#include <QCoreApplication>

#include <iostream>
#include <QDateTime>
#include <math.h>

#include <thread>

#include "modulecomm.h"
#include "xmlparam.h"
#include "ivlog.h"
#include "ivfault.h"
#include "ivversion.h"
#include "ivbacktrace.h"

iv::Ivlog * givlog;
iv::Ivfault * givfault;

#include "canmsg.pb.h"
#include "canraw.pb.h"
#include "decodechassis.h"

void * gpa ;

QTime gTime;


namespace  iv {

enum VehicleTypeDef {GE3,VV7,MIDCAR,PROBLUE,MIDBUS,HAPO,UNKNOWN, YUHESEN,SHENLAN,SHENLAN_CANFD} gVehicleType;  //车辆类型


}


int gnRadarState = 0;




/**
  * @brief Listencan0
  * Listen CAN Message
  * @param strdata           pointer to module communication buffer
  * @param nSize             Message Size
  * @param index             Message index
  * @param dt                Share DateTime
  * @param strmemname        Message Name of Share
  * @retval
**/
void Listencan0(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    (void)index;
    (void)dt;
    (void)strmemname;
    if(nSize<1)return;
    iv::can::canmsg xmsg;
    if(false == xmsg.ParseFromArray(strdata,nSize))
    {
        std::cout<<"esr Listencan0 fail."<<std::endl;
        return;
    }

    int nRtn = 0;
    switch (iv::gVehicleType) {
    case iv::GE3:
        nRtn = ProcGE3Chassis(gpa,&xmsg);
        break;
    case iv::VV7:
        nRtn = ProcVV7Chassis(gpa,&xmsg);
        break;
    case iv::PROBLUE:
        nRtn = ProcPROBLUEChassis(gpa,&xmsg);
        break;
    case iv::MIDCAR:
        nRtn = ProcMIDCARChassis(gpa,&xmsg);
        break;
    case iv::MIDBUS:
        nRtn = ProcMIDBUSChassis(gpa,&xmsg);
        break;
    case iv::HAPO:
        nRtn = ProcHAPOChassis(gpa,&xmsg);
        break;
    case iv::YUHESEN:
        nRtn = ProcYUHESENChassis(gpa,&xmsg);
        break;
    case iv::SHENLAN:
        nRtn = ProcShenLanChassis(gpa,&xmsg);
    case iv::SHENLAN_CANFD:
        nRtn = ProcShenLanCANFDChassis(gpa,&xmsg);
        break;
    default:
        break;
    }

    if(nRtn == 1)gnRadarState = 100;
//    DecodeRadar(xmsg);

//    qDebug("can size is %d",xmsg.rawmsg_size());
//    xt = QDateTime::currentMSecsSinceEpoch();
//    qDebug("latence = %ld ",xt-pic.time());

}


/**
  * @brief threadstate
  * Update Fault State
  * @retval
**/
void threadstate()
{
    while(1)
    {
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
        if(gnRadarState > -100)gnRadarState--;
        if(gnRadarState > 0)
        {
            givfault->SetFaultState(0,0,"OK");
        }
        else
        {
            if(gnRadarState > -100)
            {
                givfault->SetFaultState(1,1,"无底盘数据");
            }
            else
            {
                givfault->SetFaultState(1,2,"底盘无响应");
            }
        }

    }
}

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

    gTime.start();

    QString strpath = QCoreApplication::applicationDirPath();
    if(argc < 2)
        strpath = strpath + "/detection_chassis.xml";
    else
        strpath = argv[1];
    std::cout<<strpath.toStdString()<<std::endl;

    iv::xmlparam::Xmlparam xp(strpath.toStdString());

    std::string strmemcan = xp.GetParam("canrecv","canrecv0");
    std::string strvehicletype = xp.GetParam("vehicletype","GE3");
    std::string strmodulename = xp.GetParam("modulename","chassis"); //chassismsgname
    std::string strchassismsgname = xp.GetParam("chassismsgname","chassis");

    iv::gVehicleType = iv::UNKNOWN;
    if(strncmp(strvehicletype.data(),"GE3",255) == 0)
    {
        iv::gVehicleType = iv::GE3;
    }

    if(strncmp(strvehicletype.data(),"VV7",255) == 0)
    {
        iv::gVehicleType = iv::VV7;
    }

    if(strncmp(strvehicletype.data(),"PROBLUE",255) == 0)
    {
        iv::gVehicleType = iv::PROBLUE;
    }

    if(strncmp(strvehicletype.data(),"MIDCAR",255) == 0)
    {
        iv::gVehicleType = iv::MIDCAR;
    }

    if(strncmp(strvehicletype.data(),"MIDBUS",255) == 0)
    {
        iv::gVehicleType = iv::MIDBUS;
    }
    if(strncmp(strvehicletype.data(),"HAPO",255) == 0)
    {
        iv::gVehicleType = iv::HAPO;
    }
 if(strncmp(strvehicletype.data(),"YUHESEN",255) == 0)
    {
        iv::gVehicleType = iv::YUHESEN;
    }
   if(strncmp(strvehicletype.data(),"SHENLAN",255) == 0)
    {
        iv::gVehicleType = iv::SHENLAN;
    }
   if(strncmp(strvehicletype.data(),"SHENLAN_CANFD",255) == 0)
    {
        iv::gVehicleType = iv::SHENLAN_CANFD;
    }

//iv::gVehicleType = iv::MIDBUS;

    givlog = new iv::Ivlog(strmodulename.data());
    givfault = new iv::Ivfault(strmodulename.data());

    givfault->SetFaultState(1,1,"初始化");
    givlog->info("Initialized");

    gpa = iv::modulecomm::RegisterSend(strchassismsgname.data(),1000,1);
    void * pa = iv::modulecomm::RegisterRecv(strmemcan.data(),Listencan0);

    std::thread threadfault(threadstate);


    return a.exec();
}