/*----------------------------------------------------------------------------*/
/* Copyright (c) 2017-2020 FIRST. All Rights Reserved.                        */
/* Open Source Software - may be modified and shared by FRC teams. The code   */
/* must be accompanied by the FIRST BSD license file in the root directory of */
/* the project.                                                               */
/*----------------------------------------------------------------------------*/

#include <WSProviderContainer.h>
#include <WSProvider_Analog.h>
#include <WSProvider_DIO.h>
#include <WSProvider_DriverStation.h>
#include <WSProvider_Encoder.h>
#include <WSProvider_Joystick.h>
#include <WSProvider_PWM.h>
#include <WSProvider_Relay.h>
#include <WSProvider_RoboRIO.h>
#include <WSProvider_SimDevice.h>
#include <WSProvider_dPWM.h>
#include <hal/Main.h>
#include <wpi/raw_ostream.h>

#include "HALSimWSServer.h"

using namespace std::placeholders;
using namespace wpilibws;

// Currently, robots never terminate, so we keep static objects that are
// never properly released or cleaned up.
static ProviderContainer providers;
static HALSimWSProviderSimDevices simDevices(providers);

extern "C" {
#if defined(WIN32) || defined(_WIN32)
__declspec(dllexport)
#endif
    int HALSIM_InitExtension(void) {
  wpi::outs() << "Websocket Simulator Initializing.\n";
  auto hsw = std::make_shared<HALSimWeb>(providers, simDevices);
  HALSimWeb::SetInstance(hsw);

  if (!hsw->Initialize()) {
    return -1;
  }

  WSRegisterFunc registerFunc = [&](auto key, auto provider) {
    providers.Add(key, provider);
  };

  HALSimWSProviderAnalogIn::Initialize(registerFunc);
  HALSimWSProviderAnalogOut::Initialize(registerFunc);
  HALSimWSProviderDIO::Initialize(registerFunc);
  HALSimWSProviderDigitalPWM::Initialize(registerFunc);
  HALSimWSProviderDriverStation::Initialize(registerFunc);
  HALSimWSProviderEncoder::Initialize(registerFunc);
  HALSimWSProviderJoystick::Initialize(registerFunc);
  HALSimWSProviderPWM::Initialize(registerFunc);
  HALSimWSProviderRelay::Initialize(registerFunc);
  HALSimWSProviderRoboRIO::Initialize(registerFunc);

  simDevices.Initialize(hsw->GetLoop());

  HAL_SetMain(nullptr, HALSimWeb::Main, HALSimWeb::Exit);

  wpi::outs() << "Websocket Simulator Initialized!\n";
  return 0;
}
}  // extern "C"