#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include "definitions.h"
#include "net.h"

#define COMMAND_LENGTH 80 /* max length of a command. */

int main() {
  int i=1;
  int status=FAILURE;
  int number_of_terminators=1;
  char *command=NULL;
  char **reply=NULL;
  int polarityflip, orderflip;
  float startmark, tablecoverage;
  
  if ((command = (char *) calloc(COMMAND_LENGTH, sizeof(char)))==NULL) {
    fprintf(stderr, "*ERROR* failed to allocate command buffer!");
    fflush(stderr);
    exit(EXIT_FAILURE);
  }
  if ((reply = (char **) calloc(COMMAND_LENGTH, sizeof(char *))) == NULL) {
    fprintf(stderr, "*ERROR* failed to allocate command buffer!");
    fflush(stderr);
    exit(EXIT_FAILURE);
  }
  for (i=0; i<COMMAND_LENGTH; i++) {
#ifdef DEBUG
    printf("allocating i=%d\n", i);
#endif
    if ((reply[i] = (char *) calloc(COMMAND_LENGTH, sizeof(char)))==NULL) {
      fprintf(stderr, "*ERROR* failed to allocate command buffer!");
      fflush(stderr);
      exit(EXIT_FAILURE);
    }
  }
  printf("Load worm gear correction control parameters.\n");
  printf("  Enter the parameters in the following form:\n\
   0,0,0.0000,0.5000\n\
   <polarity_flip[0,1]>\n\
     <order_flip[0,1]>\n\
       <start_mark[0.0-359.9999]>\n\
              <table_coverage[0.0-359.9999]>\n   ");
  scanf("%d,%d,%f,%f", &polarityflip, &orderflip, &startmark, &tablecoverage);
  sprintf(command, "WCC %1d,%1d,%.4f,%.4f", polarityflip, orderflip, startmark, tablecoverage);

  printf("The command is \"%s\"\n", command);

    status = vrsi_command_tcpip(command, reply, (int) COMMAND_LENGTH,1,"10.212.212.121",5001);
    if (status != SUCCESS) {
      fprintf(stderr,"*ERROR* failed to send command %s\n", command);
      fflush(stderr);
      exit(EXIT_FAILURE);
    }
    if (reply != NULL) {
      
	printf("Received the reply:\n\t%s\n",reply[0]);
     
    }

  exit(EXIT_SUCCESS);
}