1 files changed, 63 insertions, 0 deletions
diff --git a/main.vala b/main.vala
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index 0000000..76fd3ab
--- /dev/null
+++ b/main.vala
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+/* Copyright 2012, Sebastian Reichel <sre@ring0.de>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+Config cfg;
+Gyroscope gyroscope;
+Accelerometer accelerometer;
+Compass compass;
+Barometer barometer;
+MotorController motorCtrl;
+Receiver receiver;
+CopterModel model;
+FlightControl flightCtrl;
+Kinematics kinematics;
+
+bool loop() {
+	try {
+		/* TODO: get sensor values */
+		/* TODO: update kinematics */
+
+		flightCtrl.process();
+	} catch(Error e) {
+		stderr.printf("%s\n", e.message);
+	}
+
+	return true;
+}
+
+int main(string[] args) {
+	try {
+		cfg = new Config();
+
+		gyroscope     = cfg.get_gyroscope();
+		accelerometer = cfg.get_accelerometer();
+		compass       = cfg.get_compass();
+		barometer     = cfg.get_barometer();
+		motorCtrl     = cfg.get_motor_controller();
+		model         = cfg.get_model();
+		receiver      = cfg.get_receiver();
+
+		kinematics   = new Kinematics(0, 0); // TODO: Compass
+		flightCtrl   = new FlightControl();
+
+		Timeout.add(10, loop, Priority.HIGH);
+	} catch(Error e) {
+		stderr.printf("%s\n", e.message);
+		return 1;
+	}
+
+	new MainLoop(null, false).run();
+	return 0;
+}