Main.cpp

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/*
 * Main.cpp
 *
 *  Created on: Nov 23, 2011
 *      Author: mriedel
 */


// Main Function for mk_interface

#include <telekyb_base/TeleKyb.hpp>

#include <tk_mkinterface/MKInterface.hpp>

#include <ros/ros.h>

using namespace telekyb;


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

        // Receiving is threaded out by itself.
        telekyb::RawOptionsContainer::addOption("tRosNrSpinnerThreads","2");
        TeleKyb::init(argc,argv,"MKInterface", ros::init_options::AnonymousName);

        MKInterface* mkIF = new MKInterface();

        if (mkIF->hasConnection()) {
//              MKInterfaceConnection* c = mkIF->getConnection();
//              const MKData& data = c->getMKDataRef();
//              sleep(5);
//
//              MKValue* motorState = data.MotState;
//              c->setValue(motorState->getMKSingleValuePacketWithValue(MotorState::Init));
//
//              sleep(5);
//              c->setValue(motorState->getMKSingleValuePacketWithValue(MotorState::On));
//
//              ros::waitForShutdown();
//
//              c->setValue(motorState->getMKSingleValuePacketWithValue(MotorState::Off));


                // spin here // in addition to the 1 AsyncSpinner.
                //ros::spin();
                // perhaps we switch to waitfor...
                ros::waitForShutdown();
        } else {
                ROS_ERROR("Could not find UAV with matching tUavID and tUavFirmware");
        }

        delete mkIF;

        TeleKyb::shutdown();
        return 0;
}