#include <QCoreApplication>
#include <iostream>
#include "cameraobjectarray.pb.h"
#include "radarobjectarray.pb.h"
#include "objectarray.pb.h"
#include <QMutex>
#include <memory>
#include "modulecomm.h"
#include "data_manager.h"

static QMutex gMutex;
typedef  iv::radar::radarobjectarray RadarDataType;
typedef  iv::lidar::objectarray LidarDataType;
typedef  iv::vision::cameraobjectarray CameraDataType;
typedef  std::chrono::system_clock::time_point TimeType;
typedef  std::function<void(RadarDataType&, LidarDataType&,CameraDataType&)> DataCallback;

void data_callback(RadarDataType& radarobjv , LidarDataType& lidarobjv,CameraDataType& cameraobjv);



using namespace std;

//iv::vision::cameraobjectarray* cameraobjvec = new iv::vision::cameraobjectarray();
//iv::radar::radarobjectarray* radarobjvec = new iv::radar::radarobjectarray();
//iv::lidar::objectarray* lidarobjvec = new iv::lidar::objectarray();
iv::DataManager data_manager;

void Listenesrfront(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    iv::radar::radarobjectarray radarobj;
    if(nSize<1)return;
    if(false == radarobj.ParseFromArray(strdata,nSize))
    {
        std::cout<<"PecerptionShow Listenesrfront fail."<<std::endl;
        return;
    }
    else{
        //std::cout<<"srfront byte size:  "<<radarobjvec.ByteSize()<<std::endl;
    }
    gMutex.lock();
    data_manager.SetRadar(radarobj);
    gMutex.unlock();
}

void Listencamera(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    if(nSize<1)return;
    iv::vision::cameraobjectarray cameraobj;
    if(false == cameraobj.ParseFromArray(strdata, nSize))
    {
//        std::cout<<"ccccccccccc Listencamera fail."<<std::endl;
        return;
    }
    else{
        //std::cout<<"camera byte size:  "<<cameraobjvec.ByteSize()<<std::endl;
    }
    gMutex.lock();
    data_manager.SetCamera(cameraobj);
    std::cout<<"camera:  "<<cameraobj.mstime()<<std::endl;
    gMutex.unlock();

}

void Listenlidarcnndetect(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
{
    std::cout<<"111111111111"<<std::endl;
    iv::lidar::objectarray lidarobj;
    if(nSize<1)return;
    if(false == lidarobj.ParseFromArray(strdata,nSize))
    {
        std::cout<<"PecerptionShow Listenesrfront fail."<<std::endl;
        return;
    }
    gMutex.lock();
    data_manager.SetLidar(lidarobj);
    std::cout<<"lidar  :"<<lidarobj.timestamp()<<std::endl;    gMutex.unlock();
}

void data_callback(RadarDataType& radarobjv , LidarDataType& lidarobjv,CameraDataType& cameraobjv)
{
    if((radarobjv.ByteSize() == 0) || (cameraobjv.ByteSize() ==0) || (lidarobjv.ByteSize() ==0)) return;
    std::cout<<"radar time:  "<<radarobjv.mstime()<<std::endl;
    std::cout<<"lidar time:  "<<lidarobjv.timestamp()<<std::endl;
    std::cout<<"camera  time:  "<<cameraobjv.mstime()<<std::endl;
}

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

    data_manager;
    data_manager.init();
    data_manager.SetDataCallback(data_callback);
    data_manager.Ready();
    void *gpa;
    gpa = iv::modulecomm::RegisterRecv("radar0",Listenesrfront);
    gpa = iv::modulecomm::RegisterRecv("camera_output",Listencamera);
    gpa = iv::modulecomm::RegisterRecv("lidar_track",Listenlidarcnndetect);

    return a.exec();

}