#pragma once

#include "Messages/BinaryMsg.h"
#include "Messages/DestroyMsg.h"
#include "Messages/InvestigateMsg.h"
#include "Messages/ModelUrlMsg.h"
#include "Messages/NameMsg.h"
#include "Messages/ParticipantMsg.h"
#include "Messages/PoseMsg.h"
#include "Messages/NetworkIdMsg.h"
#include "Messages/ThingMsg.h"
#include "Participant.h"

#if !defined(NO_STD)
#include <functional>
#include <list>
// #include <unordered_map>
#endif

#if defined(_WIN32) || defined(_WIN64)
#include <winsock2.h>
#elif defined(__unix__) || defined(__APPLE__)
#include <arpa/inet.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <unistd.h>
#endif

namespace RoboidControl {

constexpr int MAX_SENDER_COUNT = 256;

/// @brief A participant using UDP communication
/// A local participant is the local device which can communicate with
/// other participants It manages all local things and communcation with other
/// participants. Each application has a local participant which is usually
/// explicit in the code. An participant can be isolated. In that case it is
/// standalong and does not communicate with other participants.
///
/// It is possible to work with an hidden participant by creating things without
/// specifying a participant in the constructor. In that case an hidden isolated
/// participant is created which can be obtained using
/// RoboidControl::IsolatedParticipant::Isolated().
/// @sa RoboidControl::Thing::Thing()
class ParticipantUDP : public Participant {
#pragma region Init

 public:
  /// @brief Create a participant without connecting to a site
  /// @param port The port on which the participant communicates
  /// These participant typically broadcast Participant messages to let site
  /// servers on the local network know their presence. Alternatively they can
  /// broadcast information which can be used directly by other participants.
  ParticipantUDP(int port = 7681);
  /// @brief Create a participant which will try to connect to a site.
  /// @param ipAddress The IP address of the site
  /// @param port The port used by the site
  /// @param localPort The port used by the local participant
  ParticipantUDP(const char* ipAddress, int port = 7681, int localPort = 7681);

  /// @brief Isolated participant is used when the application is run without
  /// networking
  /// @return A participant without networking support
  static ParticipantUDP* Isolated();

  /// @brief True if the participant is running isolated.
  /// Isolated participants do not communicate with other participants

#pragma endregion Init

  /// @brief True if the participant is running isolated.
  /// Isolated participants do not communicate with other participants
  bool isIsolated = false;
  /// @brief The remote site when this participant is connected to a site
  Participant* remoteSite = nullptr;

  /// The interval in milliseconds for publishing (broadcasting) data on the
  /// local network
  long publishInterval = 3000;  // 3 seconds

 protected:
  char buffer[1024];

#if !defined(ARDUINO)
#if defined(__unix__) || defined(__APPLE__)
  int sock;
#elif defined(_WIN32) || defined(_WIN64)
  sockaddr_in remote_addr;
  sockaddr_in server_addr;
  sockaddr_in broadcast_addr;
#endif
#endif
 public:
  void begin();
  bool connected = false;

#pragma region Update

 public:
  virtual void Update() override;

 protected:
  unsigned long nextPublishMe = 0;

  /// @brief Prepare the local things for the next update
  virtual void PrepMyThings();
  virtual void UpdateMyThings();
  virtual void UpdateOtherThings();

#pragma endregion Update

#pragma region Send

  void SendThingInfo(Participant* remoteParticipant, Thing* thing);
  void PublishThingInfo(Thing* thing);

  bool Send(Participant* remoteParticipant, IMessage* msg);
  bool Publish(IMessage* msg);

#pragma endregion Send

#pragma region Receive

protected:
  void ReceiveData(unsigned char bufferSize,
                   char* senderIpAddress,
                   unsigned int senderPort);
  void ReceiveData(unsigned char bufferSize, Participant* remoteParticipant);

  void SetupUDP(int localPort, const char* remoteIpAddress, int remotePort);

  void ReceiveUDP();

  virtual void Process(Participant* sender, ParticipantMsg* msg);
  virtual void Process(Participant* sender, NetworkIdMsg* msg);
  virtual void Process(Participant* sender, InvestigateMsg* msg);
  virtual void Process(Participant* sender, ThingMsg* msg);
  virtual void Process(Participant* sender, NameMsg* msg);
  virtual void Process(Participant* sender, ModelUrlMsg* msg);
  virtual void Process(Participant* sender, PoseMsg* msg);
  virtual void Process(Participant* sender, BinaryMsg* msg);

#pragma endregion Receive

};

}  // namespace RoboidControl