// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

/*!
 * @file Publisher.cxx
 * This file contains the implementation of the publisher functions.
 *
 * This file was generated by the tool fastddsgen.
 */

#include "Publisher.hpp"

#include <condition_variable>
#include <csignal>
#include <stdexcept>
#include <iomanip>
#include <chrono>
#include <thread>
#include <cmath>   // 新增：用于 std::fabs

#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/log/Log.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>

#include "WeighingDDSTypePubSubTypes.hpp"
#include "msg.hpp"
#include "DEBUG.hpp"


using namespace eprosima::fastdds::dds;

PublisherApp::PublisherApp(
        const int& domain_id)
    : factory_(nullptr)
    , participant_(nullptr)
    , publisher_(nullptr)
    , bar_topic_(nullptr)
    , bar_writer_(nullptr)
    , bar_type_(new WeighingSystem::BarCommandUpdatePubSubType())
    , light_topic_(nullptr)
    , light_writer_(nullptr)
    , light_type_(new WeighingSystem::LightsCommandUpdatePubSubType())
    , summary_topic_(nullptr)
    , summary_writer_(nullptr)
    , summary_type_(new WeighingSystem::SummaryUpdatePubSubType())
    , print_topic_(nullptr)
    , print_writer_(nullptr)
    , print_type_(new WeighingSystem::PrintReqPubSubType())
    , matched_(0)
    , samples_sent_(0)
    , stop_(false)
{
    // Create the participant
    DomainParticipantQos pqos = PARTICIPANT_QOS_DEFAULT;
    pqos.name("Core_pub_participant");
    pqos.wire_protocol().builtin.discovery_config.leaseDuration = Duration_t(60, 0);
    pqos.wire_protocol().builtin.discovery_config.leaseDuration_announcementperiod = Duration_t(30, 0);
    factory_ = DomainParticipantFactory::get_shared_instance();
    participant_ = factory_->create_participant(domain_id, pqos, nullptr, StatusMask::none());
    if (participant_ == nullptr)
    {
        throw std::runtime_error("Core Participant initialization failed");
    }

    // Register the type
    bar_type_.register_type(participant_);
    light_type_.register_type(participant_);
    summary_type_.register_type(participant_);
    print_type_.register_type(participant_);

    // Create the publisher
    PublisherQos pub_qos = PUBLISHER_QOS_DEFAULT;
    participant_->get_default_publisher_qos(pub_qos);
    publisher_ = participant_->create_publisher(pub_qos, nullptr, StatusMask::none());
    if (publisher_ == nullptr)
    {
        throw std::runtime_error("Core Publisher initialization failed");
    }

    // Create the topic
    TopicQos topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    bar_topic_ = participant_->create_topic("BarCommandUpdate", bar_type_.get_type_name(), topic_qos);
    if (bar_topic_ == nullptr)
    {
        throw std::runtime_error("BarCommandUpdate Topic initialization failed");
    }

    // Create the data writer
    DataWriterQos writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    bar_writer_ = publisher_->create_datawriter(bar_topic_, writer_qos, this, StatusMask::all());
    if (bar_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::BarUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    light_topic_ = participant_->create_topic("LightsCommandUpdate", light_type_.get_type_name(), topic_qos);
    if (light_topic_ == nullptr)
    {
        throw std::runtime_error("LightsCommandUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    light_writer_ = publisher_->create_datawriter(light_topic_, writer_qos, this, StatusMask::all());
    if (light_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::LightsUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    summary_topic_ = participant_->create_topic("SummaryUpdate", summary_type_.get_type_name(), topic_qos);
    if (summary_topic_ == nullptr)
    {
        throw std::runtime_error("SummaryUpdate Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    summary_writer_ = publisher_->create_datawriter(summary_topic_, writer_qos, this, StatusMask::all());
    if (summary_writer_ == nullptr)
    {
        throw std::runtime_error("WeighingSystem::SummaryUpdate DataWriter initialization failed");
    }

    // Create the topic
    topic_qos = TOPIC_QOS_DEFAULT;
    participant_->get_default_topic_qos(topic_qos);
    print_topic_ = participant_->create_topic("PrintReq", print_type_.get_type_name(), topic_qos);
    if (print_topic_ == nullptr)
    {
        throw std::runtime_error("PrintReq Topic initialization failed");
    }

    // Create the data writer
    writer_qos = DATAWRITER_QOS_DEFAULT;
    publisher_->get_default_datawriter_qos(writer_qos);
    writer_qos.reliability().kind = ReliabilityQosPolicyKind::RELIABLE_RELIABILITY_QOS;
    writer_qos.reliability().max_blocking_time = Duration_t(1, 0);
    writer_qos.durability().kind = DurabilityQosPolicyKind::VOLATILE_DURABILITY_QOS;
    writer_qos.history().kind = HistoryQosPolicyKind::KEEP_LAST_HISTORY_QOS;
    writer_qos.history().depth = 1;
    writer_qos.resource_limits().max_samples = 200;
    writer_qos.resource_limits().max_instances = 1;
    writer_qos.resource_limits().max_samples_per_instance = 100;
    writer_qos.data_sharing().off();
    print_writer_ = publisher_->create_datawriter(print_topic_, writer_qos, this, StatusMask::all());
    if (print_writer_ == nullptr)
    {
        throw std::runtime_error("InternalSystem::PrintReq DataWriter initialization failed");
    }
}

PublisherApp::~PublisherApp()
{
    if (nullptr != participant_)
    {
        // Delete DDS entities contained within the DomainParticipant
        participant_->delete_contained_entities();

        // Delete DomainParticipant
        factory_->delete_participant(participant_);
    }
}

void PublisherApp::on_publication_matched(
        DataWriter* writer,
        const PublicationMatchedStatus& info)
{
    if (info.current_count_change == 1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher matched.");
        cv_.notify_one();
    }
    else if (info.current_count_change == -1)
    {
        {
            std::lock_guard<std::mutex> lock(mutex_);
            matched_ = info.current_count;
        }
        DEBUG(writer->get_topic()->get_name() << " Publisher unmatched.");
    }
    else
    {
        DEBUG(info.current_count_change << " is not a valid value for PublicationMatchedStatus current count change");
    }
}

bool PublisherApp::bar_ctrl(const std::map<std::string, std::string>& ctrl)
{
    WeighingSystem::BarCommandUpdate cmd;

    for (const auto &[port, opt] : ctrl)
    {
        if (port == "FrontBar")
        {
            if (opt == "up")
            {
                cmd.FrontBarSignalUp() = 1;
                cmd.FrontBarSignalDown() = 0;
            }
            else
            {
                cmd.FrontBarSignalUp() = 0;
                cmd.FrontBarSignalDown() = 1;
            }
            cmd.FrontBarEnable() = 1;
        }
        else if (port == "BackBar")
        {
            if (opt == "up")
            {
                cmd.BackBarSignalUp() = 1;
                cmd.BackBarSignalDown() = 0;
            }
            else
            {
                cmd.BackBarSignalUp() = 0;
                cmd.BackBarSignalDown() = 1;
            }
            cmd.BackBarEnable() = 1;
        }
    }

    DEBUG("send bar ctrl cmd");
    bar_writer_->write(&cmd);

    return true;
}

bool PublisherApp::light_ctrl(const std::map<std::string, std::string>& ctrl)
{
    WeighingSystem::LightsCommandUpdate cmd;

    for (const auto &[port, opt] : ctrl)
    {
        if (port == "FrontLED")
        {
            if (opt == "red")
            {
                cmd.FrontLEDSignal() = 1;
            }
            else
            {
                cmd.FrontLEDSignal() = 2;
            }
            cmd.FrontLEDEnable() = 1;
        }
        else if (port == "BackLED")
        {
            if (opt == "red")
            {
                cmd.BackLEDSignal() = 1;
            }
            else
            {
                cmd.BackLEDSignal() = 2;
            }
            cmd.BackLEDEnable() = 1;
        }
    }

    DEBUG("send light ctrl cmd");
    light_writer_->write(&cmd);

    return true;
}

bool PublisherApp::print_receipt(const std::map<std::string, std::string>& msg)
{
    WeighingSystem::PrintReq req;

    req.msg() = msg;

    for (auto &m : req.msg())
    {
         DEBUG("first: " << m.first << " second: " << m.second);
    }

    print_writer_->write(&req);

    return true;
}

#define WEIGH_IDLE           0
#define WEIGH_QUEUE_RAISED   1   // 已抬杆，计时等 60s 落杆

void PublisherApp::run()
{
    int weigh_state = WEIGH_IDLE;

    while (!is_stopped())
    {
        // 1) 消费 DDS 队列
        std::unique_lock<std::mutex> dds_lock(DdsMsgData::queue_cv_mtx_, std::try_to_lock);
        if (dds_lock.owns_lock())
        {
            if (!DdsMsgData::QueueSuccess_queue_.empty())
            {
                Queue::QueueSuccess info = std::move(DdsMsgData::QueueSuccess_queue_.front());
                DdsMsgData::QueueSuccess_queue_.pop();
                dds_lock.unlock();

                DEBUG("==== QueueSuccess received, raising front bar ====");
                DEBUG("  message_id = " << info.message_id());
                DEBUG("  card_number = " << info.card_number());
                DEBUG("  device_id = " << info.device_id());

                // 抬前拦车器
                std::map<std::string, std::string> ctrl;
                ctrl["FrontBar"] = "up";
                bar_ctrl(ctrl);

                // 抬后拦车器
                // std::map<std::string, std::string> ctrl;
                // ctrl["BackBar"] = "up";
                // bar_ctrl(ctrl);


                // 收到 QueueSuccess 后下发"排队票"打印任务（仅打一次）
                // 字段映射：QueueSuccess → Print1_3 期望的 map key
                {
                    std::map<std::string, std::string> print_msg;
                    print_msg["Title"]      = "排队票";                 // 触发 print/MsgHandler2.cxx::Print1_3
                    print_msg["CarNumber"]  = info.vehicle_number();       // 车牌号
                    print_msg["DateTime"]   = info.queue_time();        // 时间
                    print_msg["QueueID"]    = std::to_string(info.queue_number());  // 排队号 (long→string)
                    print_msg["Supplier"]   = std::to_string(info.sample_code());  // 采样编码
                    print_msg["GoodsType"]  = info.goods_name();        // 品种
                    print_msg["sample_machine"] = info.sample_machine(); // 采样机名称
                    print_msg["CoalYard"]   = "";                       // 煤场：缺省为空(冒号后无内容)
                    print_receipt(print_msg);
                }

                // 记录抬杆时刻，开始 60s 倒计时
                queue_success_time_ = std::chrono::steady_clock::now();
                queue_success_pending_ = true;
                weigh_state = WEIGH_QUEUE_RAISED;
            }
            else
            {
                dds_lock.unlock();
            }
        }

        // 2) 状态机
        switch (weigh_state)
        {
        case WEIGH_IDLE:
            break;

        case WEIGH_QUEUE_RAISED:
            if (queue_success_pending_)
            {
                auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(
                        std::chrono::steady_clock::now() - queue_success_time_).count();
                if (elapsed >= 60)
                {
                    DEBUG("60s elapsed after QueueSuccess, lowering front bar...");
                    std::map<std::string, std::string> ctrl;
                    ctrl["FrontBar"] = "down";
                    bar_ctrl(ctrl);

                    // std::map<std::string, std::string> ctrl;
                    // ctrl["BackBar"] = "down";
                    // bar_ctrl(ctrl);
                    

                    queue_success_pending_ = false;
                    weigh_state = WEIGH_IDLE;
                }
            }
            break;

        default:
            weigh_state = WEIGH_IDLE;
            break;
        }

        // 3) 周期等待
        std::unique_lock<std::mutex> period_lock(mutex_);
        cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
                {
                    return is_stopped();
                });
    }
}

bool PublisherApp::publish()
{
    bool ret = false;
    // Wait for the data endpoints discovery
    std::unique_lock<std::mutex> matched_lock(mutex_);
    cv_.wait(matched_lock, [&]()
            {
                // at least one has been discovered
                return ((matched_ > 0) || is_stopped());
            });

    if (!is_stopped())
    {
        /* Initialize your structure here */
        WeighingSystem::BarCommandUpdate sample_;
        ret = (RETCODE_OK == bar_writer_->write(&sample_));
    }
    return ret;
}

bool PublisherApp::is_stopped()
{
    return stop_.load();
}

void PublisherApp::stop()
{
    stop_.store(true);
    cv_.notify_one();
}