#include <QCoreApplication>
#include <QObject>

#include <signal.h>

#include "nvcan.h"
#include "canctrl.h"

#include <unistd.h>

#include <thread>
#include <iostream>

#include <xmlparam.h>

#include "ivversion.h"
#include "ivexit.h"
#include <signal.h>


static canctrl * gpcanctrl;

void exitfunc()
{
    qDebug("enter exit func.");
    gpcanctrl->requestInterruption();

    QTime  xTime;
    xTime.start();
    while(xTime.elapsed()<1000)
    {
        if(gpcanctrl->isFinished())
        {
            qDebug("canctrl complete.");
            delete gpcanctrl;
            break;
        }
    }

}

void signal_handler(int sig)
{
    if(sig == SIGINT)
    {
        exitfunc();
    }
}

#ifdef TEST_PROG
void threadtest()
{
    QTimer xTimer;
    xTimer.setTimerType(Qt::PreciseTimer);
    void * pa = iv::modulecomm::RegisterSend("cansend0",100000,100);
    while(true)
    {
        iv::can::canmsg xmsg;
        xmsg.set_channel(0);
        xmsg.set_mstime(QDateTime::currentMSecsSinceEpoch());
        xmsg.set_index(0);
        int i;
        for(i=0;i<10;i++)
        {
            iv::can::canraw * pcanraw = xmsg.add_rawmsg();
            pcanraw->set_bext(false);
            pcanraw->set_id(11);
            pcanraw->set_bremote(false);
            char xdata[8];
            xdata[0] = 11;
            pcanraw->set_data(xdata,8);
            pcanraw->set_len(8);
        }

        int nbytesize = xmsg.ByteSize();
        std::shared_ptr<char> str_ptr = std::shared_ptr<char>(new char[nbytesize]);
        if(xmsg.SerializeToArray(str_ptr.get(),nbytesize))
            iv::modulecomm::ModuleSendMsg(pa,str_ptr.get(),nbytesize);

 //       std::this_thread::sleep_for(std::chrono::milliseconds(1));
        std::this_thread::sleep_for(std::chrono::microseconds(5000));
    }
}
#endif


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


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

    std::string strmemsend0 = xp.GetParam("cansend0_agx","cansend0");
    std::string strmemrecv0 = xp.GetParam("canrecv0_agx","canrecv0");
    std::string strcanname = xp.GetParam("canname","can0");

    gpcanctrl = new canctrl(strmemsend0.data(),strmemrecv0.data(),strcanname.data());
    gpcanctrl->start();

    iv::ivexit::RegIVExitCall(exitfunc);

    signal(SIGINT,signal_handler);

#ifdef TEST_PROG
    std::thread * pthread = new std::thread(threadtest);
#endif

 //   std::thread b(func);

    return a.exec();
}