// %flair:license{
// This file is part of the Flair framework distributed under the
// CECILL-C License, Version 1.0.
// %flair:license}
//  created:    2011/10/20
//  filename:   main.cpp
//
//  author:     Guillaume Sanahuja
//              Copyright Heudiasyc UMR UTC/CNRS 6599
//
//  version:    $Id: $
//
//  purpose:    main dual shock 3
//
//
/*********************************************************************/

#include "FrameworkManager.h"
#include "DualShock3.h"
#include <stdio.h>
#include <tclap/CmdLine.h>

using namespace TCLAP;
using namespace std;
using namespace flair::core;
using namespace flair::sensor;

string receiverAddress;
int receiverPort;
string connection;
int port;
uint32_t period;
string xml_file;

void parseOptions(int argc, char** argv);

int main(int argc, char* argv[]) {
    parseOptions(argc,argv);

    DualShock3 *joystick;
    FrameworkManager *manager;

    manager= new FrameworkManager("dualshock3");
    manager->SetupConnection("127.0.0.1",port);
    manager->SetupUserInterface(xml_file);

    if(connection=="usb") {
//        manager->Warn("!! adresse = %s !!\n", address.c_str());
        joystick=new DualShock3(manager,"dualshock3",receiverAddress,receiverPort,DualShock3::Usb,period,6);
    } else {
        joystick=new DualShock3(manager,"dualshock3",receiverAddress,receiverPort,DualShock3::Bluetooth,period,6);
    }

    joystick->DrawUserInterface();

    if(!manager->ErrorOccured()) {
        joystick->Start();
        joystick->Join();
    }

    delete manager;
}

void parseOptions(int argc, char** argv) {
    try {
        CmdLine cmd("Command description message", ' ', "0.1");

        ValueArg<string> addressArg("a","address","data receiver address (ex: uav)",true,"127.0.0.1:20000","string");
        cmd.add(addressArg);

        ValueArg<string> connectionArg("c","connection","connection type (usb or bluetooth)",false,"bluetooth","string");
        cmd.add(connectionArg);

        ValueArg<int> portArg("p","port","local port used to connect to the ground station",false,9000,"int");
        cmd.add(portArg);

        ValueArg<int> periodArg("t","period","sending data period",false,10,"int");
        cmd.add(periodArg);

        ValueArg<string> xmlArg("x","xml","xml file",true,"./settings.xml","string");
        cmd.add( xmlArg );

        cmd.parse(argc, argv);

        // Get the value parsed by each arg.
        string receiverAddressWithPort=addressArg.getValue();
        int semiColonPosition = receiverAddressWithPort.find(":");
        receiverAddress=receiverAddressWithPort.substr (0,semiColonPosition);
        receiverPort=atoi(receiverAddressWithPort.substr(semiColonPosition+1).c_str());
        connection=connectionArg.getValue();
        port=portArg.getValue();
        period=periodArg.getValue();
        xml_file=xmlArg.getValue();

    } catch (ArgException &e) {   // catch any exceptions
        cerr << "error: " << e.error() << " for arg " << e.argId() << endl;
    }
}