#include <filesystem>
#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"

namespace fs = std::filesystem;

int main() {
    //启动TCP服务端
    std::thread service_thread([] {
        boost::asio::io_service io;
        TcpService::getInstance().start(Config::TCP_SERVICE_LOCALE_PORT);
        io.run();
    });

    // 启动TCP客户端
    std::thread client_thread([] {
        boost::asio::io_service io;
        TcpClient client;
        client.connect(Config::REMOTE_SERVICE_IP, Config::TCP_SERVICE_REMOTE_PORT);
        io.run();
    });

    //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 << "\033[33m"
                    "MessageHandler [MethaneSerialPort]" << e.what()
                    << "\033[0m" << std::endl;
        }
    });

    // 拉起第三方脚本
    std::thread script_thread([] {
        fs::current_path(Config::SLAM_SCRIPT_PATH);
        for (const auto &entry: fs::directory_iterator(fs::current_path())) {
            if (entry.is_regular_file() && entry.path().extension() == ".sh") {
                const auto script_path = entry.path();
                if (const pid_t pid = fork(); pid == 0) {
                    // 子进程执行脚本
                    std::ostringstream cmd_ss;
                    cmd_ss << "./"
                            << script_path.filename().string()
                            << " > "
                            << Config::SLAM_LOG_FILE << " 2>&1";
                    const std::string command = cmd_ss.str();

                    execl("/bin/sh", "sh", "-c", command.c_str(), nullptr);
                    // 如果执行失败
                    std::cerr << "\033[33m"
                            << "Failed to execute script."
                            << "\033[0m" << std::endl;
                    exit(EXIT_FAILURE);
                }
                break;
            }
        }
    });

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