#include "taskmanager.h"
#include "taskmaker.h"
#include "mapmap/mapmanager.h"
#include "agvmanager.h"
#include "usermanager.h"
#include "network/sessionmanager.h"
#include "msgprocess.h"
#include "userlogmanager.h"
#include "utils/Log/spdlog/spdlog.h"
#include "common.h"
#include "agvImpl/ros/agv/rosAgv.h"
#include "qunchuang/chipmounter/chipmounter.h"
#include "device/elevator/elevator.h"
#include "device/elevator/elevatorManager.h"
#include "device/devicemanager.h"
#include "Dongyao/dyforklift.h"
#include "Dongyao/dytaskmaker.h"
#include "mapmap/blockmanager.h"

#define DY_TEST
void initLog()
{
    //日志文件
    try
    {
        std::vector<spdlog::sink_ptr> sinks;

        //控制台
#ifdef WIN32
        auto color_sink = std::make_shared<spdlog::sinks::wincolor_stdout_sink_mt>();
#else
        auto color_sink = std::make_shared<spdlog::sinks::ansicolor_stdout_sink_mt>();
#endif
        sinks.push_back(color_sink);

        //日志文件
        auto rotating = std::make_shared<spdlog::sinks::rotating_file_sink_mt>("agv_dispatch.log", 1024 * 1024 * 20, 5);
        sinks.push_back(rotating);

        combined_logger = std::make_shared<spdlog::logger>("main", begin(sinks), end(sinks));
        combined_logger->flush_on(spdlog::level::trace);
        combined_logger->set_level(spdlog::level::trace);

        //flush interval
        //        int q_size = 2000;
        //        spdlog::set_async_mode(q_size, spdlog::async_overflow_policy::block_retry,
        //                               nullptr,
        //                               std::chrono::seconds(1));

        ////test
        //combined_logger->info("=============log test==================");
        //combined_logger->trace("test log 1");
        //combined_logger->debug("test log 2");
        //combined_logger->info("test log 3");
        //combined_logger->warn("test log 4");
        //combined_logger->error("test log 5");
        //combined_logger->critical("test log 6");
        //combined_logger->info("=============log test==================");
    }
    catch (const spdlog::spdlog_ex& ex)
    {
        std::cout << "Log initialization failed: " << ex.what() << std::endl;
    }
}


void testAGV()
{
    g_threadPool.enqueue([&] {
        // test ros agv
        //rosAgvPtr agv(new rosAgv(1,"robot_0","192.168.8.206",7070));
        rosAgvPtr agv(new rosAgv(1, "robot_0", "192.168.8.211", 7070));

        std::cout << "AGV init...." << std::endl;

        agv->init();
        chipmounter *chip = new chipmounter(1, "chipmounter", "10.63.39.190", 1000);
        //chipmounter *chip = new chipmounter(1,"chipmounter","192.168.8.101",1024);
        chip->init();
        agv->setChipMounter(chip);

        sleep(20);

        chipinfo info;
        while (chip != nullptr)
        {
            if (!chip->isConnected())
            {
                //chip->init();
                //std::cout << "chipmounter disconnected, need reconnect...."<< std::endl;
            }

            if (chip->getAction(&info))
            {
                std::cout << "new task ...." << "action: " << info.action << "point: " << info.point << std::endl;
                if (agv->isAGVInit())
                {
                    chip->deleteHeadAction();
                    agv->startTask(info.point, info.action);
                    //agv->startTask( "2510", "loading");

                }
            }
            /*else
        {
            std::cout << "new task for test...." << "action: " <<info.action<< "point: " <<info.point<< std::endl;

            agv->startTask( "2511", "unloading");
            //agv->startTask( "", "");
            break;
        }*/

            sleep(1);
        }
    });


    std::cout << "testAGV end...." << std::endl;

}

void testElevator()
{
    // test elevator
    //    Elevator ele(1, "ele_0", "127.0.0.1", 8889);
    //    ele.init();
    //    g_threadPool.enqueue([&](){
    //        while (!ele.IsConnected())
    //            std::this_thread::sleep_for(std::chrono::microseconds(30));
    //        int from = 1;
    //        int to   = 2;
    //        int agv  = 1;
    //        // 请求某电梯 (30s超时)
    //        int elevator = ele.RequestTakeElevator(from, to, 0, agv, 30);
    //        if (elevator != -1) {
    //            // 乘梯应答
    //            ele.TakeEleAck(from, to, elevator, agv);
    //            // 等待电梯的进入指令 (30s超时)
    //            if (ele.ConfirmEleInfo(from, to, elevator, agv, 30)) {
    //                // todo: 此时agv可以进入, 进入过程每5秒发送一次乘梯应答
    //                //
    //                // 直到完全进入, agv发送进入电梯应答, 电梯开始运行直到到达目标楼层
    //                if (ele.AgvEnterUntilArrive(from, to, elevator, agv, 30)) {
    //                    // todo: 此时agv可以离开, 离开过程每5秒发送一次离开指令
    //                    //
    //                    // 直到完全离开, 发送离开应答结束乘梯流程
    //                    ele.AgvLeft(from, to, elevator, agv, 30);
    //                    return true;
    //                }
    //            }
    //            //
    //        }

    //        return false;
    //    });
}





void quit(int sig)
{
    g_quit = true;
    _exit(0);
}


int main(int argc, char *argv[])
{
    signal(SIGINT, quit);
    std::cout << "start server ..." << std::endl;

    //0.日志输出
    initLog();

    //1.打开数据库
    try {
        g_db.open(DB_File);
    }
    catch (CppSQLite3Exception &e) {
        combined_logger->error("sqlite error {0}:{1};", e.errorCode(), e.errorMessage());
        return -1;
    }

    //2.载入地图
    if (!MapManager::getInstance()->load()) {
        combined_logger->error("map manager load fail");
        return -2;
    }

    //3.初始化车辆及其链接
    if (!AgvManager::getInstance()->init()) {
        combined_logger->error("AgvManager init fail");
        return -3;
    }

    //4.初始化任务管理
    if (!TaskManager::getInstance()->init()) {
        combined_logger->error("TaskManager init fail");
        return -4;
    }

    //5.用户管理
    UserManager::getInstance()->init();

    //6.初始化消息处理
    if (!MsgProcess::getInstance()->init()) {
        combined_logger->error("MsgProcess init fail");
        return -5;
    }

    //7.初始化日志发布
    UserLogManager::getInstance()->init();

    // test ros agv
    //rosAgvPtr agv(new rosAgv(1,"robot_0","127.0.0.1",7070));
    //agv->init();

    //8.初始化电梯
    ElevatorManager::getInstance()->init();


    //9.初始化任务生成
    TaskMaker::getInstance()->init();


    //    10.初始化tcp/ip 接口
    //tcpip服务
    auto aID = SessionManager::getInstance()->addTcpAccepter(9999);
    SessionManager::getInstance()->openTcpAccepter(aID);

    //websocket fuwu
    aID = SessionManager::getInstance()->addWebSocketAccepter(9998);
    SessionManager::getInstance()->openWebSocketAccepter(aID);
#ifdef DY_TEST
    //agv server
    aID = SessionManager::getInstance()->addTcpAccepter(6789);
    SessionManager::getInstance()->openTcpAccepter(aID);
    AgvManager::getInstance()->setServerAccepterID(aID);
#endif
    combined_logger->info("server init OK!");

    while (!g_quit) {
        usleep(50000);
    }

    spdlog::drop_all();

    return 0;
}