#include <coroutine>
#include <iostream>
#include <thread>

#include "robot/ur/ur_interface.h"
#include "utility/debug_utility.hpp"
#include "core/types/geometry_types.hpp"

#include <boost/asio/co_spawn.hpp>
#include <boost/asio/detached.hpp>
#include <boost/property_tree/ptree.hpp>
#include <boost/uuid/uuid_generators.hpp>

using boost::asio::co_spawn;
using boost::asio::detached;

using namespace sophiar;

template<typename Derived>
auto test_func(const Eigen::MatrixBase<Derived> &m) {
    return sizeof(std::remove_cv<decltype(m)>);
}

int main() {
//    ur_interface ur;
//    fake_state_listener listener;
//    ur.set_ur_ip(boost::asio::ip::make_address_v4("192.168.38.141"));
//    ur.add_status_listener(listener);
//    ur.set_report_frequency(125);
//    auto func = [&]() -> boost::asio::awaitable<void> {
//        auto &cmd_listener = ur.get_command_listener(0);
//        co_await ur.init();
//        co_await ur.start();
//        for (int i = 0; i < 125; ++i) {
//            auto move = ur_command::new_tcp_speed({0, 0, 0, 0.01, 0, 0});
//            cmd_listener.on_signal_received(std::move(move));
//            co_await coro_sleep(std::chrono::milliseconds(8));
//        }
//        co_await ur.reset();
//        co_return;
//    };
//    co_spawn(ur.get_context(), func(), detached);
//    ur.get_context().run();
//    std::cout << listener.cnt << std::endl;

    std::cout << sizeof(std::string) << std::endl;

    return 0;
}