#include <QCoreApplication>
#include <QDebug>
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>


// evaluate keyboard hits
// return 0 - no keyboard hit detected
// return 1 - keyboard hit detected
int kbhit() {
    struct termios oldt, newt;
    int ch;
    int oldf;

    tcgetattr(STDIN_FILENO, &oldt);
    newt = oldt;
    newt.c_lflag &= ~(ICANON | ECHO);
    tcsetattr(STDIN_FILENO, TCSANOW, &newt);
    oldf = fcntl(STDIN_FILENO, F_GETFL, 0);
    fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK);

    ch = getchar();

    tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
    fcntl(STDIN_FILENO, F_SETFL, oldf);

    if (ch != EOF) {
        ungetc(ch, stdin);
        return 1;
    }
    return 0;
}
#include "Controller.h"


// entry point for controller app
// no arguments used (yet)
// program stops on any keyboard hit
int main(int argc, char *argv[])
{
    QCoreApplication a(argc, argv);

    Controller bbr;  // create controller instance

    // loop endlessly until keybord hit
    qDebug()  << "Press any key to stop ...";
    while(!kbhit())
    {
        qDebug() << "Perform bbr setp";
        bbr.step();
        usleep(200000); // 200ms delay
    }
    return 0;

    // todo uj 30.03.26 - uncomment if needed
  //  return QCoreApplication::exec();
}