package main

import (
	"cicv-data-closedloop/common/util"
	masterConfig "cicv-data-closedloop/kinglong/master/pkg/cfg"
	"cicv-data-closedloop/kinglong_msgs"
	"fmt"
	"github.com/bluenviron/goroslib/v2"
	"os"
)

var (
	TopicOfNodeFaultInfo = "/nodefault_info"
	TopicOfCicvLocation  = "/cicv_location"
	TopicOfTpperception  = "/tpperception"
	TopicOfFaultInfo     = "/fault_info"
	TopicOfDataRead      = "/data_read"
)

func main() {
	rosNode, _ := goroslib.NewNode(goroslib.NodeConf{
		Name:          "cicvDataClosedloopTopicEcho",
		MasterAddress: "127.0.0.1:11311",
	})
	topic := util.ToString(os.Args[1])
	if topic == TopicOfNodeFaultInfo {
		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
			Node:  rosNode,
			Topic: masterConfig.TopicOfNodeFaultInfo,
			Callback: func(data *kinglong_msgs.FaultInfo) {
				fmt.Println("收到话题", topic, "的数据", data)
			}})
	}
	if topic == TopicOfCicvLocation {
		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
			Node:  rosNode,
			Topic: masterConfig.TopicOfCicvLocation,
			Callback: func(data *kinglong_msgs.PerceptionLocalization) {
				fmt.Println("收到话题", topic, "的数据", data)
			}})
	}
	if topic == TopicOfTpperception {
		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
			Node:  rosNode,
			Topic: masterConfig.TopicOfTpperception,
			Callback: func(data *kinglong_msgs.PerceptionObjects) {
				fmt.Println("收到话题", topic, "的数据", data)
			}})
	}
	if topic == TopicOfFaultInfo {
		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
			Node:  rosNode,
			Topic: masterConfig.TopicOfFaultInfo,
			Callback: func(data *kinglong_msgs.FaultVec) {
				fmt.Println("收到话题", topic, "的数据", data)
			}})
	}
	if topic == TopicOfDataRead {
		_, _ = goroslib.NewSubscriber(goroslib.SubscriberConf{
			Node:  rosNode,
			Topic: masterConfig.TopicOfDataRead,
			Callback: func(data *kinglong_msgs.Retrieval) {
				fmt.Println("收到话题", topic, "的数据", data)
			}})
	}

	select {}

}