// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file main.cxx
 * This file acts as a main entry point to the application.
 *
 * This file was generated by the tool fastddsgen.
 */

#include <csignal>
#include <cstring>
#include <functional>
#include <iostream>
#include <stdexcept>
#include <thread>
#include <fstream>
#include <filesystem>
#include <limits.h>
#include <unistd.h>      // ← 加这行：open / close / write / read / usleep
#include <fcntl.h>        // ← 加这行：O_WRONLY

#include <fastdds/dds/log/Log.hpp>

#include "Subscriber.hpp"
#include "CanMsgHandler.hpp"
#include "msg.hpp"
#include "json.hpp"

#include <chrono>
#include "WeighingDDSType.hpp"

using eprosima::fastdds::dds::Log;
using json = nlohmann::json;

std::function<void(int)> stop_handler;
void signal_handler(
        int signum)
{
    stop_handler(signum);
}

std::string parse_signal(
        const int& signum)
{
    switch (signum)
    {
        case SIGINT:
            return "SIGINT";
        case SIGTERM:
            return "SIGTERM";
#ifndef _WIN32
        case SIGQUIT:
            return "SIGQUIT";
        case SIGHUP:
            return "SIGHUP";
#endif // _WIN32
        default:
            return "UNKNOWN SIGNAL";
    }
}

std::queue<WeighingSystem::BarCommandUpdate> MsgData::BarCommandUpdate_queue_;
std::mutex MsgData::queue_cv_mtx_;

std::filesystem::path getExeDir()
{
    char buf[PATH_MAX] = {0};
    ssize_t len = readlink("/proc/self/exe", buf, sizeof(buf)-1);
    return std::filesystem::path(std::string(buf, len)).parent_path();
}

int main(int argc, char** argv)
{
    auto ret = EXIT_SUCCESS;
    json config;
    std::shared_ptr<SubscriberApp> sub;
    std::shared_ptr<MsgHandler> dev;

    int domain_id = 0;
    const char* interface = "can";
    const char* port = "can0";
    const char* baudrate = "500000";
    const char* device = "5serial";
    int device_id = 0;

    bool test_front_bar = false;
    std::thread test_thread;

    auto exeDir = getExeDir();
    auto configPath = exeDir / "config.json";
    std::ifstream file(configPath);

    file >> config;
    file.close();

    for (int i = 1; i < argc; i++)
    {
        if (strcmp(argv[i], "--domain") == 0 && i + 1 < argc)
        {
            domain_id = atoi(argv[++i]);
        }
        else if (strcmp(argv[i], "--test_front_bar") == 0)
        {
            test_front_bar = true;
        }
        else if (strcmp(argv[i], "--interface") == 0 && i + 1 < argc)
        {
            interface = argv[++i];
        }
        else if (strcmp(argv[i], "--port") == 0 && i + 1 < argc)
        {
            port = argv[++i];
        }
        else if (strcmp(argv[i], "--baudrate") == 0 && i + 1 < argc)
        {
            baudrate = argv[++i];
        }
        else if (strcmp(argv[i], "--device") == 0 && i + 1 < argc)
        {
            device = argv[++i];
        }
        else if (strcmp(argv[i], "--device_id") == 0 && i + 1 < argc)
        {
            device_id = atoi(argv[++i]);
        }
        else if (strcmp(argv[i], "--version") == 0)
        {
            std::cout << "Vesrion: " << PROGRAM_VERSION << "\n";
            return EXIT_SUCCESS;
        }
        else if (strcmp(argv[i], "--help") == 0)
        {
            std::cout << "Usage: [options]\n"
                      << "Options:\n"
                      << "  --domain        Set domain ID\n"
                      << "  --interface     Set interface (e.g., can)\n"
                      << "  --baudrate      Set baudrate (e.g., 9600)\n"
                      << "  --port          Set port name (e.g., can0)\n"
                      << "  --device        Set device name (e.g., 5serial)\n"
                      << "  --version       Show software Version\n"
                      << "  --help          Show this help message\n"
                      << "  --test_front_bar  Test: raise front bar after 3s, lower after 5s\n";
            return EXIT_SUCCESS;
        }
        else
        {
            std::cerr << "Unknown option: " << argv[i] << "\n";
            std::cout << "Usage: [options]\n"
                      << "Options:\n"
                      << "  --domain        Set domain ID\n"
                      << "  --interface     Set interface (e.g., can)\n"
                      << "  --baudrate      Set baudrate (e.g., 9600)\n"
                      << "  --port          Set port name (e.g., can0)\n"
                      << "  --device        Set device name (e.g., 5serial)\n"
                      << "  --version       Show software Version\n"
                      << "  --help          Show this help message\n"
                      << "  --test_front_bar  Test: raise front bar after 3s, lower after 5s\n";
            return EXIT_FAILURE;
        }
    }

    sub = std::make_shared<SubscriberApp>(domain_id);
    dev = std::make_shared<CanMsgHandler>();

    // ★ 先设 device / device_id / iomap
    dev->device = device;
    dev->device_id = device_id;
    dev->iomap.imap = config["ioctrl"]["iomap"]["in"]
                    .get<std::map<std::string, std::pair<uint8_t, uint8_t>>>();
    dev->iomap.omap = config["ioctrl"]["iomap"]["out"]
                    .get<std::map<std::string, std::pair<uint8_t, uint8_t>>>();
    // ★ 最后才 OpenPort（这时 this->device == "gpio" 才生效）
    dev->OpenPort(port, baudrate);

    // ★ 当 device == "gpio" 时，强制 init 48/49（因为 CanMsgHandler::OpenPort 不会做）
    if (dev->device == "gpio")
    {

        auto write_gpio = [](int n, int v) {
            char path[64];
            snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/value", n);
            int fd = open(path, O_WRONLY);
            if (fd >= 0) { write(fd, v ? "1" : "0", 1); close(fd); }
        };
        auto export_gpio = [](int n) {
            int fd = open("/sys/class/gpio/export", O_WRONLY);
            if (fd >= 0) { char b[8]; int l = snprintf(b, sizeof(b), "%d", n);
                        write(fd, b, l); close(fd); usleep(100000); }
        };
        auto dir_gpio = [](int n, const char* d) {
            char path[64];
            snprintf(path, sizeof(path), "/sys/class/gpio/gpio%d/direction", n);
            int fd = open(path, O_WRONLY);
            if (fd >= 0) { write(fd, d, strlen(d)); close(fd); }
        };
        export_gpio(48); dir_gpio(48, "out"); write_gpio(48, 0);
        export_gpio(49); dir_gpio(49, "out"); write_gpio(49, 0);
    }



    if (test_front_bar)
{
    test_thread = std::thread([dev]()
    {
        std::cout << "[test] sleep 3s, then raise front bar..." << std::endl;
        std::this_thread::sleep_for(std::chrono::seconds(3));

        WeighingSystem::BarCommandUpdate cmd_up;
        cmd_up.FrontBarEnable()    = 1;
        cmd_up.FrontBarSignalUp()  = 1;
        cmd_up.FrontBarSignalDown()= 0;
        cmd_up.BackBarEnable()     = 0;
        dev->HandleBarCommand(cmd_up);

        std::cout << "[test] raise front bar done." << std::endl;
        // 5 秒后降杆的代码整段删掉
    });
}




    std::thread sub_thread(&SubscriberApp::run, sub, dev);  


    std::cout << "Program is running. Please press Ctrl+C to stop at any time." << std::endl;

    stop_handler = [&](int signum)
            {
                std::cout << "\n" << parse_signal(signum) << " received, stopping " << argv[1]
                          << " execution." << std::endl;
                          
                sub->stop();   // ← 新增
            };

    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
#ifndef _WIN32
    signal(SIGQUIT, signal_handler);
    signal(SIGHUP, signal_handler);
#endif // _WIN32

    sub_thread.join();  

    if (test_front_bar && test_thread.joinable())
    {
        test_thread.detach();   // 测试线程自己跑完，主线程不等
    }

    Log::Reset();
    return ret;
}