//
// Created by xtkuang on 2025/5/6.
//

#ifndef CMVR_ES_DEVICE_MANAGER_H
#define CMVR_ES_DEVICE_MANAGER_H

#include <list>
#include <variant>
#include <sys/utsname.h>
#include <unordered_map>
#include "device_factory.h"
#include "system_monitor.h"
#include "../utils/base/thread_pool.h"

namespace cmvr::device {

    using DeviceVariant = std::variant<
        std::shared_ptr<AbstractAGV>,
        std::shared_ptr<AbstractBattery>,
        std::shared_ptr<AbstractCamera>,
        std::shared_ptr<AbstractDexHand>,
        std::shared_ptr<AbstractGripper>,
        std::shared_ptr<AbstractMicrophone>,
        std::shared_ptr<AbstractRobot>,
        std::shared_ptr<AbstractSpeaker>,
        std::shared_ptr<AbstractBiohead>
    >;

    typedef struct {
        std::string version;
        std::string name;
        std::string description;
        std::string os;
        std::string kernel_version;
        std::string architecture;
    } SystemInfo;

    class DeviceManager {
    public:
        DeviceManager(const DeviceManager&) = delete;
        DeviceManager& operator=(const DeviceManager&) = delete;

        static DeviceManager& getInstance(const XmlNode &cfg);
        static DeviceManager& getInstance();
        static void destroyInstance();

        void start();
        void restart();
        void stop();

        void updateParam(const std::string& id, const std::pair<std::string, std::string> &param);
        void getDeviceList(std::list<std::pair<std::string, std::string>> &device_list);

        void getSystemInfo(SystemInfo &info) const;
        void getSystemStatus(device::SystemStatus &status) const;

        template <class DeviceType>
        std::shared_ptr<DeviceType> getDevice(const std::string &device_id);

    private:
        static std::once_flag init_flag_;
        static std::shared_ptr<DeviceManager> instance_;

        XmlNode cfg_;
        SystemInfo info_;
        std::unordered_map<std::string, DeviceVariant> devices_;
        std::unique_ptr<DeviceFactory> dev_factory_;
        std::unique_ptr<device::SystemMonitor> sys_monitor_;

        explicit DeviceManager(const XmlNode &cfg);
        void init_devices_();
        void get_os_info_();
    };
} // cmvr

#endif //CMVR_ES_DEVICE_MANAGER_H