/*
 * Author: Jun Kato <i@junkato.jp>
 * Copyright (c) 2015 Jun Kato.
 *
 * Thanks to Seeed Studio for a working arduino sketch
 *
 * Permission is hereby granted, free of charge, to any person obtaining
 * a copy of this software and associated documentation files (the
 * "Software"), to deal in the Software without restriction, including
 * without limitation the rights to use, copy, modify, merge, publish,
 * distribute, sublicense, and/or sell copies of the Software, and to
 * permit persons to whom the Software is furnished to do so, subject to
 * the following conditions:
 *
 * The above copyright notice and this permission notice shall be
 * included in all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
 * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
 * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
 * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
 * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
 * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
 * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 */

#include <signal.h>
#include <stdio.h>

#include "ultrasonic.hpp"
#include "upm_utilities.h"

bool running = true;

void
sig_handler(int signo)
{
    if (signo == SIGINT)
        running = false;
}

int
main(int argc, char** argv)
{
    signal(SIGINT, sig_handler);
    //! [Interesting]
    // upm::UltraSonic *sonar = NULL;
    upm::UltraSonic sonar(2);
    while (running) {
        int width = sonar.getDistance();
        printf("Echo width = %d\n", width);
        printf("Distance inches = %f.2\n\n", width / 148.0);
        upm_delay(3);
    }
    //! [Interesting]
    printf("exiting application\n");
    return 0;
}
