#include <ctime>

#include <QCoreApplication>
#include <QDebug>
#include <QFile>

#include "az_drone_controller.h"
#include "az_drone_controller_plane.h"
#include "az_mission.h"

int main(int argc, char *argv[])
{
    // Add current data and time for easier log handling.
    std::cout << "\n#################################################\n";
    std::time_t currentTime = std::time(nullptr);
    std::tm* localTime = std::localtime(&currentTime);
    std::cout << "Starting autopilot program at " << std::put_time(localTime, "%Y-%m-%d %H:%M:%S") << std::endl;
    std::cout << "#################################################\n";

    // This is needed to have main event loop and signal-slot events in the AzDroneController.
    QCoreApplication a(argc, argv);

    if (a.arguments().size() != 4) {
        qCritical() << "\nProgram needs three command line parameters.";
        qCritical() << "\tFirst argument:  mission JSON file.";
        qCritical() << "\tSecond argument: \"quadcopter\" or \"plane\".";
        qCritical() << "\tThird argument:  \"udp\" or \"serial\" for connection type.";
        qCritical() << "\tFor example ./drone_controller mission.json plane udp";
        return 1;
    }

    if (QFile::exists(a.arguments().at(1)) == false) {
        qCritical() << "\nMission file doesn't exist";
        return 1;
    }

    if (a.arguments().at(2) != "plane" && a.arguments().at(2) != "quadcopter") {
        qCritical() << "\nPass \"quadcopter\" or \"plane\" for drone type as second argument";
        return 1;
    }

    if (a.arguments().at(3) != "udp" && a.arguments().at(3) != "serial") {
        qCritical() << "Pass \"udp\" or \"serial\" for connection type as third argument";
        return 1;
    }

    // Reads mission from the JSON file which is given as command line option.
    AzMission mission(argv[1]);
    cout << mission;

    // Launch a drone controller using the MAVSDK for ArduPilot-based flight controllers.
    bool isPlane = a.arguments().at(2) == "plane";
    AzDroneController *controller = isPlane ? new AzDroneControllerPlane(mission) : new AzDroneController(mission);
    controller->start();

    return a.exec();
}