#ifndef FAST_DDS_GENERATED__PUBLISHERAPP_HPP
#define FAST_DDS_GENERATED__PUBLISHERAPP_HPP

#include <condition_variable>
#include <vector>

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>
#include <fastdds/dds/subscriber/DataReaderListener.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>

#include "MsgHandler.hpp"

class PublisherApp : public eprosima::fastdds::dds::DataWriterListener,public eprosima::fastdds::dds::DataReaderListener
{
public:

    PublisherApp(
            const int& domain_id);

    ~PublisherApp();

    //! Publisher matched method
    void on_publication_matched(
            eprosima::fastdds::dds::DataWriter* writer,
            const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;

    //! Run publisher
    void run(std::shared_ptr<MsgHandler> handler);

    //! Trigger the end of execution
    void stop();

    void on_data_available(eprosima::fastdds::dds::DataReader* reader) override;
    void on_subscription_matched(eprosima::fastdds::dds::DataReader* reader,const eprosima::fastdds::dds::SubscriptionMatchedStatus& info) override;

    void PublishSummaryUpdate(const std::string& cardId, float weightTon);
    //void CheckAndPublishSummary();
    void CheckAndPublishSummary(std::shared_ptr<MsgHandler> handler);
    void RestoreAutoFind();

private:

    //! Return the current state of execution
    bool is_stopped();

    bool is_infrared_blocked();   // ← 新增这一行
    bool has_pending_send();      // ← 新增这一行（可选，统一判断）

    std::shared_ptr<eprosima::fastdds::dds::DomainParticipantFactory> factory_;
    eprosima::fastdds::dds::DomainParticipant* participant_;
    eprosima::fastdds::dds::Publisher* publisher_;
    eprosima::fastdds::dds::Topic* topic_;
    eprosima::fastdds::dds::DataWriter* writer_;
    eprosima::fastdds::dds::TypeSupport type_;
    std::condition_variable cv_;
    int32_t matched_;
    std::mutex mutex_;
    const uint32_t period_ms_ = 100;
    uint16_t samples_sent_;
    std::atomic<bool> stop_;


    // ── SummaryUpdate 发布者 ──
    eprosima::fastdds::dds::Publisher* summary_publisher_;
    eprosima::fastdds::dds::Topic* summary_topic_;
    eprosima::fastdds::dds::DataWriter* summary_writer_;
    eprosima::fastdds::dds::TypeSupport summary_type_;

    // ── ScaleInfo 订阅者 ──
    eprosima::fastdds::dds::Subscriber* scale_subscriber_;
    eprosima::fastdds::dds::Topic* scale_topic_;
    eprosima::fastdds::dds::DataReader* scale_reader_;
    eprosima::fastdds::dds::TypeSupport scale_type_;


    // ── 新增：等待重量用的状态变量 ──
    float stable_weight_ = 0.0f;
    bool has_weight_ = false;
    float default_weight_ = 0.0f;     // 默认重量（当没有稳定重量时使用）



    // ── InfraredUpdate 订阅者 ──
    eprosima::fastdds::dds::Subscriber* infrared_subscriber_;
    eprosima::fastdds::dds::Topic*        infrared_topic_;
    eprosima::fastdds::dds::DataReader*   infrared_reader_;
    eprosima::fastdds::dds::TypeSupport   infrared_type_;

    // ── 最新红外状态缓存 ──
    bool front_blocked_ = false;   // 前红外当前是否被遮挡
    bool back_blocked_  = false;   // 后红外当前是否被遮挡
    std::mutex infrared_mtx_;


    // ── 用于在 on_data_available 里区分 reader 的 topic ──   ← 新增
    std::mutex reader_topic_mtx_;
    std::string scale_topic_name_;
    std::string infrared_topic_name_;


    bool write_test_done_ = false;       // 写卡测试是否完成
    bool write_test_started_ = false;    // 是否已经开始写卡测试

    bool write_read_pending_ = false;  // 写入完成后，等待再次刷卡验证的标志


    // 新增：保留历史重量帧（跨循环累积）
    std::vector<float> recentValues_;
    const size_t MAX_RECENT_FRAMES_ = 10;


    // 用于 SummaryUpdate 发布
    bool summary_pending_;
    std::string pending_card_id_;
    std::mutex summary_mtx_;
    std::condition_variable summary_cv_;

};

#endif // FAST_DDS_GENERATED__PUBLISHERAPP_HPP