/*
* This file is part of robotreality
*
* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
* http://opensource.cit-ec.de/projects/robotreality
*
* This file may be licensed under the terms of the
* GNU General Public License Version 3 (the ``GPL''),
* or (at your option) any later version.
*
* Software distributed under the License is distributed
* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
* express or implied. See the GPL for the specific language
* governing rights and limitations.
*
* You should have received a copy of the GPL along with this
* program. If not, go to http://www.gnu.org/licenses/gpl.html
* or write to the Free Software Foundation, Inc.,
* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The development of this software was supported by the
* Excellence Cluster EXC 277 Cognitive Interaction Technology.
* The Excellence Cluster EXC 277 is a grant of the Deutsche
* Forschungsgemeinschaft (DFG) in the context of the German
* Excellence Initiative.
*
*/
#include "HeadProjector.h"
#include <sched.h>  

int set_realtime_priority(void){
	struct sched_param schp;
    	memset(&schp, 0, sizeof(schp));
	schp.sched_priority = sched_get_priority_max(SCHED_FIFO);

	if (sched_setscheduler(0, SCHED_FIFO, &schp) != 0) {
        	perror("sched_setscheduler");
		return 0;
	}

	return 1;
}


int main(int argc, char** argv){
	
	printf("\n");
	printf(",---------------------------------------------.\n");
	printf("| robotreality sceneview tool                 |\n");
	printf("`---------------------------------------------´\n\n");
	
	if (argc == 2){
		if ((strcmp(argv[1],"-help")==0) || (strcmp(argv[1],"--help")==0)){
			printf("> usage: \n");
			printf("          %s                     (default settings)\n", argv[0]);
			printf("          %s <config filename>   (loads given config)\n\n", argv[0]);
			exit(1);
		}
	}

	//set latency to RT
	if (!set_realtime_priority()){
		printf("> ERROR: can not set realtime priority (run e as root!)\n");
		printf("         this is BAD and you will get more latency! will continue anyway...\n");
		//sleep(2);
	}


	HeadProjector *p;
	if (argc == 2){
		p = new HeadProjector(argv[1]);
	}else{
		p = new HeadProjector(NULL);
	}
	
	printf("> starting main loop\n");
	p->run();
	
	
	return 0;
}