#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>

#include <iostream>
#include <string>

#include <pthread.h>
#include <semaphore.h>
#include <mqueue.h>
#include <sched.h>

#include <Robot.h>
#include <Camera.h>
#include <Image.h>
#include <TcpServer.h>
#include <MsgManager.h>

//#include "../../lib/Robot.h"
//#include "../../lib/Camera.h"
//#include "../../lib/Image.h"
//#include "../../lib/TcpServer.h"

#include "Tasks.h"

void Tasks::f_server(void *arg) {
//    int err;
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//    err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js");
//
//    if (err < 0) {
//        printf("Failed to start nodejs: %s\n", strerror(-err));
//        exit(EXIT_FAILURE);
//    } else {
//#ifdef _WITH_TRACE_
//        printf("%s: nodejs started\n", info.name);
//#endif
//        open_server();
//        rt_sem_broadcast(&sem_serverOk);
//    }
}

void Tasks::f_sendToMon(void * arg) {
//    int err;
//    MessageToMon msg;
//
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//#ifdef _WITH_TRACE_
//    printf("%s : waiting for sem_serverOk\n", info.name);
//#endif
//    rt_sem_p(&sem_serverOk, TM_INFINITE);
//    while (1) {
//
//#ifdef _WITH_TRACE_
//        printf("%s : waiting for a message in queue\n", info.name);
//#endif
//        if (rt_queue_read(&q_messageToMon, &msg, sizeof (MessageToRobot), TM_INFINITE) >= 0) {
//#ifdef _WITH_TRACE_
//            printf("%s : message {%s,%s} in queue\n", info.name, msg.header, msg.data);
//#endif
//
//            send_message_to_monitor(msg.header, msg.data);
//            free_msgToMon_data(&msg);
//            rt_queue_free(&q_messageToMon, &msg);
//        } else {
//            printf("Error msg queue write: %s\n", strerror(-err));
//        }
//    }
}

void Tasks::f_receiveFromMon(void *arg) {
//    MessageFromMon msg;
//    int err;
//
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//#ifdef _WITH_TRACE_
//    printf("%s : waiting for sem_serverOk\n", info.name);
//#endif
//    rt_sem_p(&sem_serverOk, TM_INFINITE);
//    do {
//#ifdef _WITH_TRACE_
//        printf("%s : waiting for a message from monitor\n", info.name);
//#endif
//        err = receive_message_from_monitor(msg.header, msg.data);
//#ifdef _WITH_TRACE_
//        printf("%s: msg {header:%s,data=%s} received from UI\n", info.name, msg.header, msg.data);
//#endif
//        if (strcmp(msg.header, HEADER_MTS_COM_DMB) == 0) {
//            if (msg.data[0] == OPEN_COM_DMB) { // Open communication supervisor-robot
//#ifdef _WITH_TRACE_
//                printf("%s: message open Xbee communication\n", info.name);
//#endif
//                rt_sem_v(&sem_openComRobot);
//            }
//        } else if (strcmp(msg.header, HEADER_MTS_DMB_ORDER) == 0) {
//            if (msg.data[0] == DMB_START_WITHOUT_WD) { // Start robot
//#ifdef _WITH_TRACE_
//                printf("%s: message start robot\n", info.name);
//#endif
//                rt_sem_v(&sem_startRobot);
//
//            } else if ((msg.data[0] == DMB_GO_BACK)
//                    || (msg.data[0] == DMB_GO_FORWARD)
//                    || (msg.data[0] == DMB_GO_LEFT)
//                    || (msg.data[0] == DMB_GO_RIGHT)
//                    || (msg.data[0] == DMB_STOP_MOVE)) {
//
//                rt_mutex_acquire(&mutex_move, TM_INFINITE);
//                move = msg.data[0];
//                rt_mutex_release(&mutex_move);
//#ifdef _WITH_TRACE_
//                printf("%s: message update movement with %c\n", info.name, move);
//#endif
//
//            }
//        }
//    } while (err > 0);

}

void Tasks::f_openComRobot(void * arg) {
//    int err;
//
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//    while (1) {
//#ifdef _WITH_TRACE_
//        printf("%s : Wait sem_openComRobot\n", info.name);
//#endif
//        rt_sem_p(&sem_openComRobot, TM_INFINITE);
//#ifdef _WITH_TRACE_
//        printf("%s : sem_openComRobot arrived => open communication robot\n", info.name);
//#endif
//        err = open_communication_robot();
//        if (err == 0) {
//#ifdef _WITH_TRACE_
//            printf("%s : the communication is opened\n", info.name);
//#endif
//            MessageToMon msg;
//            set_msgToMon_header(&msg, HEADER_STM_ACK);
//            write_in_queue(&q_messageToMon, msg);
//        } else {
//            MessageToMon msg;
//            set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
//            write_in_queue(&q_messageToMon, msg);
//        }
//    }
}

void Tasks::f_startRobot(void * arg) {
//    int err;
//
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//    while (1) {
//#ifdef _WITH_TRACE_
//        printf("%s : Wait sem_startRobot\n", info.name);
//#endif
//        rt_sem_p(&sem_startRobot, TM_INFINITE);
//#ifdef _WITH_TRACE_
//        printf("%s : sem_startRobot arrived => Start robot\n", info.name);
//#endif
//        err = send_command_to_robot(DMB_START_WITHOUT_WD);
//        if (err == 0) {
//#ifdef _WITH_TRACE_
//            printf("%s : the robot is started\n", info.name);
//#endif
//            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
//            robotStarted = 1;
//            rt_mutex_release(&mutex_robotStarted);
//            MessageToMon msg;
//            set_msgToMon_header(&msg, HEADER_STM_ACK);
//            write_in_queue(&q_messageToMon, msg);
//        } else {
//            MessageToMon msg;
//            set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
//            write_in_queue(&q_messageToMon, msg);
//        }
//    }
}

void Tasks::f_move(void *arg) {
//    /* INIT */
//    RT_TASK_INFO info;
//    rt_task_inquire(NULL, &info);
//    printf("Init %s\n", info.name);
//    rt_sem_p(&sem_barrier, TM_INFINITE);
//
//    /* PERIODIC START */
//#ifdef _WITH_TRACE_
//    printf("%s: start period\n", info.name);
//#endif
//    rt_task_set_periodic(NULL, TM_NOW, 100000000);
//    while (1) {
//#ifdef _WITH_TRACE_
//        printf("%s: Wait period \n", info.name);
//#endif
//        rt_task_wait_period(NULL);
//#ifdef _WITH_TRACE_
//        printf("%s: Periodic activation\n", info.name);
//        printf("%s: move equals %c\n", info.name, move);
//#endif
//        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
//        if (robotStarted) {
//            rt_mutex_acquire(&mutex_move, TM_INFINITE);
//            send_command_to_robot(move);
//            rt_mutex_release(&mutex_move);
//#ifdef _WITH_TRACE_
//            printf("%s: the movement %c was sent\n", info.name, move);
//#endif
//        }
//        rt_mutex_release(&mutex_robotStarted);
//    }
}

void Tasks::write_in_queue(mqd_t *queue, MsgManager msg) {
//    void *buff;
//    buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon));
//    memcpy(buff, &msg, sizeof (MessageToMon));
//    rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL);
}

MsgManager Tasks::messages;