/****************************************************************************/
/* Copyright (c) 2012 MBARI                                                 */
/* MBARI Proprietary Information. All rights reserved.                      */
/****************************************************************************/
/* Summary  :                                                               */
/* Filename : MultibeamerServer.cc                                          */
/* Author   :                                                               */
/* Project  :                                                               */
/* Version  : 1.0                                                           */
/* Created  : 09/17/2012                                                    */
/* Modified :                                                               */
/* Archived :                                                               */
/****************************************************************************/
/* Modification History:                                                    */
/****************************************************************************/
#include <process.h>

#include <time.h>
#include "MultibeamerIF_SK.h"
#include "MultibeamerServer.h"
#include "FloatAttribute.h"
#include "AngleAttribute.h"

MultibeamerServer::MultibeamerServer(const char *ip) 
    : _attributes("MultibeamerServer")
{
  _ip = strdup(ip);
  _output = new MultibeamerOutput();
  _log = new MultibeamerLog(this, DataLog::BinaryFormat);

  //AttributeParser::parse(configFileName, &_attributes);
  MultibeamerIF::MB_Data mbd;
  get_data(&mbd);
}


MultibeamerServer::~MultibeamerServer()
{
  free(_ip);
  delete _output;
  delete _log;
}


void MultibeamerServer::name(DeviceIF::Name name)
{
  strcpy(name, "Multibeamer");
}

void MultibeamerServer::get_data(MultibeamerIF::MB_Data *data)
{
  _output->read();
  memcpy(data, &_output->data.mb_data, sizeof(MultibeamerIF::MB_Data));
  _log->write();
  return;
}

int MultibeamerServer::spawnAuxTasks()
{
  char *program = "multibeamer";

  char errorBuf[256];
  char buf[256];
 
  pid_t pid;
 
  switch ((pid = fork())) {
     
  case 0:
    // In child
    // Execute driver program
    printf("%s %s %s...\n", program, program, _ip);
    execlp(program, program, _ip, 0);

    sprintf(errorBuf, 
	    "Task::spawnServer() - exec() of \"%s\" failed", program);

    perror(errorBuf);
 
    break;

  case -1:
    perror("Task::spawnServer() - fork() failed");
    return -1;
  }

  return 0;
}