#include "DixonBrain.h"
#include <iostream>
#include <chrono>
#include <thread>

DixonBrain::DixonBrain()
    : heart_(),
      state_(DixonNodeState::instance())
{
    std::cout << "DixonBrain initialised\n";
}

DixonBrain::~DixonBrain()
{
    stop();
    std::cout << "DixonBrain destroyed\n";
}

void DixonBrain::start()
{
    if (state_.getNodeStatus() != NodeStatus::Stopped)
        return;

    state_.setNodeStatus(NodeStatus::Running);

    loopThread_ = std::thread(&DixonBrain::runLoop, this);

    std::cout << "DixonBrain started\n";
}

void DixonBrain::stop()
{
    if (state_.getNodeStatus() == NodeStatus::Stopped)
        return;

    state_.setNodeStatus(NodeStatus::Stopping);


    if (loopThread_.joinable())
        loopThread_.join();

    heart_.stop();

    state_.setNodeStatus(NodeStatus::Stopped);

    std::cout << "DixonBrain stopped\n";
}

void DixonBrain::runLoop()
{
    while (state_.getNodeStatus() != NodeStatus::Stopped)
    {
        heart_.beat();
        // TODO: main control logic
        std::this_thread::sleep_for(std::chrono::milliseconds(10));
    }
}