//
// GPS Daemon
// Neal Probert
//

#include <stdio.h>
#include <stdlib.h>
#include <ctype.h>
#include <string.h>
#include <strings.h>
#include <unistd.h>
#include <errno.h>
#include <fcntl.h>
#include <signal.h>
#include <time.h>

#include <sys/types.h>
#include <sys/socket.h>
#include <sys/wait.h>
#include <arpa/inet.h>

#include "GpsPoint.h"
#include "GpsListener.h"

#include "netlib.h"

extern int optind, opterr, optopt;

int main(int argc, char **argv)
{
    // point for extrapolations
    GpsPoint    Gps;
    Gps.SetPosition( 42.0, -83.0, 0.0 );
    
    // data from vehicle
    GpsPoint CarFix;
    CarFix.Speed = 25.0;
    CarFix.Yaw = 45.0;

    // time stamp, begin 100msec position extrapolations (9 of them)
    for ( int i=1 ; i<11 ; i++ )
    {
        Gps.Extrapolate( CarFix.Speed, 0.0, CarFix.Yaw, 0.100 );

        // new fix
        double dist = GpsMath::Distance( 42.0, -83.0, Gps.GetLatitude(), Gps.GetLongitude() );
        printf( "%.7g, %.7g, %g\n", Gps.GetLatitude(), Gps.GetLongitude(), dist );
    }
}