//
// Created by zx on 2023/10/26.
//
#include <iostream>
#include "error_code/error_code.hpp"
#include "log/log.h"

#if OPTION_COMMUNICATION_WITH_PLC
#include "plc/snap7_clamp.h"
#endif

#include "protobuf/load_protobuf.hpp"
#include "lidar/lidar_manager.h"

#define OPTION_WATCH_DIDAR_BY_VTK 0

int main(int argc, char **argv) {
    const char* clamp_config_file = ETC_PATH PROJECT_NAME "/clamp_lidar_config.json";

    if(ZX::InitGlog(PROJECT_NAME, ETC_PATH PROJECT_NAME "/LogInfo/")) {
        LOG(INFO) << "Init google log success, log file save to " ETC_PATH PROJECT_NAME "/LogInfo";
    } else {
        LOG(ERROR) << "Init google log failed, log file save to " ETC_PATH PROJECT_NAME "/LogInfo";
        exit(EXIT_FAILURE);
    }

    ClampLidarManager lidarManager;
    if (lidarManager.Init(clamp_config_file) != SUCCESS) {
        return EXIT_FAILURE;
    }

#if OPTION_COMMUNICATION_WITH_PLC
    auto snap7_client = &Snap7Clamp::get_instance_references();
    snap7_client->communication_init();
    Snap7Clamp::Snap7_communication_statu status = snap7_client->get_status();
    while (status == Snap7Clamp::SNAP7_COMMUNICATION_READY || status == Snap7Clamp::SNAP7_COMMUNICATION_RECEIVE) {
        sleep(1);
        status = snap7_client->get_status();
    }
#endif

#if OPTION_WATCH_DIDAR_BY_VTK

#endif

    return EXIT_SUCCESS;
}