//
// Created by zx on 2020/7/3.
//
#include <iostream>
#include "../lidar_locate/Locate_communicator.h";
#include <unistd.h>
#include "../tool/thread_safe_list.h"
int main()
{

    Locate_communicator* pLocator=Locate_communicator::get_instance_pointer();

    pLocator->communication_bind("tcp://127.0.0.1:9005");
    pLocator->communication_connect("tcp://127.0.0.1:9006");

    pLocator->communication_run();
    int k=1;
    Thread_safe_list<std::string*> list;
    /*nnxx::socket socket{ nnxx::SP, nnxx::BUS };
    socket.bind("tcp://127.0.0.1:9005");
    socket.connect("tcp://127.0.0.1:9006");*/

    while(1) {
        message::Measure_request_msg request;
        message::Base_info base_msg;


        request.mutable_base_info()->CopyFrom(base_msg);
        request.mutable_base_info()->set_msg_type(message::eLocate_request_msg);
        request.mutable_base_info()->set_sender(message::eMain);
        request.mutable_base_info()->set_receiver(message::eMeasurer);
        request.mutable_base_info()->set_timeout_ms(1000);

        request.set_command_id(222);
        request.set_terminal_id(0);
        message::Measure_response_msg response;

       message::Measure_request_msg request_1;
        std::string str=request.SerializeAsString();

        //socket.send(request_1.SerializeAsString());

        Error_manager code=pLocator->locate_request(request,response);
        if(code!=SUCCESS)
        {
            std::cout<<code.to_string()<<std::endl;
        }
        else if(request.command_id()==response.command_id()){
            std::cout<<" Success request command :"<<request.command_id()<<std::endl;
        }
        k++;

        usleep(1000*500);
    }

    return 0;
}