#pragma once

#include <memory>
#include <thread>
#include <atomic>
#include <unordered_map>
#include <unordered_set>
#include <chrono>
#include "config/SystemConfig.h"
#include "config/IntersectionConfig.h"
#include "network/WebSocketServer.h"
#include "types/VehicleCommand.h"
#include "types/MovingObject.h"

class AirportBounds;
class ControllableVehicles;
class CollisionDetector;
class TrafficLightDetector;
class DataCollector;
class MovingObject;
struct CollisionRisk;
struct TrafficLightSignal;

namespace network {
    struct TimeoutWarningMessage;
}

class System {
public:
    System();
    virtual ~System();
    
    bool initialize();
    void start();
    void stop();
    
    static System* instance() { return instance_; }
    static void signalHandler(int signal);
    
    const SystemConfig& getSystemConfig() const { return system_config_; }
    const IntersectionConfig& getIntersectionConfig() const { return intersection_config_; }
    
    // 广播相关函数
    virtual void broadcastTimeoutWarning(const network::TimeoutWarningMessage& warning);
    void broadcastPositionUpdate(const MovingObject& obj);
    void broadcastCollisionWarning(const CollisionRisk& risk);
    void broadcastVehicleCommand(const VehicleCommand& cmd);
    void broadcastTrafficLightStatus(const TrafficLightSignal& signal);

private:
    static System* instance_;
    
    void processLoop();
    
    std::atomic<bool> running_{false};
    std::thread processThread_;
    std::thread ws_thread_;
    
    // 系统组件
    std::unique_ptr<AirportBounds> airportBounds_;
    std::unique_ptr<ControllableVehicles> controllableVehicles_;
    std::unique_ptr<CollisionDetector> collisionDetector_;
    std::unique_ptr<TrafficLightDetector> trafficLightDetector_;
    std::unique_ptr<DataCollector> dataCollector_;
    std::unique_ptr<network::WebSocketServer> ws_server_;
    
    // 配置
    SystemConfig system_config_;
    IntersectionConfig intersection_config_;
    
    // 记录车辆停止的时间
    std::unordered_map<std::string, std::chrono::system_clock::time_point> vehicleStopTimes_;
    
    // 记录上一次有风险的可控车辆列表
    std::unordered_set<std::string> lastVehiclesWithRisk_;
};