// std
#include <iostream>
#include <chrono>
#include <thread>

// tmsif
#include <tmsif/api/MissionCtrl.hpp>

// ddkit
#include <ddkit/actors/Session.hpp>


int main(int argc, char *argv[])
{
  std::cout << "App started ..." << std::endl;

  const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
  ddkit::actors::Session session(domain);

  // starting Service
  const std::string serviceName = "UAV_MissionCtrl1";

  auto client = M_MissionCtrl::Client::createWriteOnly(session, serviceName);

  std::this_thread::sleep_for(std::chrono::milliseconds(500));

  client->CmdPerformAction(M_MissionCtrl::CommandedActionType(M_MissionCtrl::TaskType({M_MissionCtrl::TaskCategoryKind::Type::Arm}, {}, {}, {}), {}));

  // std::this_thread::sleep_for(std::chrono::milliseconds(500));

  client->CmdPerformAction(M_MissionCtrl::CommandedActionType(M_MissionCtrl::TaskType({M_MissionCtrl::TaskCategoryKind::Type::Arm}, {}, {}, {}), {}));


  while(true) // keep app running
  {
    std::this_thread::sleep_for(std::chrono::milliseconds(3000));
  }

  return 0;
}









































































// // std
// #include <iostream>
// #include <chrono>
// #include <thread>

// // tmsif
// #include <tmsif/api/MissionCtrl.hpp>

// // ddkit
// #include <ddkit/actors/Session.hpp>


// // class DeviceClient : public M_MissionCtrl::IClient
// // {
// // public:
// //   void ReportDeviceStatus(M_MissionCtrl::DeviceStatusType const& Status, bool IsRemoved) override
// //   {
// //     fprintf(stdout, "ReportDeviceStatus: Status.OperationStatus.Mode set? %d\n", !(int)Status.OperationStatus.Mode.empty());
// //   }
// // };


// int main(int argc, char *argv[])
// {
//   std::cout << "App started ..." << std::endl;

//   const int domain = 4; // TMS-IF MAVLink Adapter runs on domain 4
//   ddkit::actors::Session session(domain);

//   // starting Service
//   const std::string serviceName = "UAV_Device1";

//   M_MissionCtrl::IService callbacksFromClients;
//   auto service = M_MissionCtrl::Service::create(session, serviceName, callbacksFromClients);

//   // messages
//   // auto msg = M_MissionCtrl::AlarmLogType(M_Alert::AlarmStatusKind::Active, false, false,
//   //     false, {}, M_Alert::AlarmCategoryKind::Type::Warning, M_Common::TimeType(4000, 0), {});

//   uint64_t i = 1;
//   while(true)
//   {
//       std::this_thread::sleep_for(std::chrono::milliseconds(500));

//       // send data cyclic for example
//       service. // ReportAlarmLog("test123", msg, false);
//   }

//   return 0;
// }