//
// Created by zx on 2020/6/18.
//

#include <iostream>
#include <glog/logging.h>
#include "setting.pb.h"
#include "lidar_locate/Locate_communicator.h"

#include <fcntl.h>
#include <google/protobuf/io/zero_copy_stream_impl.h>
#include <google/protobuf/text_format.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;

bool read_proto_param(std::string file, ::google::protobuf::Message& parameter)
{
    int fd = open(file.c_str(), O_RDONLY);
    if (fd == -1) return false;
    FileInputStream* input = new FileInputStream(fd);

    bool success = google::protobuf::TextFormat::Parse(input, &parameter);
    delete input;
    close(fd);
    return success;
}

int main(int argc,char* argv[])
{
    //读取配置
    ///
    setting::global_setting parameter;

    if(false==read_proto_param("",parameter))
    {
        LOG(ERROR)<<"read setting file failed";
        return 0;
    }

    //创建各个模块的通讯对象
    setting::locate_setting locate_parameter=parameter.locate_parameter();
    Error_manager code=Locate_communicator::create_locate_communicator(locate_parameter.ip(),locate_parameter.port());
    if(code!=SUCCESS)
    {
        LOG(ERROR)<<code.to_string();
    }
    //测试各个模块
//    message::Command_message cmd_msg;
//    message::Locate_request_msg request;
//    message::Locate_response_msg result;
//
//    code=Locate_communicator::get_instance()->locate_request(request,result);
    if(code!=SUCCESS)
    {
        LOG(ERROR)<<code.to_string();
    }
    return 0;
}