#include <unistd.h>
#include <stdio.h>
#include <stdlib.h>
#include <sys/time.h>
#include <sys/types.h>



#include <ctype.h>

#include <getopt.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>


#define GLOBAL
#include "global.h"
#include "fallbacks.h"

#include <X11/Intrinsic.h>

#include <X11/StringDefs.h> 
#include <X11/Intrinsic.h> 
#include <X11/Xaw/Box.h> 
#include <X11/Xaw/Toggle.h> 
#include <X11/Xaw/Command.h>

#ifdef _RJP_THREAD
#include <pthread.h>
#endif


#include "video_common.h"
#include "decoder.h"

#ifdef _RJP_THREAD
int rjp_sock_fd;
#endif

XtAppContext  app;


static u_short video_port = VIDEO_PORT;


void exit_self(Widget w, XtPointer client, XtPointer call)
{
	/* Do all clean up */
	finish_display();
	XtAppSetExitFlag(app);
}



void usage(char* progname)
{
	fprintf(stderr, "Syntax: %s\n", progname);
	fprintf(stderr, "\t[-o format  %d for QCIF %d for CIF\n", QCIF_TYPE, CIF_TYPE);
	fprintf(stderr, "\t[-p TCP_PORT DEFAULT %hd]\n", video_port);
}


ET_PROC( PrintHi2 ) {
  printf("Hi there\n");
  return ET_OK;
  
}


ET_PROC( Disengage) {
  printf("disengage\n");
  return ET_OK;
}

ET_PROC( MotorStop) {
	printf("MotorStop\n");
  return ET_OK;
}

ET_PROC( FreeRotate ) {
	printf("FreeRotate\n");
  return ET_OK;
}


ET_PROC( Step ) {
	printf("Step\n");

  return ET_OK;
}

void syntax(char* progname)
{
  printf("%s -h -d device\n", progname);
  printf("  -h        help on usage\n");
  printf("  -p dev    port device to use, default lp0\n");
}


void* myXthread(void *arg)
{
	XtAppMainLoop(app);
	return NULL;
}

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

	char ch;
	int read_fd = 0;
	//Widget toplevel,  drawingW, picW, formW, exitW;
	Widget toplevel, picW, formW, exitW;
	int format = CIF_TYPE;
	frformat_t picformat;

	pthread_t mythread;
	pthread_t mythread2;



	while ((ch = getopt(argc, argv, "p:o:h")) != -1)
		switch(ch) {
		case 'p':
			video_port = atoi(optarg);
			break;

		case 'o':
			format = atoi(optarg);
			break;
      
		case 'h':
			usage(argv[0]);
			goto quit;
		}

	if(format != QCIF_TYPE && format != CIF_TYPE) {
		usage(argv[0]);
		exit(0);
	}
	if(format == CIF_TYPE) 
		picformat = CIF_FORMAT;
	else if(format == QCIF_TYPE) 
		picformat = QCIF_FORMAT;
#ifdef BOUNDS_CHECK
	else 
		bounds_error(__LINE__, __FILE__, __PRETTY_FUNCTION__);
#endif


	compile_h261vlc();


  	toplevel = XtVaAppInitialize(&app, "RJPpicviewer", NULL, 0, &argc, argv,
  			       fallbacks, NULL);

	formW = XtCreateManagedWidget("box", boxWidgetClass, toplevel, NULL, 0);
	XtVaSetValues(formW, XtNheight, picformat.rows + 50, NULL);
	XtVaSetValues(formW, XtNwidth,  picformat.cols + 50, NULL);


  	exitW = XtCreateManagedWidget("Exit", commandWidgetClass, formW, NULL, 0);
	
	
	picW = XtCreateManagedWidget("picw", coreWidgetClass, formW, NULL, 0);
	XtVaSetValues(picW, XtNheight, picformat.rows, NULL);
	XtVaSetValues(picW, XtNwidth, picformat.cols, NULL);


	XtAddCallback(exitW, XtNcallback, exit_self, NULL);
//	XtAddEventHandler(picW, ExposureMask, FALSE, Redisplay, NULL);

	read_fd = wait_for_connect(video_port);
	if(read_fd < 0) {
		fprintf(stderr, "connect wait failed\n");
		goto quit;
	}

	rjp_sock_fd = read_fd;
	fprintf(stderr, "read_fd = %d\n", read_fd);
	pthread_create(&mythread, NULL, read_thread, &picformat);

        XtRealizeWidget(toplevel);


	init_display(toplevel, picW, picformat.cols, picformat.rows);

	Et_Init(&argc, argv);
	ET_INSTALL_COMMANDS;

	ET_INCLUDE(playergui.tk);

	pthread_create(&mythread2, NULL, myXthread, NULL);


	Et_MainLoop();
	
	printf("now stepping for ten seconds\n");

	printf("done stepping\n");
	
//	XtAppMainLoop(app);

 quit:
	return 0;

//    motor_halt();


}