/*
 * Author: Jon Trulson <jtrulson@ics.com>
 * Copyright (c) 2014-2017 Intel Corporation.
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <unistd.h>
#include <iostream>
#include <signal.h>
#include "enc03r.hpp"

using namespace std;

bool shouldRun = true;

// analog voltage, usually 3.3 or 5.0
#define CALIBRATION_SAMPLES 1000

void sig_handler(int signo)
{
    if (signo == SIGINT)
        shouldRun = false;
}

int main()
{
    signal(SIGINT, sig_handler);

//! [Interesting]

    // Instantiate a ENC03R on analog pin A0
    upm::ENC03R *gyro = new upm::ENC03R(0);

    // The first thing we need to do is calibrate the sensor.
    cout << "Please place the sensor in a stable location, and do not" << endl;
    cout << "move it while calibration takes place." << endl;
    cout << "This may take a couple of minutes." << endl;

    gyro->calibrate(CALIBRATION_SAMPLES);
    cout << "Calibration complete.  Reference value: "
         << gyro->calibrationValue() << endl;

    // Read the input and print both the raw value and the angular velocity,
    // waiting 0.1 seconds between readings
    while (shouldRun)
    {
        gyro->update();

        cout << "Angular velocity: "
             << gyro->angularVelocity()
             << " deg/s"
             << endl;

        usleep(100000);
    }
//! [Interesting]

    cout << "Exiting" << endl;

    delete gyro;
    return 0;
}
