/****************************************************************************/
/* Copyright (c) 2000 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : parosci.cc                                                    */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 02/07/2000                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
/*-----------------------------------------------------------------------*
  PROGRAM: parosci

  DESCRIPTION: Main file for Parosci depth sensor binary

  AUTHOR: Aaron Marsh

  $Id: _parosci.cc,v 1.6 2005/02/18 01:16:23 henthorn Exp $
  *-----------------------------------------------------------------------*/

#include <sys/sched.h>
#include <errno.h>
#include "System.h"
#include "SerialDevice.h"
#include "Parosci.h"
#include "Syslog.h"
#include "SerialParameters.h"

int main( int argc, char **argv )
{
  int cnt;
  int baro_corr_flag = 1;

  // Set task priority
  if (System::setTaskPriority(CriticalDriverPriority) == -1)
      return 1;

  SerialDevice *device = 0;
  Parosci *parosci = 0;

/*
  cnt = argc;
  while (cnt > 1) {
    if (strcmp(argv[cnt--],"--no_baro_corr")) {
      baro_corr_flag = 0;
    }
  }
*/
  try {
    SerialParameters params(&argc, argv);
    device = new SerialDevice(&params);
    parosci = new Parosci( device, baro_corr_flag );

    parosci->run();
  }
  catch (Exception e) {
    Syslog::write("Paroscientific - Exception caught: %s\n", e.msg);
  }
  catch (...) {
    Syslog::write("Paroscientific - Some exception caught\n");
  }

  delete device;
  delete parosci;

  return 0;

}