#include <glib.h>
#include <stdio.h>
#include <stdlib.h>

#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>

int ac_id = 0;

gboolean timeout_callback(gpointer data) {
  IvySendMsg("mission MISSION_GOTO_WP %d 0 0.0 300.0 250. -1.0", ac_id);
  IvySendMsg("mission MISSION_CIRCLE %d 0 0.0 300.0 300. 80. 10.0", ac_id);
  IvySendMsg("mission MISSION_SEGMENT %d 0 0.0 300.0 200.0 500. 200. -1.0", ac_id);

  exit(0);
}

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

  GMainLoop *ml =  g_main_loop_new(NULL, FALSE);

  if (argc > 1) {
    ac_id = atoi(argv[1]);
  }

  IvyInit ("Test Mission", "Test Mission READY", NULL, NULL, NULL, NULL);
  IvyStart("127.255.255.255");

  g_timeout_add(100, timeout_callback, NULL);

  g_main_loop_run(ml);

  return 0;
}