#include <fstream>
#include <iostream>
#include <thread>
#include <boost/asio.hpp>
#include <boost/format.hpp>

#include "tcp_service.hpp"
#include "tcp_client.hpp"
#include "methane_serial_port.hpp"
#include "config.hpp"

int main() {
    //启动TCP服务端
    std::thread service_thread([] {
        try {
            boost::asio::io_service io;
            TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
            io.run();
        } catch (const boost::wrapexcept<boost::system::system_error> &e) {
            std::cerr << "MessageHandler [TcpService]" << e.what() << std::endl;
        }
    });

    // 启动TCP客户端
    std::thread client_thread([] {
        try {
            boost::asio::io_service io;
            TcpClient client;
            client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
            io.run();
        } catch (const boost::wrapexcept<boost::system::system_error> &e) {
            std::cerr << "MessageHandler [TcpClient]" << e.what() << std::endl;
        }
    });

    //启动甲烷数据查询串口线程
    std::thread gas_serial_port_thread([] {
        try {
            boost::asio::io_service io;
            //打开串口
            MethaneSerialPort sp(io, Config::GAS_PORT, Config::BAUD_RATE); //甲烷串口
            sp.read_from_port();
            io.run();
        } catch (std::exception &e) {
            std::cerr << "MessageHandler [MethaneSerialPort]" << e.what() << std::endl;
        }
    });

    // 拉起第三方脚本
    std::thread script_thread([] {
        const auto cmd = (
            boost::format("setsid sh -c '%1%' > %2% 2>&1 &")
            % Config::SLAM_SCRIPT_FILE
            % Config::SLAM_LOG_FILE
        ).str();
        std::system(cmd.c_str());

        // 等几秒钟，扫一遍日志确认启动成功
        std::this_thread::sleep_for(std::chrono::seconds(2));
        std::ifstream log(Config::SLAM_LOG_FILE);
        std::string line;
        bool ok = false;
        while (std::getline(log, line)) {
            // 确认启动是否成功
            if (line.find("process started") != std::string::npos) {
                ok = true;
                break;
            }
        }
        if (ok) {
            std::cout << "Unitree Slam service init success" << std::endl;
        } else {
            std::cerr << "[WARN] Unitree Slam service may not be ready yet" << std::endl;
        }
    });

    // 等待所有线程完成
    service_thread.join();
    client_thread.join();
    gas_serial_port_thread.join();
    script_thread.join();
    return 0;
}