#ifndef BELT_CONTROLLER_H_
#define BELT_CONTROLLER_H_
#include "color.h"
#include "conveyorBeltGrpcClient.hpp"
#include <cstdlib>
#include <glog/logging.h>
#include <httplib.h>
#include <iostream>
#include <nlohmann/json.hpp>
#include <map>
#include <memory>
#include <shared_mutex>
#include <stdio.h>
#include <string>
#include "ability_sdk/ControllerHeartbeat.hpp"
#include "ability_sdk/Heartbeat.hpp"

//#include <json/json.h>

//#include "http_server.h"
// 前向声明 HttpServer 类，避免循环依赖
//class HttpServer;


typedef int ConveyorBeltStatus;


// 控制器类 
class ConveyorBeltController {

public:
    
    httplib::Server http_server;
    void configure_http_server();
    std::map<int, int> directionMap;
    //std::map<int, std::string> ipMap;
    int port;

    // 控制器心跳包
    ability_sdk::ControllerHeartbeat heartbeat_pack; 

    // 能力心跳获取
    std::map<uuids::uuid, ability_sdk::Heartbeat> ability_heartbeats;
    bool gather_abilities();
    bool check_ability_status();

    void init();
    void Run();
    
    // 控制器心跳线程
    std::thread th_heartbeat;
    void routine_heartbeat();

    int handleOpen(float speed, int direction);
    int handleClose();
    int handleCheck();
    void setServerIp(std::string serverIp);
    ConveyorBeltStatus getCurrentStatus();
    ConveyorBeltController();
    ~ConveyorBeltController();

private:
    std::string ip;
    ConveyorBeltStatus status;
    std::shared_mutex mutex_;
    int IPCPort;
    int abilityPort;
    std::map<int, std::string> ipMap;
    // 状态转换
    int stateSwitch(ConveyorBeltStatus destState, std::string cmd);
    // grpc连接
    int grpcConnect(float speed, int direction);
    // grpc断开
    int grpcDisconnect();
    // grpc检查
    int grpcCheck();
    // 同步状态
    int synchState(std::string json);
    // 简单状态检查
    bool simpleStateCheck();

};

#endif