#include "SimMsg.h"
#include "ComS.h"

#include <iostream>
#include <string>
#include <vector>


using namespace std;

void ComSWriteLog(const std::string &msg)
{
	std::cout << msg<<std::endl;
}

string topic_name_cmd = "Command";
string topic_name_tlm = "Telemetry";

SimMsg* ComS_part = nullptr;
string servername = "Com_Service";
int cmd_result = 0;

//初始化
void ComS_init(uint8_t domainid, std::string appname)
{
    std::vector<std::string> parameters;
    string  expression = "dest = '"+ servername + "'";
	if (nullptr == ComS_part)
	{
		ComS_part=new SimMsg(domainid, 3000, appname, ComSWriteLog);
        ComS_part->create_pub(topic_name_cmd);
		ComS_part->create_pub(topic_name_tlm);
		
        ComS_part->create_sub(topic_name_cmd, command_callback, expression, parameters);
        ComS_part->create_sub(topic_name_tlm, telemetry_callback, expression, parameters);
	}
}

// 遥控接收回调函数
void command_callback(std::string src, std::string dest, std::string type,
                      std::string reserve1, std::string reserve2,
                      std::vector<uint8_t>& data) {
    if (data.size() < 5)
    {
        std::cout << "指令长度错误！" << std::endl;
        return;
    }

    switch(data[0])
    {
        case 0x80:
            ComS_command_Pub(&data[4], "Mag_Service", data.size() - 4);
            break;

        case 0x81:
            ComS_command_Pub(&data[4], "Com_Service", data.size() - 4);
            break;

        case 0x82:
            ComS_command_Pub(&data[4], "Eng_Service", data.size() - 4);
            break;

        case 0x83:
            ComS_command_Pub(&data[4], "Thm_Service", data.size() - 4);
            break;
        
        case 0x84:
            ComS_command_Pub(&data[4], "Gnc_Service", data.size() - 4);
            break;
        
        case 0x85:
            ComS_command_Pub(&data[4], "Pld_Service", data.size() - 4);
            break;
        
        case 0x90:
            ComS_command_Pub(&data[4], "Obc_Hardware_Service", data.size() - 4);
            break;

        case 0x91:
            ComS_command_Pub(&data[4], "Gnss_Hardware_Service", data.size() - 4);
            break;

        case 0x92:
            ComS_command_Pub(&data[4], "Com_Hardware_Service", data.size() - 4);
            break;

        case 0x93:
            ComS_command_Pub(&data[4], "Can_Hardware_Service", data.size() - 4);
            break;

        case 0x94:
            ComS_command_Pub(&data[4], "Switch_Hardware_Service", data.size() - 4);
            break;

        case 0x95:
            ComS_command_Pub(&data[4], "Ad_Hardware_Service", data.size() - 4);
            break;

        case 0x96:
            ComS_command_Pub(&data[4], "Starsensor_Hardware_Service", data.size() - 4);
            break;

        case 0x97:
            ComS_command_Pub(&data[4], "Mems_Hardware_Service", data.size() - 4);
            break;

        case 0x98:
            ComS_command_Pub(&data[4], "Flywheel_Hardware_Service", data.size() - 4);
            break;

        case 0x99:
            ComS_command_Pub(&data[4], "Gyro_Hardware_Service", data.size() - 4);
            break;
        
        case 0x9A:
            ComS_command_Pub(&data[4], "opticaltracker_Hardware_Service", data.size() - 4);
            break;

        case 0x9B:
            ComS_command_Pub(&data[4], "visionsensor_Hardware_Service", data.size() - 4);
            break;
        
        default:
            std::cout << "指令去向错误!" << std::endl;
            return;
 
    }
}

// 遥测接收回调函数
void telemetry_callback(std::string src, std::string dest, std::string type,
                      std::string reserve1, std::string reserve2,
                      std::vector<uint8_t>& data) {
    // 打印接收到的数据
    std::cout << "Telemetry received from " << src << " to " << dest << std::endl;
    std::cout << "Type: " << type << std::endl;
    std::cout << "Data (" << data.size() << " bytes): ";
    for (size_t i = 0; i < data.size(); ++i) {
        std::cout << std::hex << std::uppercase << (int)data[i];
        if (i < data.size() - 1) {
            std::cout << ", ";
        }
    }
    std::cout << std::dec << std::endl;
}


// 通信服务遥控发布
void ComS_command_Pub(uint8_t* data, string dest, uint16_t len)
{
	ComS_part->publish(topic_name_cmd, "Com_Service", dest, "command", data, len);
}

// 通信服务遥测发布
void ComS_telemetry_Pub(uint8_t* data, string dest, uint16_t len)
{
	ComS_part->publish(topic_name_tlm, "Com_Service", dest, "telemetry", data, len);
}