package ros;

import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.HexUtil;
import cn.hutool.setting.SettingUtil;
import com.mchange.v1.util.SetUtils;
import edu.wpi.rail.jrosbridge.Ros;
import edu.wpi.rail.jrosbridge.Service;
import edu.wpi.rail.jrosbridge.Topic;
import edu.wpi.rail.jrosbridge.callback.TopicCallback;
import edu.wpi.rail.jrosbridge.messages.Message;
import edu.wpi.rail.jrosbridge.services.ServiceRequest;
import edu.wpi.rail.jrosbridge.services.ServiceResponse;
import net.sf.json.JSON;
import net.sf.json.JSONArray;
import net.sf.json.JSONObject;
import org.apache.commons.collections.list.SetUniqueList;
import org.nl.agv.unit.sendToAgvUtil;

import java.util.HashMap;
import java.util.HashSet;
import java.util.Set;
import java.util.function.BiConsumer;

public class Test2 {

    public static void main31231(String[] args) {
       // Ros ros = new Ros("192.168.137.41", 9290);
        Ros ros = new Ros("192.168.137.41", 9290);
        ros.connect();
        Service addTwoInts = new Service(ros, "/Service_HMIString", "lu_ps20l_msgs/Srv_HMIString");
        JSONObject json = new JSONObject();
        //IFCONFIG
        json.put("HMI_String_Input", "HMIStepOrRTPathFollow:0;18;1#");
        //日志列表
        //json.put("HMI_String_Input", "GetLogList");
        //ros请求列表
         //json.put("HMI_String_Input", "GetROSNodeList");
        //芯片温度
        //json.put("HMI_String_Input", "Temperature");
        //获取站点（刘先源写正则表达式）
        //json.put("HMI_String_Input", "GetStationFloorIndexTable");
        //获取坐标(第二个)
        //json.put("HMI_String_Input", "GetNodePointManagerTable");
        ServiceRequest request = new ServiceRequest(json.toString());
        ServiceResponse response = addTwoInts.callServiceAndWait(request);
        System.out.println(response.toString());
        ros.disconnect();
    }

    public static void main9090(String[] args) {
        //调试信息
        Ros ros = new Ros("192.168.0.40", 9290);
        ros.connect();
        while (true) {
            Topic echoBack = new Topic(ros, "/Topic_Display_State", "lu_ps20l_msgs/Msg_DisplayState");
            echoBack.subscribe(new TopicCallback() {
                @Override
                public void handleMessage(Message message) {
                    JSONObject jo = JSONObject.fromObject(message.toString());
                    System.out.println(message.toString());
                }
            });
        }
    }

    public static void main132(String[] args) {
        ServiceResponse response = sendToAgvUtil.send("GetStationFloorIndexTable");
        String result_info = response.toString();
        String a = JSONObject.fromObject(response.toString()).optString("ROS_String_Output");
        String[] split = a.split("\\n");
        JSONObject json = new JSONObject();
        for (int i = 0; i < split.length; i++) {
            String row = split[i];
            String[] rowArr = row.split("\\s+");
            json.put(rowArr[3], rowArr[4].contains("<") ? "" : rowArr[4]);
        }
        JSONArray arr = new JSONArray();
        for (Object key : json.keySet()) {
            String value = (String) json.get(key);
            System.out.println("Key = " + key + ", Value = " + value);
            JSONObject row = new JSONObject();
            row.put("point_code", key);
            row.put("point_name", value);
            arr.add(row);
        }
        System.out.println(arr);
    }

    public static void main(String[] args) {
        JSONObject returnjo = new JSONObject();
        JSONArray results = new JSONArray();

        JSONObject jo = new JSONObject();

        int a =1;
        for (int i = 0; i < 3; i++) {
            JSONArray ja  = new JSONArray();
            JSONObject jo1 = new JSONObject();
            for (int j = 0; j < 3; j++) {

                jo.put("point_code","A11");
                jo.put("point_name","A11");
                jo.put("code_name","A11");
                ja.add(jo);
            }

            jo1.put("point_group_code",a);
            a=a+1;
            jo1.put("rows",ja);
            results.add(jo1);
        }



        returnjo.put("code", "1");
        returnjo.put("desc", "更新成功！");
        returnjo.put("results", results);
        System.out.println("测试完成");

    }


}