#include "ev3cxx.h"
#include "app.h"
#include <ctime>
#include <math.h>
#include <iomanip>

/*
CHANGELOG:

0.8.0 - 'MONIKA' (#85)
Error correction on every straight drive
Multiple turning step
Complete code for building one tower

0.7.0 - 'URSULA' (#80)
Done first short and long side
Modified turn function
Changed drive plan (long - long - middle - short - short - middle)

0.6.0 - 'URSULA' (#75)
Added Doxygen comments
Added volume to display_all_values (diagnostics screen)

0.5.0 - 'HELGA' (#72)
Added diagnostics screen (opened by pressing left after boot)
Added secret quiet mode
Added turning_corection_factor for correcing gyro sensor measurements due to its bad placement

0.4.3 - 'HELGA' (#70)
Motor problems indicator with colors:
    left - red, right - orange,
    when motor is stuck change LED color
Added calculating motor powers based on battery level

0.4.2 - 'HELGA' (#67)
Updated run_short() to run_short_side()
Added gyro
Done calculations with gyro to EC driving straight
TODO: problems with battery

0.3.0 - 'INGRID' (#42)
Some weird magic in calculations of motor speeds

0.2.7 - 'ERIKA' (#36)
Created function run_short for picking up all cubes on short sides

0.2.5 - 'ERIKA' (#27)
Added "boot-up melody"
Added btnEnter.waitForClick() for program start
Fixed display printouts
HW change: gearbox on the left gear changed to 1:1

0.2.0 - 'ERIKA' (#15)
Tested functions for opening and closing doors, updated speeds
Added idealMPWRS - base MPWRS to update back to, testing with different speeds for left and right wheels

0.1.1 - 'ERIKA' (#2)
Re-created structs for version, MPWRS, note
Re-created function for opening and closing door and function for generating Version ID
*/

/// @struct version
/// @brief Struct for holding all informations about current version
struct version
{
    /// @brief int: version id
    int id;
    /// @brief int: major
    int major;
    /// @brief int: minor
    int minor;
    /// @brief int: patch
    int patch;
    /// @brief std::tm: release date (date & time of compilation)
    std::tm relDate;
    /// @brief const char*: string codename of the current version
    const char *codename;
};

/// @struct MPWRS
/// @brief  Structure to hold motor powers (left and right)
struct MPWRS
{
    /// @brief int: left motor power
    int lMotorPWR;
    /// @brief int: right motor power
    int rMotorPWR;
};

/// @struct MPWRSPlus
/// @brief Structure to hold motor powers and speed modifier (extends MPWRS)
struct MPWRSPlus
{

    /// @brief MPWRS: motor powers
    MPWRS motor_powers;
    /// @brief int: speed modifier
    int SPEED_MODIFIER;
};

/// @struct note
/// @brief Structure for holding note (frequency and duration)
struct note
{
    /// @brief uint16_t: Frequency of the note
    uint16_t frequency;
    /// @brief int32_t: Duration of the note
    int32_t duration;
};

/// @struct all Values for diagnostic function
struct allValues
{
    version currentVersion;
    int volume;
    int lMotorPWR;
    int rMotorPWR;
    int SPEED_MODIFIER;
    int turningThreshold;
    int TURNING_FACTOR_CORRECTION;
    int CORRECTION_MULTIPLIER;
    int shortOneCycleLimit;
    int loneOneCycleLimit;
};

/// @brief Function to calculate motor powers using quadratic equation, depending on battery powerMPWRSPlus
/// @param leftMotor int: wanted power of left motor (default 85)
/// @param rightMotor int: wante power or right motor (default 70)
/// @return MPWRSPlus: motor powers and SPEED_MODIFIER
MPWRSPlus calculate_motor_pwrs(int leftMotor = 85, int rightMotor = 60)
{
    int batteryLevel = ev3_battery_voltage_mV();

    double squared = (double)0.00003 * (double)(batteryLevel * batteryLevel);
    double linear = -0.42 * (double)batteryLevel;
    double constant = 1470;
    double modifier = squared + linear + constant;
    int SPEED_MODIFIER = 30 - ((int)round(modifier));
    // ev3cxx::display.format(4, "Q: % \nL: % \nC: % \nSM: % ") % squared % linear % constant % modifier;

    MPWRS idealMPWRS;
    idealMPWRS.lMotorPWR = leftMotor + SPEED_MODIFIER;
    idealMPWRS.rMotorPWR = rightMotor + SPEED_MODIFIER;

    MPWRSPlus retVal;
    retVal.motor_powers = idealMPWRS;
    retVal.SPEED_MODIFIER = SPEED_MODIFIER;
    return retVal;
}

/// @brief Function to play starting melody
void play_starting_melody()
{
    // Play starting melody
    ev3_speaker_play_tone(NOTE_C5, 400);
    tslp_tsk(500);
    ev3_speaker_play_tone(NOTE_F5, 400);
    tslp_tsk(500);
    ev3_speaker_play_tone(NOTE_G5, 400);
    tslp_tsk(500);
    ev3_speaker_play_tone(NOTE_A5, 100);
    tslp_tsk(200);
    ev3_speaker_play_tone(NOTE_F5, 650);
    tslp_tsk(950);
    ev3_speaker_play_tone(NOTE_F4, 75);
    tslp_tsk(110);
    ev3_speaker_play_tone(NOTE_F4, 75);
    tslp_tsk(110);
    ev3_speaker_play_tone(NOTE_F4, 75);
    tslp_tsk(200);
}

/// @brief Function to clean display and write first two line
void cleanAndTitle()
{
    ev3cxx::display.resetScreen();
    ev3cxx::display.format(0, "    DOBREMYSL    ");
    ev3cxx::display.format(1, "*****************");
}

/// @brief Diagnostic function to display all value on display with ability to show multiple pages
/// @param allValues values: all values in allValues structure
void displayAllValues(allValues values)
{
    ev3cxx::display.resetScreen();
    ev3cxx::display.setFont(EV3_FONT_MEDIUM);

    ev3cxx::BrickButton btnLeft(ev3cxx::BrickButtons::RIGHT); // Right button
    ev3cxx::BrickButton btnUp(ev3cxx::BrickButtons::UP);      // Up button
    ev3cxx::BrickButton btnDown(ev3cxx::BrickButtons::DOWN);  // Down button

    int pages = 3;
    int page = 0;
    while (true)
    {
        switch (page)
        {
        case 0:
            ev3cxx::display.resetScreen();
            ev3cxx::display.format(0, "    DOBREMYSL    ");
            ev3cxx::display.format(1, "*****************");
            ev3cxx::display.format(2, "Ver.: % .% .% ") % values.currentVersion.major % values.currentVersion.minor % values.currentVersion.patch;
            ev3cxx::display.format(3, "Nr.: #% ") % values.currentVersion.id;
            ev3cxx::display.format(4, "Codename: % ") % values.currentVersion.codename;
            ev3cxx::display.format(5, "Volume: % %%") % values.volume;
            ev3cxx::display.format(6, "Rel.: % ") % std::asctime(&values.currentVersion.relDate);
            break;
        case 1:
            ev3cxx::display.resetScreen();
            ev3cxx::display.format(0, "Bat.: % mV") % ev3_battery_voltage_mV();
            ev3cxx::display.format(1, "Mod.: % ") % values.SPEED_MODIFIER;
            ev3cxx::display.format(2, "-------_T_-------");
            ev3cxx::display.format(3, "TT: % ") % values.turningThreshold;
            ev3cxx::display.format(4, "CM: % ") % values.CORRECTION_MULTIPLIER;
            ev3cxx::display.format(5, "TFC: % ") % values.TURNING_FACTOR_CORRECTION;
            ev3cxx::display.format(6, "-------_1_-------");
            ev3cxx::display.format(7, "LOCL: % ") % values.shortOneCycleLimit;
            break;
        case 2:
            ev3cxx::display.resetScreen();
            ev3cxx::display.format(0, "-------_2_-------");
            ev3cxx::display.format(1, "LOCL: % ") % values.shortOneCycleLimit;
            break;
        case 3:
            ev3cxx::display.resetScreen();

        default:
            break;
        }

        while (true)
        {
            if (btnLeft.isPressed())
            {
                ev3cxx::display.resetScreen();
                cleanAndTitle();
                ev3cxx::display.format(2, "Press ENTR to run");
                return;
            }

            if (btnUp.isPressed())
            {
                page -= 1;
                if (page < 0)
                {
                    page = 0;
                }
                break;
            }
            else if (btnDown.isPressed())
            {
                page += 1;
                if (page > pages)
                {
                    page = pages;
                }
                break;
            }
            tslp_tsk(500);
        }
        tslp_tsk(200);
    }
}

/// @brief Function to run starting phase of the program (selection of diagnostics screen)
/// @param btnLeft ev3cxx::BrickButton: left brick button
/// @param btnRight ev3cxx::BrickButton: right brick button
/// @param touchS ev3cxx::TouchSensor: touch sensor
void start_program_exe(ev3cxx::BrickButton btnLeft, ev3cxx::BrickButton btnEnter, ev3cxx::TouchSensor touchS, allValues values)
{
    while (true)
    {
        // ev3_speaker_play_tone(NOTE_FS6, 20);
        // tslp_tsk(20);
        if (btnLeft.isPressed())
        {
            displayAllValues(values);
        }
        if (btnEnter.isPressed() || touchS.isPressed())
        {
            cleanAndTitle();
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
            ev3_speaker_play_tone(NOTE_F4, 100);
            tslp_tsk(750);
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
            ev3_speaker_play_tone(NOTE_F4, 100);
            break;
        }
        // ev3_speaker_play_tone(NOTE_F6, 50);
        tslp_tsk(50);
    }
}

/// @brief Function to parse timestamp to std::tm
/// @param timestampStr const char*: string form of the timestamp
/// @return std::tm: parsed timestamp
std::tm parseTimestamp(const char *timestampStr)
{
    std::tm tmStruct = {};
    std::istringstream iss(timestampStr);

    // The format of __TIMESTAMP__ is implementation-dependent
    // The example below assumes the format "Www Mmm dd hh:mm:ss yyyy"
    // Adjust the format string based on your compiler's __TIMESTAMP__ format
    iss >> std::get_time(&tmStruct, "%a %b %d %H:%M:%S %Y");

    return tmStruct;
}

/// @brief Function to generate version struct of the current version
///        Includes getting and parsing time of compilation using parseTimestamp function
/// @param versionID int: versionID, increment with every new change
/// @param codename const char*: string codename of the current version
/// @param major int: major
/// @param minor int: minor
/// @param patch int: patch
/// @return version: current version of the code, with date and time of compilation included
version createVersion(int versionID, const char *codename, int major, int minor, int patch)
{
    version retVersion;
    retVersion.id = versionID;
    retVersion.major = major;
    retVersion.minor = minor;
    retVersion.patch = patch;
    retVersion.codename = codename;
    /*retVersion.relDate.tm_sec = timestamp_tm.tm_sec;
    retVersion.relDate.tm_min = timestamp_tm.tm_min;
    retVersion.relDate.tm_hour = timestamp_tm.tm_hour;
    retVersion.relDate.tm_mday = timestamp_tm.tm_mday;
    retVersion.relDate.tm_mon = timestamp_tm.tm_mon;*/
    retVersion.relDate = parseTimestamp(__TIMESTAMP__);
    retVersion.relDate.tm_year = 2023 - 1900;
    retVersion.relDate.tm_isdst = 0;
    std::mktime(&retVersion.relDate);

    return retVersion;
}

/// @brief Function to open door
/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
void open_door(ev3cxx::Motor hinge)
{
    hinge.onForDegrees(-25, 200);
}

/// @brief Function to close door
/// @param hinge ev3cxx::Motor: motor to use when opening or closing the door
void close_door(ev3cxx::Motor hinge)
{
    hinge.onForDegrees(25, 200);
}

/// @brief Function for turning
///        !! ROBOT CAN TURN ONLY LEFT !!
/// @param motors ev3cxx::MotorTank: MotorTank with motors of the DriveBase to use
/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
/// @param endAngle int: angle to turn to (wanted angle, will be modified internally)
/// @param THRESHOLD int: turning accuracy in degrees (default 2)
/// @param TFC int: Turning Factor Correction, modifies endAngle for more accurate results (default 5)
void turn(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
{
    cleanAndTitle();
    endAngle = endAngle - TFC;
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);

    // MPWRSPlus calcedPWRS = calculate_motor_pwrs(-35, 40);
    // left, right, rotations (faster), brake, blocking, wait_after
    motors.onForRotations(-10, 25, 1.5, true, false, 60);

    bool rotating = true;
    int counter = 0;
    while (rotating && counter < 250)
    {
        int currAngle = ev3cxx::abs(gyro.angle());
        ev3cxx::display.format(3, "Angle: % ") % currAngle;
        ev3cxx::display.format(4, "Counter: % ") % counter;
        if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle))
        {

            int error = endAngle - currAngle;
            ev3cxx::display.format(5, "Error: % deg.") % error;

            motors.off(true);
            rotating = false;
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
            ev3_speaker_play_tone(NOTE_F5, 100);
            return;
        }
        tslp_tsk(20);
        counter++;
    }
    if ((endAngle - THRESHOLD < ev3cxx::abs(gyro.angle())) &&
        (ev3cxx::abs(gyro.angle()) < endAngle + THRESHOLD))
    {
        turn(motors, gyro, endAngle, THRESHOLD, TFC);
    }
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
    return;
}

/// @brief Function for turning (alternative way XD)
///        !! ROBOT CAN TURN ONLY LEFT !!
/// @param motors ev3cxx::MotorTank: MotorTank with motors of the DriveBase to use
/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
/// @param endAngle int: angle to turn to (wanted angle, will be modified internally)
/// @param THRESHOLD int: turning accuracy in degrees (default 2)
/// @param TFC int: Turning Factor Correction, modifies endAngle for more accurate results (default 5)
void turn_forever(ev3cxx::MotorTank motors, ev3cxx::GyroSensor gyro, int endAngle = 90, int THRESHOLD = 2, int TFC = 5)
{
    cleanAndTitle();
    endAngle = endAngle - TFC;
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);

    // MPWRSPlus calcedPWRS = calculate_motor_pwrs(-35, 40);
    // left, right, rotations (faster), brake, blocking, wait_after
    motors.on(-25, 45);

    bool rotating = true;
    int counter = 0;
    while (rotating && counter < 25000)
    {
        int currAngle = ev3cxx::abs(gyro.angle());
        ev3cxx::display.format(3, "Angle: % ") % currAngle;
        ev3cxx::display.format(4, "Counter: % ") % counter;
        if ((ev3cxx::abs(endAngle - THRESHOLD) < currAngle))
        {

            int error = endAngle - currAngle;
            ev3cxx::display.format(5, "Error: % deg.") % error;

            motors.off(true);
            rotating = false;
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
            ev3_speaker_play_tone(NOTE_F5, 100);
            return;
        }
        tslp_tsk(20);
        counter++;
    }
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
    return;
}

/// @brief Function to pick up all cubes on shorter side.
///        Returns true if ran till the end and false if stopped by middle button
/// @param motors ev3cxx::MotorTank: MotorTank with motors of DriveBase
/// @param idealMPWRS MPWRS: motor powers to use when nothing bad happens
/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
/// @param bumper ev3cxx::TouchSensor: front touch, exit prematurely when pressed
/// @param CYCLE_LIMIT int: how many cycle to run (default 90)
/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
/// @param THRESHOLD int: when to start correcting drive (in degrees) (default 2)
/// @return bool: false if stopped by the middle button
bool run_short_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 90, int CORRECTION_MULTIPLIER = 20, int THRESHOLD = 2)
{
    cleanAndTitle();
    const int LEFT_THRESHOLD = -THRESHOLD;
    const int RIGHT_THRESHOLD = THRESHOLD;

    gyro.resetHard();
    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
    MPWRS motor_powers;
    // Reset both motor's powers
    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

    bool run = true;
    bool error = false;
    int cycleCounter = 0;

    while (run)
    {
        motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
        tslp_tsk(50);

        // Reset both motor's powers
        motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
        motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

        // Get power of both motors
        int lPower = motors.leftMotor().currentPower();
        int rPower = motors.rightMotor().currentPower();
        int angle = gyro.angle();

        ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;

        // Emergency break using middle button (BTN_ENTER)
        if (btnEnter.isPressed())
        {
            run = false;
            error = true;
            motors.off(true);
        }

        // Exit when bumper hit
        if (bumper.isPressed())
        {
            run = false;
            motors.off(true);
        }

        // Check gyro angle and change driving speed to fix the angle
        // To the left
        if (angle < LEFT_THRESHOLD)
        {
            // ev3_speaker_play_tone(NOTE_A5, 250);
            int correction = ev3cxx::abs(angle - LEFT_THRESHOLD);
            motor_powers.lMotorPWR = motor_powers.rMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);
            ev3_speaker_play_tone(correction * 1000, 30);
            // Check if the motor is stuck
            if (lPower == 0)
            {
                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
                ev3_speaker_play_tone(NOTE_A5, 250);
                run = false;
                error = true;
                motors.off(true);
            }

            // To the right
        }
        else if (angle > RIGHT_THRESHOLD)
        {
            // ev3_speaker_play_tone(NOTE_A4, 250);
            int correction = ev3cxx::abs(angle - RIGHT_THRESHOLD);
            motor_powers.rMotorPWR = motor_powers.lMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
            ev3_speaker_play_tone(correction * 1000, 30);
            // Check if the motor is stuck
            if (rPower == 0)
            {
                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
                ev3_speaker_play_tone(NOTE_A4, 250);
                run = false;
                error = true;
                motors.off(true);
            }
        }

        cycleCounter++;

        if (cycleCounter == CYCLE_LIMIT)
        {
            run = false;
        }
    }
    motors.off(true);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 125);
    tslp_tsk(125);
    ev3_speaker_play_tone(NOTE_D4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_B4, 750);
    tslp_tsk(750);
    ev3_speaker_play_tone(NOTE_G4, 750);
    tslp_tsk(750);
    return !error;
}

/// @brief Function to pick up all cubes on longer side.
///        Returns true if ran till the end and false if stopped by middle button
/// @param motors ev3cxx::MotorTank: MotorTank with motors of DriveBase
/// @param idealMPWRS MPWRS: motor powers to use when nothing bad happens
/// @param gyro ev3cxx::GyroSensor: gyro sensor to use
/// @param bumper ev3cxx::TouchSensor: front touch, exit prematurely when pressed
/// @param CYCLE_LIMIT int: how many cycle to run (default 180)
/// @param CORRECTION_MULTIPLIER int: base value for modifying drive direction when of course (default 20)
/// @return bool: false if stopped by the middle button
bool run_long_side(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CYCLE_LIMIT = 180, int CORRECTION_MULTIPLIER = 20)
{
    cleanAndTitle();

    gyro.resetHard();
    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
    MPWRS motor_powers;
    // Reset both motor's powers
    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

    bool run = true;
    bool error = false;
    int cycleCounter = 0;
    int lastError = -1;
    int errorStrike = 0;

    while (run)
    {
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
        motors.on(motor_powers.lMotorPWR + 20, motor_powers.rMotorPWR - 20);
        tslp_tsk(50);

        // Reset both motor's powers
        motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
        motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

        // Get power of both motors
        int lPower = motors.leftMotor().currentPower();
        int rPower = motors.rightMotor().currentPower();
        int angle = gyro.angle();

        ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nCycles: % \nAngle: % ") % lPower % rPower % cycleCounter % angle;

        if (lPower == 0 || rPower == 0 || angle < -2)
        {
            // If error in previous cycle
            if (lastError == (cycleCounter - 1))
            {
                errorStrike++;
            }
            // Otherwise clear the error strike
            else
            {
                errorStrike = 0;
            }
            // Set lastError to this cycle
            lastError = cycleCounter;

            // If this is third error cycle in row
            if (errorStrike == 3)
            {
                ev3_speaker_play_tone(NOTE_F6, 50);
                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
                // Reset counters etc.
                lastError = 0;
                errorStrike = 0;
                // Back up a bit
                motors.off(true);
                motors.on(-ev3cxx::abs(motor_powers.rMotorPWR - 20), -ev3cxx::abs(motor_powers.lMotorPWR + 20));
                tslp_tsk(350);
                continue;
            }
        }

        if (angle > 5)
        {
            motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
            motor_powers.rMotorPWR = idealMPWRS.rMotorPWR + 35;
            ev3_speaker_play_tone(NOTE_D4, 50);
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
        }

        // Emergency break using middle button (BTN_ENTER)
        if (btnEnter.isPressed())
        {
            run = false;
            error = true;
            motors.off(true);
        }

        // Exit when front bumper is hit
        if (bumper.isPressed())
        {
            ev3_speaker_play_tone(NOTE_F4, 100);
            motors.off(true);

            int s_cycleCounter = 0;
            int s_lastError = -1;
            int s_errorStrike = 0;
            int s_maxCycles = 60;

            while (s_cycleCounter <= s_maxCycles)
            {
                s_cycleCounter++;
                int lPower = motors.leftMotor().currentPower();
                int rPower = motors.rightMotor().currentPower();
                if (lPower == 0 || rPower == 0)
                {
                    // If error in previous cycle
                    if (s_lastError == (s_cycleCounter - 1))
                    {
                        s_errorStrike++;
                    }
                    // Otherwise clear the error strike
                    else
                    {
                        s_errorStrike = 0;
                    }
                    // Set lastError to this cycle
                    s_lastError = s_cycleCounter;

                    // If this is third error cycle in row
                    if (s_errorStrike == 3)
                    {
                        ev3_speaker_play_tone(NOTE_F6, 50);
                        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
                        // Reset counters etc.
                        lastError = 0;
                        errorStrike = 0;
                        // Back up a bit
                        motors.off(true);
                        motors.on(-ev3cxx::abs(motor_powers.rMotorPWR - 20), -ev3cxx::abs(motor_powers.lMotorPWR + 20));
                        tslp_tsk(350);
                        continue;
                    }
                }
            }

            motors.on(100, 100);

            tslp_tsk(3000);
            run = false;
            motors.off(true);
        }

        cycleCounter++;

        if (cycleCounter == CYCLE_LIMIT)
        {
            run = false;
        }
    }
    motors.off(true);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 125);
    tslp_tsk(125);
    ev3_speaker_play_tone(NOTE_D4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_B4, 750);
    tslp_tsk(750);
    ev3_speaker_play_tone(NOTE_G4, 750);
    tslp_tsk(750);
    return !error;
}

/// @brief Function to drive forward till bumper button is pressed
/// @param motors ev3cxx::MotorTank motors to use for driving
/// @param idealMPWRS MPWRS ideal motor powers for the motors
/// @param gyro ev3cxx::GyroSensor gyro sensor to use for error correction
/// @param bumper ev3cxx::TouchSensor touch sensor to use a bumper for stoping when wall is hit
/// @param CORRECTION_MULTIPLIER int for correcting errors in direction
/// @return bool: false if stopped by the middle button
bool unlimited_drive(ev3cxx::MotorTank motors, MPWRS idealMPWRS, ev3cxx::GyroSensor gyro, ev3cxx::TouchSensor bumper, int CORRECTION_MULTIPLIER = 2, int THRESHOLD = 2)
{
    cleanAndTitle();
    const int LEFT_THRESHOLD = -THRESHOLD;
    const int RIGHT_THRESHOLD = THRESHOLD;

    gyro.resetHard();
    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
    MPWRS motor_powers;
    // Reset both motor's powers
    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

    bool run = true;
    bool error = false;

    int cycleCounter = 0;
    int lastError = -1;
    int errorStrike = 0;

    while (run)
    {
        motors.on(motor_powers.lMotorPWR, motor_powers.rMotorPWR);
        tslp_tsk(50);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);

        // Reset both motor's powers
        motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
        motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

        // Get power of both motors
        int lPower = motors.leftMotor().currentPower();
        int rPower = motors.rightMotor().currentPower();
        int angle = gyro.angle();

        ev3cxx::display.format(4, "Left motor: % \nRight motor: % \nAngle: % ") % lPower % rPower % angle;

        // Emergency break using middle button (BTN_ENTER)
        if (btnEnter.isPressed())
        {
            run = false;
            error = true;
            motors.off(true);
        }

        // Exit when bumper hit
        if (bumper.isPressed())
        {
            run = false;
            motors.off(true);
        }

        // Check gyro angle and change driving speed to fix the angle
        // To the left
        if (angle < LEFT_THRESHOLD)
        {
            // ev3_speaker_play_tone(NOTE_A5, 250);
            int correction = ev3cxx::abs(angle - LEFT_THRESHOLD);
            motor_powers.lMotorPWR = motor_powers.rMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);
            ev3_speaker_play_tone(correction * 1000, 30);
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
        }
        // To the right
        else if (angle > RIGHT_THRESHOLD)
        {
            // ev3_speaker_play_tone(NOTE_A4, 250);
            int correction = ev3cxx::abs(angle - RIGHT_THRESHOLD);
            motor_powers.rMotorPWR = motor_powers.lMotorPWR + (correction * CORRECTION_MULTIPLIER); //(int)pow(CORRECTION_MULTIPLIER, correction);//correction * CORRECTION_MULTIPLIER;
            ev3_speaker_play_tone(correction * 1000, 30);
            ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
        }

        if (lPower == 0 || rPower == 0 || angle < -2)
        {
            // If error in previous cycle
            if (lastError == (cycleCounter - 1))
            {
                errorStrike++;
            }
            // Otherwise clear the error strike
            else
            {
                errorStrike = 0;
            }
            // Set lastError to this cycle
            lastError = cycleCounter;

            // If this is third error cycle in row
            if (errorStrike == 3)
            {
                ev3_speaker_play_tone(NOTE_F6, 50);
                ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
                // Reset counters etc.
                lastError = 0;
                errorStrike = 0;
                // Back up a bit
                motors.off(true);
                motors.on(-ev3cxx::abs(motor_powers.rMotorPWR), -ev3cxx::abs(motor_powers.lMotorPWR));
                tslp_tsk(350);
                continue;
            }
        }
    }

    motors.off(true);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 125);
    tslp_tsk(125);
    ev3_speaker_play_tone(NOTE_D4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_C4, 250);
    tslp_tsk(250);
    ev3_speaker_play_tone(NOTE_B4, 750);
    tslp_tsk(750);
    ev3_speaker_play_tone(NOTE_G4, 750);
    tslp_tsk(750);
    return !error;
}

void music_task(intptr_t unused)
{
    while (true)
    {
        ev3_speaker_play_tone(NOTE_F4, 600);
        tslp_tsk(1600);
        ev3_speaker_play_tone(NOTE_A4, 600);
        tslp_tsk(1600);
    }
}

void sub_task(intptr_t unused)
{
    // Sleep 89 seconds
    tslp_tsk(89 * 1000);
    // Terminate main task
    ter_tsk(MAIN_TASK);
    ter_tsk(SUB_TASK);
}

void main_task(intptr_t unused)
{
    const int CYCLE_LIMIT_1 = 250;
    const int CYCLE_LIMIT_2 = 350;
    const int THRESHOLD = 2;
    const int TURNING_THRESHOLD = 1;
    const int TURNING_FACTOR_CORRECTION = 5;
    const int CORRECTION_MULTIPLIER = 20;

    int volume = 100;

    // Create version info
    const version VERSION = createVersion(85, "MONIKA", 0, 8, 0);

    // Set-up screen
    ev3cxx::display.resetScreen();
    ev3cxx::display.setFont(EV3_FONT_MEDIUM);

    // Set up motor powers
    MPWRSPlus calcedPWRS = calculate_motor_pwrs();

    MPWRS idealMPWRS = calcedPWRS.motor_powers;
    const int SPEED_MODIFIER = calcedPWRS.SPEED_MODIFIER;

    MPWRS motor_powers;
    motor_powers.lMotorPWR = idealMPWRS.lMotorPWR;
    motor_powers.rMotorPWR = idealMPWRS.rMotorPWR;

    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);

    // Set up motors
    ev3cxx::Motor hinge(ev3cxx::MotorPort::A, ev3cxx::MotorType::MEDIUM); // Hinge motor
    ev3cxx::MotorTank motors(ev3cxx::MotorPort::B, ev3cxx::MotorPort::C); // Tank motors (Left - B; Right - C)
    ev3cxx::GyroSensor gyro(ev3cxx::SensorPort::S1);                      // gyro sensor
    ev3cxx::TouchSensor touchS(ev3cxx::SensorPort::S4);                   // Touch sensor
    ev3cxx::TouchSensor frontTouch(ev3cxx::SensorPort::S3);               // Touch sensor (bumper)

    // Set up buttons
    ev3cxx::BrickButton btnEnter(ev3cxx::BrickButtons::ENTER); // Middle button
    ev3cxx::BrickButton btnLeft(ev3cxx::BrickButtons::LEFT);   // Left button (for entering diagnostics)
    ev3cxx::BrickButton btnDown(ev3cxx::BrickButtons::DOWN);   // Down button (quiet mode)

    // quiet mode activation
    if (btnDown.isPressed())
    {
        volume = 0;
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
        tslp_tsk(200);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
        tslp_tsk(200);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
    }

    ev3_speaker_set_volume(volume);
    play_starting_melody();

    // Print version information on screen
    cleanAndTitle();
    ev3cxx::display.format(2, "% .% .%  #% \nNAME: % \nBattery: % mV % \nPress ENTR to run") % VERSION.major % VERSION.minor % VERSION.patch % VERSION.id % VERSION.codename % ev3_battery_voltage_mV() % SPEED_MODIFIER;

    allValues values;
    values.currentVersion = VERSION;
    values.volume = volume;
    values.lMotorPWR = idealMPWRS.lMotorPWR;
    values.rMotorPWR = idealMPWRS.rMotorPWR;
    values.SPEED_MODIFIER = SPEED_MODIFIER;
    values.turningThreshold = TURNING_THRESHOLD;
    values.TURNING_FACTOR_CORRECTION = TURNING_FACTOR_CORRECTION;
    values.CORRECTION_MULTIPLIER = CORRECTION_MULTIPLIER;
    values.shortOneCycleLimit = CYCLE_LIMIT_1;
    values.loneOneCycleLimit = CYCLE_LIMIT_2;

    // Start program
    start_program_exe(btnLeft, btnEnter, touchS, values);

    act_tsk(SUB_TASK);
    // act_tsk(MUSIC_TASK);

    ev3_speaker_play_tone(NOTE_F4, 100);
    tslp_tsk(200);

    // Close the door before begining the drive
    close_door(hinge);

    // Run first long side
    bool side_1 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_1, CORRECTION_MULTIPLIER);
    // If something happened
    if (!side_1)
    {
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
        ev3_speaker_play_tone(NOTE_F4, 100);
        tslp_tsk(200);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
        ev3_speaker_play_tone(NOTE_FS4, 100);
    }

    motors.onForRotations(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 3.25);

    // turn 90 degress left
    //turn_forever(motors, gyro, 35, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
    //motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 120);
    turn_forever(motors, gyro, 95, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);
    motors.onForSeconds(-motor_powers.rMotorPWR, -motor_powers.lMotorPWR, 1000);

    // Cross to the other side
    gyro.resetHard();
    bool crossing = unlimited_drive(motors, motor_powers, gyro, frontTouch, CORRECTION_MULTIPLIER, THRESHOLD);

    if (!crossing)
    {
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
        ev3_speaker_play_tone(NOTE_F4, 100);
        tslp_tsk(200);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
        ev3_speaker_play_tone(NOTE_FS4, 100);
    }

    // turn 90 degress left
    gyro.resetHard();
    turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);

    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::ORANGE);
    tslp_tsk(200);
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
    tslp_tsk(200);
    ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);

    // reset gyro
    gyro.resetHard();
    // Run second long side
    bool side_2 = run_long_side(motors, motor_powers, gyro, frontTouch, CYCLE_LIMIT_2, CORRECTION_MULTIPLIER);
    // If something happened
    if (!side_2)
    {
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::RED);
        ev3_speaker_play_tone(NOTE_F4, 100);
        tslp_tsk(200);
        ev3cxx::statusLight.setColor(ev3cxx::StatusLightColor::GREEN);
        ev3_speaker_play_tone(NOTE_FS4, 100);
    }

    // reset gyro; turn 150 degrees left
    gyro.resetHard();
    turn_forever(motors, gyro, 90, TURNING_THRESHOLD, TURNING_FACTOR_CORRECTION);

    motors.onForRotations(motor_powers.lMotorPWR, motor_powers.rMotorPWR, 8.12);

    open_door(hinge);

    motors.onForRotations(motor_powers.lMotorPWR, motor_powers.rMotorPWR, 8.12);
    motors.off(true);

    act_tsk(MUSIC_TASK);
}