// test client for AR Drone Server
// Copyright (C) 2015 Florian Jung
// All rights reserved. Licensed under the 3-clause-BSD-license as follows:
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// 1. Redistributions of source code must retain the above copyright notice, this
//    list of conditions and the following disclaimer.
// 
// 2. Redistributions in binary form must reproduce the above copyright notice,
//    this list of conditions and the following disclaimer in the documentation
//    and/or other materials provided with the distribution.
// 
// 3. Neither the name of the copyright holder nor the names of its contributors
//    may be used to endorse or promote products derived from this software without
//    specific prior written permission.
// 
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
// FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
// DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
// OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.


#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/socket.h>
#include <string.h>
#include <sys/un.h>

#include <GL/glut.h>    // Header File For The GLUT Library 
#include <GL/gl.h>	// Header File For The OpenGL32 Library
#include <GL/glu.h>	// Header File For The GLu32 Library

#define SOCKETPATH "/home/flo/uds_socket"

void die(const char* msg){perror(msg); exit(1);}
void suicide(const char* msg){ fprintf(stderr, "%s\n", msg); exit(1); }

int DrawGLScene(GLvoid);


unsigned char buffer[67108864]; // must be unsigned. because reasons -_-

/* ascii code for the escape key */
#define ESCAPE 27

/* The number of our GLUT window */
int window; 

/* A general OpenGL initialization function.  Sets all of the initial parameters. */
void InitGL(int Width, int Height)	        // We call this right after our OpenGL window is created.
{
  glClearColor(0.0f, 0.0f, 0.0f, 0.0f);		// This Will Clear The Background Color To Black
  glClearDepth(1.0);				// Enables Clearing Of The Depth Buffer
  glDepthFunc(GL_LESS);				// The Type Of Depth Test To Do
  glEnable(GL_DEPTH_TEST);			// Enables Depth Testing
  glShadeModel(GL_SMOOTH);			// Enables Smooth Color Shading

  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();				// Reset The Projection Matrix

  gluPerspective(45.0f,(GLfloat)Width/(GLfloat)Height,0.1f,100.0f);	// Calculate The Aspect Ratio Of The Window

  glMatrixMode(GL_MODELVIEW);
}

/* The function called when our window is resized (which shouldn't happen, because we're fullscreen) */
void ReSizeGLScene(int Width, int Height)
{
  if (Height==0)				// Prevent A Divide By Zero If The Window Is Too Small
    Height=1;

  glViewport(0, 0, Width, Height);		// Reset The Current Viewport And Perspective Transformation

  glMatrixMode(GL_PROJECTION);
  glLoadIdentity();

  gluPerspective(45.0f,(GLfloat)Width/(GLfloat)Height,0.1f,100.0f);
  glMatrixMode(GL_MODELVIEW);
}

/* The function called whenever a key is pressed. */
void keyPressed(unsigned char key, int x, int y) 
{
    /* avoid thrashing this procedure */
    usleep(100);

    /* If escape is pressed, kill everything. */
    if (key == ESCAPE) 
    { 
	/* shut down our window */
	glutDestroyWindow(window); 
	
	/* exit the program...normal termination. */
	exit(0);                   
    }
}

int init_all_teh_shitz(int argc, char **argv) 
{  
  /* Initialize GLUT state - glut will take any command line arguments that pertain to it or 
     X Windows - look at its documentation at http://reality.sgi.com/mjk/spec3/spec3.html */  
  glutInit(&argc, argv);  

  /* Select type of Display mode:   
     Double buffer 
     RGBA color
     Alpha components supported 
     Depth buffer */  
  glutInitDisplayMode(GLUT_RGBA | GLUT_DOUBLE | GLUT_ALPHA | GLUT_DEPTH);  

  /* get a 640 x 480 window */
  glutInitWindowSize(640, 480);  

  /* the window starts at the upper left corner of the screen */
  glutInitWindowPosition(0, 0);  

  /* Open a window */  
  window = glutCreateWindow("Jeff Molofee's GL Code Tutorial ... NeHe '99");  

  /* Register the function to do all our OpenGL drawing. */
  glutDisplayFunc(&DrawGLScene);  

  /* Go fullscreen.  This is as soon as possible. */
  glutFullScreen();

  /* Even if there are no events, redraw our gl scene. */
  glutIdleFunc(&DrawGLScene);

  /* Register the function called when our window is resized. */
  glutReshapeFunc(&ReSizeGLScene);

  /* Register the function called when the keyboard is pressed. */
  glutKeyboardFunc(&keyPressed);

  /* Initialize our window. */
  InitGL(640, 480);
  
  /* Start Event Processing Engine */  
  glutMainLoop();  

  return 1;
}


int DrawGLScene(GLvoid)                         // Here's Where We Do All The Drawing
{
	glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);     // Clear The Screen And The Depth Buffer
	glLoadIdentity();
	glTranslatef(-1.5f,0.0f,-6.0f);

	glBegin(GL_QUADS);
		glVertex3f(-1.0f,-1.0f, 0.0f);
		glVertex3f(-1.0f, 1.0f, 0.0f);
		glVertex3f( 1.0f, 1.0f, 0.0f);
		glVertex3f( 1.0f,-1.0f, 0.0f);
	glEnd();
  
  glutSwapBuffers();
}

int main(int argc, const char** argv)
{
	init_all_teh_shitz(argc, argv);


	struct sockaddr_un my_sockaddr;
	my_sockaddr.sun_family=AF_UNIX;
	strcpy(my_sockaddr.sun_path, SOCKETPATH);
	int sockaddrlen = strlen(my_sockaddr.sun_path) + sizeof(my_sockaddr.sun_family);

	int sockfd = socket(AF_UNIX, SOCK_STREAM, 0);
	if (sockfd == -1) die("socket");


	if (connect(sockfd, (struct sockaddr*) &my_sockaddr, sockaddrlen) == -1)
		die("connect");
	
	write(sockfd,"get\n",4);

	printf("%i\n",read(sockfd, buffer, 4));
	printf("%x%x%x%x\n",buffer[0],buffer[1],buffer[2],buffer[3]);
	int framelen = ((buffer[0]*256+buffer[1])*256+buffer[2])*256+buffer[3];
	printf("framelen is %i\n", framelen);
	if (framelen > sizeof(buffer)) suicide("buffer too small");
	read(sockfd, buffer, framelen);

	printf("done reading\n");

	read(sockfd, buffer, 123);

	close(sockfd);
	return 0;
}