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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: get remote control values */
		/* TODO: update kinematics */

		//flightCtrl.process();
	} catch(Error e) {
		stderr.printf("%s\n", e.message);
	}

	return true;
}

int main(string[] args) {
	Environment.set_prgname("microcopterd");

	try {
		cfg = new Config();
		Log.init();

		//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;
}