/****************************************************************************
 *
 *   Copyright (c) 2022-2026 ModalAI, Inc. All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
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 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
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 *    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
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#include <string.h>
#include "uORBAppsProtobufChannel.hpp"
#include "uORB/uORBManager.hpp"

extern "C" {
	__EXPORT int muorb_main(int argc, char *argv[]);
	__EXPORT int muorb_init();
}

static bool enable_debug = false;

int
muorb_main(int argc, char *argv[])
{
	if (uORB::AppsProtobufChannel::isInstance()) {
		uORB::AppsProtobufChannel::GetInstance()->PrintStatus();
		return 0;
	}

	return muorb_init();
}

int
muorb_init()
{
	uORB::AppsProtobufChannel *channel = uORB::AppsProtobufChannel::GetInstance();

	PX4_INFO("Got muorb init command");

	if (channel && channel->Initialize(enable_debug)) {
		uORB::Manager::get_instance()->set_uorb_communicator(channel);

		if (channel->Test()) {
			return OK;
		}
	}

	return -EINVAL;
}