#include <iostream>
#include <csignal>
#include <cstdlib>
#include <string>

#include "Star_sensorHS.h"

using namespace std;

// 全局变量用于信号处理
static bool running = true;

// 信号处理函数
void signal_handler(int signal) {
    running = false;
}

int main(int argc, char* argv[]) {
    // 设置信号处理
    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
    
    // 默认配置文件
    string config_file = "Star_sensorHS.json";
    
    cout << "[INFO] Starting Star Sensor Hardware Service" << endl;
    cout << "[INFO] Loading configuration from: " << config_file << endl;
    
    // 解析配置文件
    const int MAX_STARS = 8;
    StarConfig star_configs[MAX_STARS];
    
    int star_count = parse_config_file(config_file.c_str(), star_configs, MAX_STARS);
    if (star_count <= 0) {
        cerr << "[ERROR] No valid star sensors configured" << endl;
        return -1;
    }
    
    cout << "[INFO] Found " << star_count << " star sensors in configuration" << endl;
    
    // 初始化星敏设备
    for (int i = 0; i < star_count; i++) {
        StarConfig config = star_configs[i];
        
        // 调用初始化函数
        int result = star_uart_init(config.type, config.star_num, 
                                   config.device.c_str(), config.baudrate);
        
        if (result == SAT_ERR_OK) {
            cout << "[OK] Star sensor " << config.star_num << " initialized successfully" << endl;
        } else {
            cerr << "[ERROR] Failed to initialize star sensor " << config.star_num << endl;
        }
    }
    
    // 统计初始化成功的星敏数量
    int nano_init_count = 0;
    int pico_init_count = 0;
    
    for (int i = 0; i < MAX_STAR_NUM_PER_TYPE; i++) {
        if (nano_stars[i].fd > 0) nano_init_count++;
        if (pico_stars[i].fd > 0) pico_init_count++;
    }
    
    // 初始化FastDDS
    Fastdds_init(0, "Star_sensor_Hardware_Service");
    
    // 主循环
    while (running) {
        usleep(500000); // 每500ms检查一次
    }
    
    // 清理
    Star_sensorHS_cleanup();
    
    return 0;
}