/****************************************************************************
 *
 *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file hello_start_linux.cpp
 *
 * @author Thomas Gubler <thomasgubler@gmail.com>
 * @author Mark Charlebois <mcharleb@gmail.com>
 */
#include "hello_example.h"
#include <px4_app.h>
#include <px4_tasks.h>
#include <stdio.h>
#include <string.h>
#include <sched.h>

#define SCHED_DEFAULT	SCHED_FIFO
#define SCHED_PRIORITY_MAX sched_get_priority_max(SCHED_FIFO)
#define SCHED_PRIORITY_DEFAULT sched_get_priority_max(SCHED_FIFO)

static int daemon_task;             /* Handle of deamon task / thread */

//using namespace px4;

extern "C" __EXPORT int hello_main(int argc, char *argv[]);
int hello_main(int argc, char *argv[])
{
	
	if (argc < 2) {
		printf("usage: hello {start|stop|status}\n");
		return 1;
	}

	if (!strcmp(argv[1], "start")) {

		if (HelloExample::mgr.isRunning()) {
			printf("already running\n");
			/* this is not an error */
			return 0;
		}

		daemon_task = px4_task_spawn_cmd("hello",
				       SCHED_DEFAULT,
				       SCHED_PRIORITY_MAX - 5,
				       2000,
				       PX4_MAIN,
				       (argv) ? (char* const*)&argv[2] : (char* const*)NULL);

		return 0;
	}

	if (!strcmp(argv[1], "stop")) {
		HelloExample::mgr.requestExit();
		return 0;
	}

	if (!strcmp(argv[1], "status")) {
		if (HelloExample::mgr.isRunning()) {
			printf("is running\n");

		} else {
			printf("not started\n");
		}

		return 0;
	}

	printf("usage: hello_main {start|stop|status}\n");
	return 1;
}