#include <QCoreApplication>

#include "ivversion.h"

#include <yaml-cpp/yaml.h>
#include "vehicle_upload.h"
#include "vehicle_control.h"
#include "vehicle_patrol.h"
#include "modulecomm.h"

#include <QFile>
#include <QString>
#include <QStringList>
#include <QMetaType>

namespace iv {
struct msgunit
{
    char mstrmsgname[256];
    int mnBufferSize = 10000;
    int mnBufferCount = 1;
    void * mpa;
    std::shared_ptr<char> mpstrmsgdata;
    int mndatasize = 0;
    bool mbRefresh = false;
    bool mbImportant = false;
    int mnkeeptime = 100;
};
}

uint8_t gShift_Status = 3; //3 p 4 r 5 n 6 d
uint8_t gCtrlMode_Status = 0; //0 auto 1 remote 2 stop 3 platform

std::string gstrserverip =  "111.33.136.150";//"123.57.212.138";
std::string gstruploadPort = "10591";//"9000";
std::string gstrpatrolPort = "10592";//"9000";
std::string gstrcontrolPort = "20591";//"9000";
std::string gstruploadInterval = "500";
std::string gstrpatrolInterval = "1000";
std::string gstrcontrolInterval = "100";
std::string gstruploadMapInterval = "1000";
std::string gstrid = "1234567890123456789H";
std::string gstrplateNumber = "津A123456";

iv::msgunit shmPicFront;
iv::msgunit shmPicRear;
iv::msgunit shmPicLeft;
iv::msgunit shmPicRight;
iv::msgunit shmRemoteCtrl;
iv::msgunit shmChassis;
iv::msgunit shmGPSIMU;
iv::msgunit shmPlatformFeedback;

void dec_yaml(const char * stryamlpath)
{

    YAML::Node config;
    try
    {
        config = YAML::LoadFile(stryamlpath);
    }
    catch(YAML::BadFile &e)
    {
        std::cout<<e.what()<<std::endl;
        qDebug("yaml file load fail.");
        return;
    }
    catch(YAML::ParserException &e)
    {
        std::cout<<e.what()<<std::endl;
        qDebug("yaml file is malformed.");
        return;
    }

    if(config["server"])
    {
        gstrserverip = config["server"].as<std::string>();
    }
    if(config["uploadPort"])
    {
        gstruploadPort = config["uploadPort"].as<std::string>();
    }
    if(config["patrolPort"])
    {
        gstrpatrolPort = config["patrolPort"].as<std::string>();
    }
    if(config["controlPort"])
    {
        gstrcontrolPort = config["controlPort"].as<std::string>();
    }
    if(config["uploadInterval"])
    {
        gstruploadInterval = config["uploadInterval"].as<std::string>();
    }
    if(config["patrolInterval"])
    {
        gstrpatrolInterval = config["patrolInterval"].as<std::string>();
    }
    if(config["controlinterval"])
    {
        gstrcontrolInterval = config["controlinterval"].as<std::string>();
    }
    if(config["uploadmapinterval"])
    {
        gstruploadMapInterval = config["uploadmapinterval"].as<std::string>();
    }

    if(config["id"])
    {
        gstrid = config["id"].as<std::string>();
    }
    if(config["plateNumber"])
    {
        gstrplateNumber = config["plateNumber"].as<std::string>();
    }

    std::string strmsgname;

    if(config["pic_front"])
    {
        if(config["pic_front"]["msgname"]&&config["pic_front"]["buffersize"]&&config["pic_front"]["buffercount"])
        {
            strmsgname = config["pic_front"]["msgname"].as<std::string>();
            strncpy(shmPicFront.mstrmsgname,strmsgname.data(),255);
            shmPicFront.mnBufferSize = config["pic_front"]["buffersize"].as<int>();
            shmPicFront.mnBufferCount = config["pic_front"]["buffercount"].as<int>();
//            std::cout << shmPicFront.mstrmsgname << shmPicFront.mnBufferSize << shmPicFront.mnBufferCount << std::endl;
        }
    }

    if(config["pic_rear"])
    {
        if(config["pic_rear"]["msgname"]&&config["pic_rear"]["buffersize"]&&config["pic_rear"]["buffercount"])
        {
            strmsgname = config["pic_rear"]["msgname"].as<std::string>();
            strncpy(shmPicRear.mstrmsgname,strmsgname.data(),255);
            shmPicRear.mnBufferSize = config["pic_rear"]["buffersize"].as<int>();
            shmPicRear.mnBufferCount = config["pic_rear"]["buffercount"].as<int>();
//            std::cout << shmPicRear.mstrmsgname << shmPicRear.mnBufferSize << shmPicRear.mnBufferCount << std::endl;
        }
    }

    if(config["pic_left"])
    {
        if(config["pic_left"]["msgname"]&&config["pic_left"]["buffersize"]&&config["pic_left"]["buffercount"])
        {
            strmsgname = config["pic_left"]["msgname"].as<std::string>();
            strncpy(shmPicLeft.mstrmsgname,strmsgname.data(),255);
            shmPicLeft.mnBufferSize = config["pic_left"]["buffersize"].as<int>();
            shmPicLeft.mnBufferCount = config["pic_left"]["buffercount"].as<int>();
//            std::cout << shmPicLeft.mstrmsgname << shmPicLeft.mnBufferSize << shmPicLeft.mnBufferCount << std::endl;
        }
    }

    if(config["pic_right"])
    {
        if(config["pic_right"]["msgname"]&&config["pic_right"]["buffersize"]&&config["pic_right"]["buffercount"])
        {
            strmsgname = config["pic_right"]["msgname"].as<std::string>();
            strncpy(shmPicRight.mstrmsgname,strmsgname.data(),255);
            shmPicRight.mnBufferSize = config["pic_right"]["buffersize"].as<int>();
            shmPicRight.mnBufferCount = config["pic_right"]["buffercount"].as<int>();
//            std::cout << shmPicRight.mstrmsgname << shmPicRight.mnBufferSize << shmPicRight.mnBufferCount << std::endl;
        }
    }

    if(config["remote_ctrl"])
    {
        if(config["remote_ctrl"]["msgname"]&&config["remote_ctrl"]["buffersize"]&&config["remote_ctrl"]["buffercount"])
        {
            strmsgname = config["remote_ctrl"]["msgname"].as<std::string>();
            strncpy(shmRemoteCtrl.mstrmsgname,strmsgname.data(),255);
            shmRemoteCtrl.mnBufferSize = config["remote_ctrl"]["buffersize"].as<int>();
            shmRemoteCtrl.mnBufferCount = config["remote_ctrl"]["buffercount"].as<int>();
//            std::cout << shmRemoteCtrl.mstrmsgname << shmRemoteCtrl.mnBufferSize << shmRemoteCtrl.mnBufferCount << std::endl;
        }
    }

    if(config["chassis"])
    {
        if(config["chassis"]["msgname"]&&config["chassis"]["buffersize"]&&config["chassis"]["buffercount"])
        {
            strmsgname = config["chassis"]["msgname"].as<std::string>();
            strncpy(shmChassis.mstrmsgname,strmsgname.data(),255);
            shmChassis.mnBufferSize = config["chassis"]["buffersize"].as<int>();
            shmChassis.mnBufferCount = config["chassis"]["buffercount"].as<int>();
//            std::cout << shmChassis.mstrmsgname << shmChassis.mnBufferSize << shmChassis.mnBufferCount << std::endl;
        }
    }

    if(config["platform_feedback"])
    {
        if(config["platform_feedback"]["msgname"]&&config["platform_feedback"]["buffersize"]&&config["platform_feedback"]["buffercount"])
        {
            strmsgname = config["platform_feedback"]["msgname"].as<std::string>();
            strncpy(shmPlatformFeedback.mstrmsgname,strmsgname.data(),255);
            shmPlatformFeedback.mnBufferSize = config["platform_feedback"]["buffersize"].as<int>();
            shmPlatformFeedback.mnBufferCount = config["platform_feedback"]["buffercount"].as<int>();
//            std::cout << shmPlatformFeedback.mstrmsgname << shmPlatformFeedback.mnBufferSize << shmPlatformFeedback.mnBufferCount << std::endl;
        }
    }

    if(config["GPS_IMU"])
    {
        if(config["GPS_IMU"]["msgname"]&&config["GPS_IMU"]["buffersize"]&&config["GPS_IMU"]["buffercount"])
        {
            strmsgname = config["GPS_IMU"]["msgname"].as<std::string>();
            strncpy(shmGPSIMU.mstrmsgname,strmsgname.data(),255);
            shmGPSIMU.mnBufferSize = config["GPS_IMU"]["buffersize"].as<int>();
            shmGPSIMU.mnBufferCount = config["GPS_IMU"]["buffercount"].as<int>();
//            std::cout << shmGPSIMU.mstrmsgname << shmGPSIMU.mnBufferSize << shmGPSIMU.mnBufferCount << std::endl;
        }
    }

    return;
}

int main(int argc, char *argv[])
{
    showversion("driver_cloud_grpc_client_BS");
    QCoreApplication a(argc, argv);

    char stryamlpath[256];
    if(argc<2)
    {
        snprintf(stryamlpath,255,"driver_cloud_grpc_client_BS.yaml");
    }
    else
    {
        strncpy(stryamlpath,argv[1],255);
    }

    dec_yaml(stryamlpath);

    std::string control_str = gstrserverip+":";
    control_str = control_str + gstrcontrolPort ;

    std::string patrol_str = gstrserverip+":";
    patrol_str = patrol_str + gstrpatrolPort;

    std::string upload_str = gstrserverip+":";
    upload_str = upload_str + gstruploadPort ;

//    std::cout<<upload_str<<std::endl;
    DataExchangeClient *vehicleuploaddata = new DataExchangeClient(grpc::CreateChannel(upload_str, grpc::InsecureChannelCredentials()));
    vehicleuploaddata->start();

//    std::cout<<control_str<<std::endl;
//    VehicleChangeCtrlModeClient *vehiclechangectrlmode = new VehicleChangeCtrlModeClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
//    VehicleControlClient *vehiclecontrol = new VehicleControlClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
//    qRegisterMetaType<org::jeecg::defsControl::grpc::CtrlMode>("org::jeecg::defsControl::grpc::CtrlMode"); ///< to solve the problem of signal and slot being in different threads
//    QObject::connect(vehiclechangectrlmode,&VehicleChangeCtrlModeClient::ctrlMode_Changed,vehiclecontrol,&VehicleControlClient::ctrlMode_Changed_Slot);
//    vehiclechangectrlmode->start();
//    vehiclecontrol->start();

//    VehicleUploadMapClient *vehicleuploadmap = new VehicleUploadMapClient(grpc::CreateChannel(control_str, grpc::InsecureChannelCredentials()));
//    QObject::connect(vehicleuploadmap,&VehicleUploadMapClient::patrolPOI_Recieved,vehicleuploaddata,&DataExchangeClient::patrolPOI_Recieved_Slot);
//    QObject::connect(vehicleuploaddata,&DataExchangeClient::uploadPath_Finished,vehicleuploadmap,&VehicleUploadMapClient::uploadPath_Finished_Slot);
//    vehicleuploadmap->start();

//    std::cout<<patrol_str<<std::endl;
//    VehiclePatrolExceptionClient vehiclepatrol(grpc::CreateChannel(patrol_str, grpc::InsecureChannelCredentials()));
//    vehiclepatrol.start();

    return a.exec();
}