#include"class_model/requestData.h"
#include <cstdlib>
#include <iostream>

int command;
// json j_data;   //Don't set json as global variable

RequestClass::RequestClass() : node_handle_(""){

  // mqtt_data = node_handle_.subscribe("/Flight_Information_reciver", 100,
  //                                  &RequestClass::Data_callback, this);
  formation_data = node_handle_.subscribe("/Fly_Formation_reciver", 10,
                                   &RequestClass::Message_callback, this);
  mqtt_data = node_handle_.subscribe("/uav_message", 10,
                                   &RequestClass::Data_callback, this);

  self_data = node_handle_.subscribe("/self_data_message", 100,
                                   &RequestClass::self_callback, this);       //test bionic
  member1_data = node_handle_.subscribe("/member1_data_message", 100,
                                   &RequestClass::M1_callback, this);
  member2_data = node_handle_.subscribe("/member2_data_message", 100,
                                   &RequestClass::M2_callback, this);
}

RequestClass::~RequestClass() { ros::shutdown(); }

void RequestClass::Data_callback(const std_msgs::String::ConstPtr &sensor) {
  L_INFO(sensor->data);
}

void RequestClass::Message_callback(const std_msgs::String::ConstPtr &message) {

	std::string data = message->data;
  // jsonToString(data);
  

}

global_location RequestClass::get_leader_GPS(){

  return leader_position; 
}

float RequestClass::get_leader_heading(){
  
  return heading;
}

int RequestClass::get_formation_message(){

  return command;
}

void RequestClass::jsonToString(std::string data){

}

void RequestClass::L_INFO(std::string data){
	
  // std::cout <<"string: "<< data << std::endl;

  // document.Parse(data.c_str());                  //china's library
  // leader_position.lat=document["lat"].GetInt();   
	// leader_position.lon=document["lon"].GetInt();
  // leader_position.alt=document["alt"].GetInt();
  // heading = document["heading"].GetInt();

  // std::cout << document["lat"].GetInt() << std::endl;
  // std::cout << document["lon"].GetInt() << std::endl;
  // std::cout << document["alt"].GetInt() << std::endl;
  // std::cout << document["heading"].GetInt() << std::endl;

  //********************************************//
  j_data = json::parse(data);        //open source

  // std::string lat = "",lon = "",alt = "",degree = "";
  // lat = j_data["lat"];
  // lon = j_data["lon"];
  // alt = j_data["alt"];
  // degree = j_data["heading"];
  
  // leader_position.lat=j_data["lat"];       //type error ,need number
	// leader_position.lon=j_data["lon"];
  // leader_position.alt=j_data["alt"];
  // heading = j_data["heading"];
  
  std::cout <<"Json: " <<j_data << std::endl;
  // std::cout << leader_position.lat << std::endl;
  // std::cout << leader_position.lon << std::endl;
  // std::cout << leader_position.alt << std::endl;
  // std::cout << heading << std::endl;
}

/*test biomic*/
void RequestClass::self_callback(const std_msgs::String::ConstPtr &sensor) {
  Bio_INFO(sensor->data);
}
void RequestClass::M1_callback(const std_msgs::String::ConstPtr &sensor) {
  Bio_INFO(sensor->data);
}
void RequestClass::M2_callback(const std_msgs::String::ConstPtr &sensor) {
  Bio_INFO(sensor->data);
}

void RequestClass::Bio_INFO(std::string data){

  j_data = json::parse(data);        //open source

  drone_ID = j_data["ID"];
  std::remove(ID.begin(),ID.end(),self_ID);

  if (drone_ID == self_ID){
    self_position.lat=j_data["lat"];   
	  self_position.lon=j_data["lon"];
    self_position.alt=j_data["alt"];
    self_position.heading = j_data["heading"];
  }else if (drone_ID == ID[0]){
    M1_position.lat=j_data["lat"];   
	  M1_position.lon=j_data["lon"];
    M1_position.alt=j_data["alt"];
    M1_position.heading = j_data["heading"];
  }else if (drone_ID == ID[1]){
    M2_position.lat=j_data["lat"];   
	  M2_position.lon=j_data["lon"];
    M2_position.alt=j_data["alt"];
    M2_position.heading = j_data["heading"];
  }

}
global_location RequestClass::get_self_GPS(){

  return self_position; 
}
global_location RequestClass::get_M1_GPS(){

  return M1_position; 
}
global_location RequestClass::get_M2_GPS(){

  return M2_position; 
}