//
// Created by zx on 2019/12/28.
//
#include <fcntl.h>
#include <iostream>
#include "plc/plc_communicator.h"
#include "laser/Laser.h"
#include "plc/plc_communicator.h"
#include "locate/locater.h"
#include "terminor/terminal_command_executor.h"
#include "system_manager/System_Manager.h"
#include "tool/pathcreator.h"
#include <glog/logging.h>

using google::protobuf::io::FileInputStream;
using google::protobuf::io::FileOutputStream;
using google::protobuf::io::ZeroCopyInputStream;
using google::protobuf::io::CodedInputStream;
using google::protobuf::io::ZeroCopyOutputStream;
using google::protobuf::io::CodedOutputStream;
using google::protobuf::Message;
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);

}

void init_glog()
{
    time_t tt = time(0);//时间cuo
    struct tm* t = localtime(&tt);

    char strYear[255]={0};
    char strMonth[255]={0};
    char strDay[255]={0};

    sprintf(strYear,"%04d", t->tm_year+1900);
    sprintf(strMonth,"%02d", t->tm_mon+1);
    sprintf(strDay,"%02d", t->tm_mday);

    char buf[255]={0};
    getcwd(buf,255);
    char strdir[255]={0};
    sprintf(strdir,"%s/log/%s/%s/%s", buf,strYear,strMonth,strDay);
    PathCreator creator;
    creator.Mkdir(strdir);

    char logPath[255] = { 0 };
    sprintf(logPath, "%s/", strdir);
    FLAGS_max_log_size = 100;
    FLAGS_logbufsecs = 0;
    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;
}
void test_classify()
{
    Locate_information info1,info2;

    info1.locate_x=0;
    info1.locate_y=0;
    info1.locate_theta=45;

    info2.locate_x=100;
    info2.locate_y=0;
    info2.locate_theta=45;

    Terminor_Command_Executor::classify_location_informations(info1,info2);

}

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

    Error_manager code;
    //初始化日志
    init_glog();
    //创建system实例
    System_Manager system_manager;
    //初始化实例,包括雷达,plc,locater,terminal的创建及初始化
    code=system_manager.init();
    if(code!=SUCCESS)
    {
        LOG(ERROR)<<code.to_string();
        printf("print ctrl-c to quite");
    }
    else
    {
        LOG(INFO)<<"SYSTEM Init OK !!!!";
    }

    getchar();

    return 0;
}