#include "ability_sdk/AbilityStub.hpp"
#include "conveyorBeltGrpcServer.h"


class ConveyorBeltAbility : public ability_sdk::AbilityStub<ConveyorBeltStatus> {
public:
    using AbilityTemplate::AbilityTemplate;

    void create_ability_server() {
        ConveyorBeltServer service_ability;
        ServerBuilder builder;
        builder.AddListeningPort("0.0.0.0:0", grpc::InsecureServerCredentials(), &g_abilityPort);
        cout << "add listening port" << endl;
        builder.RegisterService(&service_ability);
        cout << "register service" << endl;
        ability_cq = builder.AddCompletionQueue();
        ability_server = builder.BuildAndStart();
        std::cout << "Server listening on port: " << g_abilityPort << std::endl;
        sendStateMsg();
        ability_server->Wait();
        std::cout << "finish ipc server" << std::endl;
    }

    void runServer() {
        g_GLOBAL_STATUS = STATUS_INIT;
        std::cout << "NOW GLOBAL STATUS IS: " << global2string(g_GLOBAL_STATUS) << std::endl;
        std::thread heartbeat_thread(&ConveyorBeltAbility::heartbeat_loop, this);
        heartbeat_thread.detach();
    }
};