use airsim_client::{DrivetrainType, MultiRotorClient, NetworkResult, Path, Vector3, YawMode};
use async_std::task;

async fn connect_drone() -> NetworkResult<()> {
    let address = "172.22.224.1:41451"; // set with env variable
    let vehicle_name = "";

    log::info!("Start!");

    // connect
    log::info!("connect");
    let client = MultiRotorClient::connect(address, vehicle_name).await?;

    // confirm connect
    log::info!("confirm connection");
    let res = client.confirm_connection().await?;
    log::info!("Response: {:?}", res);

    // arm drone
    log::info!("arm drone");
    client.arm_disarm(true).await?;
    log::info!("Response: {:?}", res);

    // take off
    log::info!("take off drone");
    client.take_off_async(20.0).await?;
    log::info!("take off completed");

    log::info!("move on path");
    client
        .move_on_path_async(
            Path(vec![
                Vector3::new(-25.0, 0.0, -20.0),
                Vector3::new(-50.0, 50.0, -20.0),
                Vector3::new(-50.0, -50.0, -25.0),
            ]),
            5.0,
            1000.0,
            DrivetrainType::MaxDegreeOfFreedom,
            YawMode::new(false, 90.0),
            None,
            None,
        )
        .await?;
    log::info!("done!");

    log::info!("go home");
    client.go_home_async(20.0).await?;
    log::info!("got home");

    log::info!("land drone");
    let landed = client.land_async(20.0).await?;
    log::info!("drone landed: {}", landed);

    client.arm_disarm(false).await?;
    client.enable_api_control(false).await?;
    log::info!("Mission done!");
    Ok(())
}

fn main() -> NetworkResult<()> {
    env_logger::init();
    task::block_on(connect_drone())
}