#include <iostream>
#include <cstring>
#include <sstream>
#include <signal.h>
#include <mrpdi/Core.h>
#include <mrpdi/Input.h>
#include <mrpdi/BaseDriver.h>

#define DEBUG 0

using namespace std;
using namespace net::lliurex::mrpdi;

bool quit_requested=false;

void quit_handler(int sig)
{
	#if DEBUG
	cout<<"[SIGNAL]:"<<sig<<endl;
	#endif
	quit_requested=true;
}

void display_usage()
{
	cout<<"Usage: ";
	cout<<"mrpdi-cli [OPTIONS]"<<endl;
	cout<<"\n"<<"Options:"<<endl;
	cout<<"--help \t Display this usage"<<endl;
	cout<<"--list \t List available devices"<<endl;
	cout<<"--run {address} \t Run the given device address"<<endl;
	cout<<"--auto \t Start mrpdi-cli in automathic mode"<<endl;
}

int main(int argc,char * argv[])
{
	
	Core * core;
	input::InputHandler * handler;
	vector<connected_device_info> list;
	vector<string> params;
	
	#if DEBUG
	cout<<"[mrpdi cli]: start"<<endl;
	#endif
	
	signal(SIGABRT,&quit_handler);
    signal(SIGTERM,&quit_handler);
	signal(SIGINT,&quit_handler);
	
	core = new Core();
    core->init();
   
    
	if(argc>1)
	{
		if(strcmp(argv[1],"--help")==0)
		{
			display_usage();
		}
		
		if(strcmp(argv[1],"--list")==0)
		{
			core->update_devices(&list);
    
			cout<<"* Available devices:"<<endl;
			for(int n=0;n<list.size();n++)
			{
				cout<<"\tdev: "<<list[n].name<<"\taddress: "<<hex<<list[n].address<<"\tid: "<<list[n].id<<endl;
			}
		}
		
		if(strcmp(argv[1],"--run")==0)
		{
			if(argc>2)
			{
				bool found=false;
				unsigned int id;
				unsigned int address;			
				string str(argv[2]);
				istringstream sp(str,istringstream::in);
				sp>>hex>>address;
				
				core->update_devices(&list);
				
				//device look up
				for(int n=0;n<list.size();n++)
				{
						if(list[n].address==address)
						{
							id=list[n].id;
							found=true;
							cout<<"* Device found!"<<endl;
						}
				}
				
				cout<<"* Device to run:"<<hex<<id<<":"<<endl;
				
				if(found)
				{
					
					handler = new input::InputHandler();
					core->set_input_handler(handler);
					core->start(id,address);
					
					while(!quit_requested)
					{
						sleep(1);
					}
					
					core->stop(id,address);
					core->set_input_handler(NULL);
					delete handler;
				}
				else
				{
					cout<<"* Device not found, aborting"<<endl;
				}
				
			}
		}
		
		//auto mode
		if(strcmp(argv[1],"--auto")==0)
		{
			unsigned int id, address;
			bool quit_dev;
			bool found;
			vector<string> params;
			
			handler = new input::InputHandler();
			core->set_input_handler(handler);
					
			while(!quit_requested)
			{
				core->update_devices(&list);
				if(list.size()>0)
				{
					cout<<"* Connecting to "<<list[0].name<<endl;
					address=list[0].address;
					id=list[0].id;
					quit_dev=false;
					
					core->start(id,address);
					/*
					core->get_parameter_list(id,&params);
					
					for(int n=0;n<params.size();n++)
					{
						
						if(params[n].find("calibrate")!=string::npos)
						{
							cout<<"This device may need calibration!"<<endl;
							cout<<"Requesting a calibration..."<<endl;
							core->set_parameter(id,params[n].c_str(),1);
							break;
						}
					}
					*/
					
					while(!quit_dev && !quit_requested)
					{
						core->update_devices(&list);
						found=false;
						for(int n=0;n<list.size();n++)
						{
							if(list[n].id==id && list[n].address==address)
							{
								found=true;
								if(list[n].status==DEV_STATUS_STOP)
								{
									cout<<"* Disconnected!"<<endl;
									quit_dev=true;
									break;
								}
							}
						}
						
						
						if(!found)
						{
							cout<<"* Device no longer connected"<<endl;
							quit_dev=true;
						}
						sleep(1);
					}
					
					core->stop(id,address);
				}
				sleep(1);
			}
			
			delete handler;
		}
	}
	
	core->shutdown();
	
	#if DEBUG
	cout<<"[mrpdi cli]: shutdown"<<endl;   
	#endif
	
	delete core;
	
	 
	return 0;
}