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

#include "MemsHS.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 = "MemsHS.json";
    
    cout << "[INFO] Starting MEMS Hardware Service" << endl;
    cout << "[INFO] Loading configuration from: " << config_file << endl;
    
    // 解析配置文件
    MemsConfig config;
    int result = parse_mems_config_file(config_file.c_str(), &config);
    if (result != 0) {
        cerr << "[ERROR] Failed to parse config file" << endl;
        // 使用默认配置
        config.device = "/dev/tnt5";
        config.baudrate = 115200;
        cout << "[WARN] Using default config: device=" << config.device 
             << ", baudrate=" << config.baudrate << endl;
    }
    
    // 初始化MEMS设备
    result = mems_uart_init(config.device.c_str(), config.baudrate);
    if (result == MEMS_ERR_OK) {
        cout << "[OK] MEMS initialized successfully" << endl;
    } else {
        cerr << "[ERROR] Failed to initialize MEMS" << endl;
    }
    
    // 初始化FastDDS
    Fastdds_init(0, "Mems_Hardware_Service");
    
    // 主循环
    while (running) {
        usleep(1000000); // 每1秒检查一次
    }
    
    // 清理
    MEMS_hardware_cleanup();
    
    return 0;
}