//
// huli  test   20200223
//

#include <iostream>
#include "./error_code/error_code.h"
//#include "LogFiles.h"
#include <glog/logging.h>

#include "./communication/communication_socket_base.h"

#include "./tool/thread_pool.h"
#include "./system/system_communication.h"
#include "./system/system_executor.h"

#include "./dispatch/dispatch_manager.h"
#include "./dispatch/dispatch_communication.h"

#include <algorithm>    // std::for_each


#define LIVOX_NUMBER	     2


GOOGLE_GLOG_DLL_DECL void shut_down_logging(const char* data, int size)
{
	time_t tt;
	time( &tt );
	tt = tt + 8*3600;  // transform the time zone
	tm* t= gmtime( &tt );
	char buf[255]={0};
	sprintf(buf,"./%d%02d%02d-%02d%02d%02d-dump.txt",
			t->tm_year + 1900,
			t->tm_mon + 1,
			t->tm_mday,
			t->tm_hour,
			t->tm_min,
			t->tm_sec);

	FILE* tp_file=fopen(buf,"w");
	fprintf(tp_file,data,strlen(data));
	fclose(tp_file);

}

#include <chrono>
using namespace std;

void myfunction (int i) {  // function:
	std::cout << ' ' << i;
}


class AAA
{
public:
	int a;
};

class BBB:public AAA
{
public:
	int b;
};

class CCC:public AAA
{
public:
	int c;
};



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

	const char* logPath = "./";
	google::InitGoogleLogging("LidarMeasurement");
	google::SetStderrLogging(google::INFO);
	google::SetLogDestination(0, logPath);
	google::SetLogFilenameExtension("zxlog");
	google::InstallFailureSignalHandler();
	google::InstallFailureWriter(&shut_down_logging);
	FLAGS_colorlogtostderr = true;        // Set log color
	FLAGS_logbufsecs = 0;                // Set log output speed(s)
	FLAGS_max_log_size = 1024;            // Set max log file size(GB)
	FLAGS_stop_logging_if_full_disk = true;


	Error_manager t_error;

	t_error = Dispatch_communication::get_instance_references().communication_init();


	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;
	std::this_thread::sleep_for(std::chrono::seconds(2));
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;
	std::cout << "Dispatch_communication = " << Dispatch_communication::get_instance_references().get_status() << std::endl;

	std::cout << " ---------------------------------------------------" << std::endl;
	std::cout << " ---------------------------------------------------" << std::endl;

	Catcher t_catcher;
	t_error = t_catcher.dispatch_device_base_init(1);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;

	std::this_thread::sleep_for(std::chrono::seconds(2));

	std::shared_ptr<Task_Base> tp_task_Base(new Catcher_task);
	Catcher_task * tp_catcher_task = (Catcher_task *)tp_task_Base.get();
	tp_catcher_task->task_init(NULL,std::chrono::milliseconds(15000));
	tp_catcher_task->m_request_key = "ABCDEF";
	tp_catcher_task->m_request_x = 123;
	tp_catcher_task->m_request_y = 456;
	tp_catcher_task->m_request_b = 80;
	tp_catcher_task->m_request_z = 789;
	tp_catcher_task->m_request_d1 = 333;
	tp_catcher_task->m_request_d2 = 444;
	tp_catcher_task->m_request_wheelbase = 555;
	tp_catcher_task->m_request_clamp_motion = Catcher_task::E_CLAMP_LOOSE;


	t_error = t_catcher.execute_task(tp_task_Base, Dispatch_device_base::E_ONE_LEVEL);
	std::cout << " huli test :::: " << " t_error = " << t_error << std::endl;

	std::cout << " ---------------------------------------------------" << std::endl;


	char zxczxcxzc ;
	std::cin >> zxczxcxzc ;


	while ( 1 )
	{
		std::cout << " huli test :::: " << "  ===================================== "   << std::endl;
		std::cout << " huli test :::: " << " tp_catcher_task->get_task_statu = " << tp_catcher_task->get_task_statu() << std::endl;
		std::cout << " huli test :::: " << " tp_catcher_task->m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;


		std::cout << " huli test :::: " << " m_respons_key = " << tp_catcher_task->m_respons_key << std::endl;
		std::cout << " huli test :::: " << " m_respons_status = " << tp_catcher_task->m_respons_status << std::endl;
		std::cout << " huli test :::: " << " m_respons_x = " << tp_catcher_task->m_respons_x << std::endl;
		std::cout << " huli test :::: " << " m_respons_y = " << tp_catcher_task->m_respons_y << std::endl;
		std::cout << " huli test :::: " << " m_respons_b = " << tp_catcher_task->m_respons_b << std::endl;
		std::cout << " huli test :::: " << " m_respons_z = " << tp_catcher_task->m_respons_z << std::endl;
		std::cout << " huli test :::: " << " m_respons_d1 = " << tp_catcher_task->m_respons_d1 << std::endl;
		std::cout << " huli test :::: " << " m_respons_d2 = " << tp_catcher_task->m_respons_d2 << std::endl;
		std::cout << " huli test :::: " << " m_respons_wheelbase = " << tp_catcher_task->m_respons_wheelbase << std::endl;
		std::cout << " huli test :::: " << " m_respons_clamp_motion = " << tp_catcher_task->m_respons_clamp_motion << std::endl;


		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_catcher.get_dispatch_device_status() << std::endl;
		std::cout << " huli test :::: " << " t_carrier_base.get_carrier_status() = " << t_catcher.get_actual_device_status() << std::endl;


		std::cout << " ---------------------------------------------------" << std::endl;
		std::this_thread::sleep_for(std::chrono::milliseconds(1000));

	}

	char ch123 ;
	std::cin >> ch123 ;


	Dispatch_communication::get_instance_references().communication_uninit();
	return 0;




	int t_dispatch_id = 0;
//	std::cin >> t_dispatch_id ;
	if ( argc == 2 )
	{
		std::cout << " huli test :::: " << " argv[1] = " << argv[1] << std::endl;
		t_dispatch_id = atoi(argv[1]);
	}
	std::cout << " huli test :::: " << " t_dispatch_id = " << t_dispatch_id << std::endl;

	Dispatch_manager::get_instance_references().dispatch_manager_init(t_dispatch_id);
	std::cout << "Dispatch_manager = " << Dispatch_manager::get_instance_references().get_dispatch_manager_status() << std::endl;

	System_executor::get_instance_references().system_executor_init(8);
	std::cout << "System_executor = " << System_executor::get_instance_references().get_system_executor_status() << std::endl;
	System_communication::get_instance_references().communication_init();

	char ch ;
	std::cin >> ch ;

	System_communication::get_instance_references().communication_uninit();
	System_executor::get_instance_references().system_executor_uninit();
	Dispatch_manager::get_instance_references().dispatch_manager_uninit();


	return 0;
}