[motor], 8,2);
                      LCD.drawString(tach, 0, 3);
                      if (motor == 0 || motor == 3 || motor == 4) 
                          LCD.drawInt(Motor.A.getTachoCount(), 8, 7, 3);
                      if (motor == 1 || motor == 3 || motor == 5)
                          LCD.drawInt(Motor.B.getTachoCount(), 8, 7, 3);
                      if (motor == 2 || motor == 4 || motor == 5)
                          LCD.drawInt(Motor.C.getTachoCount(), 8, 7, 3);
                      LCD.refresh();
                      Thread.sleep(100);
                  }
                   
                  Button.ESCAPE.waitForPressAndRelease();
                }
            }
        }
    }
}