//
////////////////////////////////////////////////////////////////////////////////
//
// PURPOSE:  To start up the VehicleDriver driver task.
// AUTHOR:   rsm
// DATE:     10/5/2006
// COMMENTS: 
//
////////////////////////////////////////////////////////////////////////////////
//
//
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "System.h"
#include "VehicleDriver.h"
#include "Syslog.h"
#include "SerialParameters.h"

void signalHandler(int signalNo);
void cleanup();

SerialDevice *device = 0;
VehicleDriver *driver = 0;

int main( int argc, char **argv )
{

  signal(SIGINT,  signalHandler);
  signal(SIGTERM, signalHandler);
  signal(SIGQUIT, signalHandler);
  atexit(cleanup);
  // Set task priority
  if (System::setTaskPriority(NonCriticalDriverPriority) == -1)
    return 1;

  Boolean verbose = False;
  for (int i = 1; i < argc; i++) {
    if (!strcmp(argv[i], "-v")) 
      verbose = True;
  }

  try {
    SerialParameters params(&argc, argv);
    device = new SerialDevice(&params);
    device->commsDebugMode(SerialDevice::DebugOff);
    driver = new VehicleDriver(device);

    driver->run();
//    if (driver->initialized()) driver->run();
  }
  catch (Exception e) {
    Syslog::write("%s - caught Exception: %s\n", argv[0], e.msg);
  }
  catch (...) {
    Syslog::write("%s - caught unknown exception\n", argv[0]);
  }

  delete driver;
  delete device;

  return 0;

}


void signalHandler(int signalNo)
{

  //  cleanup();
  exit(0);
}

void cleanup()
{
  delete driver;
  delete device;
}