// 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"


// // 【新增】红外对射状态打印函数
// #include <iostream>
// void print_infrared_status()
// {
//     while (!DdsMsgData::stop_flag_)
//     {
//         {
//             std::lock_guard<std::mutex> lock(DdsMsgData::infrared_mtx_);
//             std::cout << "[红外对射状态] Front: "
//                       << DdsMsgData::latest_infrared_.FrontResistanceSignal()
//                       << " Back: "
//                       << DdsMsgData::latest_infrared_.BackResistanceSignal()
//                       << std::endl;
//         }
//         std::this_thread::sleep_for(std::chrono::seconds(2));
//     }
// }


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_LIC       1
#define WEIGH_STABLE1   2
//#define WEIGH_STABLE2   3
//#define WEIGH_SEND      4
//#define WEIGH_PRINT     5
//#define WEIGH_ERROR     6
#define WEIGH_LEAVE     3
#define WEIGH_STABLE_WAIT 4

void PublisherApp::run()
{
    std::string license_no;
    float stable_weight = 0;
    float stable_weight1 = 0;
    //float stable_weight2 = 0;
    int weigh_state = WEIGH_IDLE;
    std::chrono::steady_clock::time_point stable_start_time;
    bool stable_timer_running = false;  // 稳定计时是否在跑
    float stable_weight_at_wait = 0;  // 记录进入WEIGH_STABLE_WAIT时的稳定重量

    // 【新增】启动红外对射状态打印线程
    //std::thread infrared_thread(print_infrared_status);

    while (!is_stopped())
    {
        // 【调试】每 20 帧打印一次状态机关键变量
        static int dbg_cnt = 0;
        if (++dbg_cnt % 20 == 0)
        {
            DEBUG("[HEARTBEAT] state=" << weigh_state
                                       << " lic=[" << license_no << "]"
                                       << " sw=" << stable_weight
                                       << " sw1=" << stable_weight1
                                       << " tr=" << stable_timer_running);
        }

        std::unique_lock<std::mutex> dds_lock(DdsMsgData::queue_cv_mtx_, std::try_to_lock);
        if (dds_lock.owns_lock())
        {
            if (!DdsMsgData::LicenseSnapUpdate_queue_.empty())
            {
                WeighingSystem::LicenseSnapUpdate info = std::move(DdsMsgData::LicenseSnapUpdate_queue_.front());
                DdsMsgData::LicenseSnapUpdate_queue_.pop();
                dds_lock.unlock();

               DEBUG("车牌: " << info.License());
               DEBUG("类型: " << info.NewTag());

                //if (license_no.empty() == true)
                if (true)  // 收到车牌识别就触发，不做条件判断
                {
                    license_no = info.License();
                    weigh_state = WEIGH_LIC;
                    // 识别到车牌，抬起前拦车器
                    std::map<std::string, std::string> ctrl;
                    ctrl["FrontBar"] = "up";
                    bar_ctrl(ctrl);
                }
            }
            else if (!DdsMsgData::ScaleInfo_queue_.empty())
            {
                WeighingSystem::ScaleInfo info = std::move(DdsMsgData::ScaleInfo_queue_.front());
                DdsMsgData::ScaleInfo_queue_.pop();
                dds_lock.unlock();

               DEBUG("有车: " << info.HasVehicle());
               DEBUG("稳定: " << info.WeightOK());
               DEBUG("设备状态: " << info.State());
               DEBUG("实时重量: " << info.Value());
               DEBUG("稳定重量: " << info.StableValue());

                if (info.WeightOK() == true)
                {
                    stable_weight = info.StableValue();
                }
                // else
                // {
                //     stable_weight = 0;
                // }

                // if (info.HasVehicle() == 0)
                // {
                //     license_no.clear();
                //     if (weigh_state == WEIGH_LEAVE)
                //     {
                //         std::this_thread::sleep_for(std::chrono::seconds(5));
                //         std::map<std::string, std::string> ctrl;
                //         ctrl["FrontBar"] = "down";
                //         bar_ctrl(ctrl);
                //         weigh_state = WEIGH_IDLE;
                //     }
                // }

                if (info.HasVehicle() == 0)
                {
                    // else if (license_no.empty() != true)
                    // {
                    //     license_no.clear();
                    // }
                }

            }
            else if (!DdsMsgData::BarUpdate_queue_.empty())
            {
                WeighingSystem::BarUpdate info = std::move(DdsMsgData::BarUpdate_queue_.front());
                DdsMsgData::BarUpdate_queue_.pop();
                dds_lock.unlock();

               DEBUG("前拦车器状态: " << info.FrontBarState());
               DEBUG("后拦车器状态: " << info.BackBarState());
            }
            else if (!DdsMsgData::LightsUpdate_queue_.empty())
            {
                WeighingSystem::LightsUpdate info = std::move(DdsMsgData::LightsUpdate_queue_.front());
                DdsMsgData::LightsUpdate_queue_.pop();
                dds_lock.unlock();

               DEBUG("前红绿灯状态: " << info.FrontLEDState());
               DEBUG("后红绿灯状态: " << info.BackLEDState());
            }
            else if (!DdsMsgData::InfraredUpdate_queue_.empty())
            {
                WeighingSystem::InfraredUpdate info = std::move(DdsMsgData::InfraredUpdate_queue_.front());
                DdsMsgData::InfraredUpdate_queue_.pop();
                dds_lock.unlock();

               DEBUG("前红外对射状态: " << info.FrontResistanceSignal());
               DEBUG("后红外对射状态: " << info.BackResistanceSignal());
            }
            else if (!DdsMsgData::WeightInfoOk_queue_.empty())
            {
                WeighingSystem::WeightInfoOk info = std::move(DdsMsgData::WeightInfoOk_queue_.front());
                DdsMsgData::WeightInfoOk_queue_.pop();
                dds_lock.unlock();

                auto formatFloat = [](float value) -> std::string
                {
                    std::ostringstream oss;
                    oss << std::fixed << std::setprecision(2) << value;
                    return oss.str();
                };

                DEBUG("==== WeightInfoOk 接收 ====");
                DEBUG("  IsPrintTicker    = " << info.IsPrintTicker());
                DEBUG("  GrossDeviceID    = " << info.GrossDeviceID());
                DEBUG("  GrossDeviceName  = " << info.GrossDeviceName());
                DEBUG("  TareDeviceID     = " << info.TareDeviceID());
                DEBUG("  TareDeviceName   = " << info.TareDeviceName());
                DEBUG("  EnterpriseName   = " << info.EnterpriseName());
                DEBUG("  BillNumber       = " << info.BillNumber());
                DEBUG("  CarNumber        = " << info.CarNumber());
                DEBUG("  Supplier         = " << info.Supplier());
                DEBUG("  GoodsType        = " << info.GoodsType());
                DEBUG("  GrossWeight      = " << info.GrossWeight());
                DEBUG("  GrossTime        = " << info.GrossTime());
                DEBUG("  GrossOperater    = " << info.GrossOperater());
                DEBUG("  Tare             = " << info.Tare());
                DEBUG("  TareTime         = " << info.TareTime());
                DEBUG("  TareOperater     = " << info.TareOperater());
                DEBUG("  Suttle           = " << info.Suttle());
                DEBUG("  duduction1       = " << info.duduction1());
                DEBUG("  duduction2       = " << info.duduction2());
                DEBUG("  duduction3       = " << info.duduction3());
                DEBUG("  INCoalYard       = " << info.INCoalYard());
                DEBUG("  OutCoalYard      = " << info.OutCoalYard());
                DEBUG("  BatchNumber      = " << info.BatchNumber());
                DEBUG("  Warning          = " << info.Warning());
                DEBUG("  Tips             = " << info.Tips());
                DEBUG("  TicketType       = " << info.TicketType());
                DEBUG("============================");

                if (info.IsPrintTicker() == true)
                {
                    std::map<std::string, std::string> print_msg;
                    
                    print_msg["Title"] = "贵州渝黔锰业有限公司提货单";
                    print_msg["GrossDeviceID"] = std::to_string(info.GrossDeviceID());
                    print_msg["GrossDeviceName"] = info.GrossDeviceName();
                    print_msg["TareDeviceID"] = std::to_string(info.TareDeviceID());
                    print_msg["TareDeviceName"] = info.TareDeviceName();
                    print_msg["TitleCorp"] = info.EnterpriseName();
                    print_msg["CoalNumber"] = info.BillNumber();
                    print_msg["CarNumber"] = info.CarNumber();
                    print_msg["Supplier"] = info.Supplier();
                    print_msg["GoodsType"] = info.GoodsType();
                    print_msg["GrossWeight"] = formatFloat(info.GrossWeight());
                    print_msg["GrossTime"] = info.GrossTime();
                    print_msg["GrossOperater"] = info.GrossOperater();
                    print_msg["TareWeight"] = formatFloat(info.Tare());
                    print_msg["TareTime"] = info.TareTime();
                    print_msg["TareOperater"] = info.TareOperater();
                    print_msg["SuttleWeight"] = formatFloat(info.Suttle());
                    print_msg["duduction1"] = formatFloat(info.duduction1());
                    print_msg["duduction2"] = formatFloat(info.duduction2());
                    print_msg["duduction3"] = formatFloat(info.duduction3());
                    print_msg["INCoalYard"] = info.INCoalYard();
                    print_msg["OUTCoalYard"] = info.OutCoalYard();
                    print_msg["BatchNumber"] = info.BatchNumber();
                    print_msg["Warning"] = info.Warning();
                    print_msg["Tips"] = info.Tips();
                    print_msg["TicketType"] = info.TicketType();

                    print_msg["OrderNumber"] = info.OrderNumber();
                    print_msg["TrainNumber"] = info.VehicleAndVesselNumber();
                    print_msg["Customer"] = info.ReceiveCompany();
                    print_msg["Transporter"] = info.TransportCompany();


                    print_receipt(print_msg);
                    std::this_thread::sleep_for(std::chrono::seconds(1));
                }
                weigh_state = WEIGH_LEAVE;
                std::map<std::string, std::string> ctrl;
                ctrl["FrontBar"] = "up";
                bar_ctrl(ctrl);
            }
            // else if (!DdsMsgData::WeightInfoError_queue_.empty())
            // {
            //     WeighingSystem::WeightInfoError info = std::move(DdsMsgData::WeightInfoError_queue_.front());
            //     DdsMsgData::WeightInfoError_queue_.pop();
            //     dds_lock.unlock();

            //     weigh_state = WEIGH_ERROR;
            // }
            else
            {
                dds_lock.unlock();
            }
        }

        // logic
        // switch (weigh_state)
        // {
        //     case WEIGH_IDLE:
        //         break;
        //     case WEIGH_LIC:
        //         if ((stable_weight != 0) && (license_no.empty() != true))
        //         {
        //             DEBUG("stable_weight1 " << stable_weight);
        //             DEBUG("license_no " << license_no);
        //             stable_weight1 = stable_weight;
        //             weigh_state = WEIGH_STABLE1;
        //         }
        //         break;
        //     case WEIGH_STABLE1:
        //         if (stable_weight == 0)
        //         {
        //             DEBUG("weigh1 clear");
        //             weigh_state = WEIGH_STABLE2;
        //         }
        //         break;
        //     case WEIGH_STABLE2:
        //         if ((stable_weight != 0) && (license_no.empty() != true))
        //         {
        //             DEBUG("license_no " << license_no);
        //             DEBUG("stable_weight2 " << stable_weight);
        //             stable_weight2 = stable_weight;
        //             if ((stable_weight1 - stable_weight2) > 45)
        //             {
        //                 weigh_state = WEIGH_SEND;
        //             }
        //             else
        //             {
        //                 DEBUG("stable_weight2 error");
        //                 stable_weight1 = stable_weight;
        //                 weigh_state = WEIGH_STABLE1;
        //             }
        //         }
        //         break;
        //     case WEIGH_SEND:
        //         DEBUG("send summary");
        //         {
        //             WeighingSystem::SummaryUpdate info;
        //             info.License() = license_no;
        //             info.StableValue() = stable_weight2;
        //             summary_writer_->write(&info);
        //         }
        //         weigh_state = WEIGH_PRINT;
        //         break;
        //     case WEIGH_PRINT:
        //         break;
        //     case WEIGH_ERROR:
        //         std::this_thread::sleep_for(std::chrono::seconds(3));
        //         weigh_state = WEIGH_STABLE2;
        //         break;
        //     case WEIGH_LEAVE:
        //         break;
        //     default:
        //         weigh_state = WEIGH_IDLE;
        //         break;
        // }
        switch (weigh_state)
        {
        case WEIGH_IDLE:
            break;
        case WEIGH_LIC:
            DEBUG("[STATE] WEIGH_LIC sw=" << stable_weight << " lic=[" << license_no << "]");
            if ((stable_weight != 0) && (license_no.empty() != true))
            {
                DEBUG("stable_weight1 " << stable_weight);
                DEBUG("license_no " << license_no);
                stable_weight1 = stable_weight;
                weigh_state = WEIGH_STABLE1;
            }
            break;
        case WEIGH_STABLE1:
            if (stable_weight == 0)
            {
                DEBUG("weigh1 clear, wait for card...");
                // 重量归零，重置计时器
                stable_timer_running = false;
            }
            else
            {
                // 读取前红外对射状态
                long front_ir = 0;
                {
                    std::lock_guard<std::mutex> lock(DdsMsgData::infrared_mtx_);
                    front_ir = DdsMsgData::latest_infrared_.FrontResistanceSignal();
                }
        
                if (front_ir != 0)            // 红外被遮挡(==1)，关闭计时器
                {
                    stable_timer_running = false;
                    DEBUG("Front infrared blocked (sig=" << front_ir
                                                        << "), timer closed.");
                }
                else                          // 红外无遮挡(==0)，启动/继续计时
                {
                    if (!stable_timer_running)
                    {
                        stable_start_time = std::chrono::steady_clock::now();
                        stable_timer_running = true;
                        DEBUG("Infrared clear, starting 10s timer...");
                    }
                    auto now = std::chrono::steady_clock::now();
                    auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(now - stable_start_time).count();
                }
            }
            break;
        case WEIGH_STABLE_WAIT:
            // 第一次进入时记录当前重量为基准
            if (stable_weight_at_wait == 0)
            {
                stable_weight_at_wait = stable_weight;
            }
            // 等待司机下车刷卡，通过重量变化 > 30KG 检测司机下车
            if (stable_weight > 0 && stable_weight_at_wait > 0)
            {
                float weight_diff = std::abs(stable_weight - stable_weight_at_wait);
                if (weight_diff > 30)
                {
                    DEBUG("Weight changed by " << weight_diff << " kg, driver may have left, waiting for card...");
                    stable_weight_at_wait = stable_weight;  // 更新基准重量
                }
            }
            else if (stable_weight == 0)
            {
                DEBUG("Scale is empty, waiting for card...");
                stable_weight_at_wait = 0;
            }
            break;
        case WEIGH_LEAVE:
            break;
        default:
            weigh_state = WEIGH_IDLE;
            break;
        }



        // Wait for period or stop event
        std::unique_lock<std::mutex> period_lock(mutex_);
        cv_.wait_for(period_lock, std::chrono::milliseconds(period_ms_), [this]()
                {
                    return is_stopped();
                });
    }

    // // 【新增】停止红外打印线程
    // DdsMsgData::stop_flag_ = true;
    // infrared_thread.join();

}


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();
}