#include <libplayerc++/playerc++.h>
 #include <iostream>
 #include <unistd.h>
 
 std::string  gHostname(PlayerCc::PLAYER_HOSTNAME);
 uint         gPort(PlayerCc::PLAYER_PORTNUM);
 uint         gIndex(0);
 uint         gDebug(0);
 uint         gUseLaser(0);
 
 void print_usage(int argc, char** argv);
 
 int parse_args(int argc, char** argv)
 {
   // set the flags
   const char* optflags = "h:p:i:d:l";
   int ch;
 
   // use getopt to parse the flags
   while(-1 != (ch = getopt(argc, argv, optflags)))
   {
     switch(ch)
     {
       // case values must match long_options
       case 'h': // hostname
           gHostname = optarg;
           break;
       case 'p': // port
           gPort = atoi(optarg);
           break;
       case 'i': // index
           gIndex = atoi(optarg);
           break;
       case 'd': // debug
           gDebug = atoi(optarg);
           break;
       case 'l': // debug
           gUseLaser = atoi(optarg);
           break;

 //      case '?': // help
 //      case ':':
       case '?': 
           print_usage(argc, argv);
           exit (-1);
       default:  // unknown
      if (isprint (optopt))
         fprintf (stderr, "Unknown option `-%c'.\n", optopt);
      else
              fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
           print_usage(argc, argv);
           exit (-1);
     }
   }
   return (0);
 } // end parse_args
 
 
 
 void print_usage(int argc, char** argv)
 {
   using namespace std;
   cerr << "USAGE:  " << *argv << " [options]" << endl << endl;
   cerr << "Where [options] can be:" << endl;
   cerr << "  -h <hostname>  : hostname to connect to (default: "
        << PlayerCc::PLAYER_HOSTNAME << ")" << endl;
   cerr << "  -p <port>      : port where Player will listen (default: "
        << PlayerCc::PLAYER_PORTNUM << ")" << endl;
   cerr << "  -i <index>     : device index (default: 0)"
        << endl;
   cerr << "  -d <level>     : debug message level (0 = none -- 9 = all)"
        << endl;
   cerr << "  -l <laser>     : 1 - use laser, 0 - use sonar"
        << endl;
 } // end print_usage