#include <csignal>
#include <cstring>
#include <functional>
#include <iostream>
#include <stdexcept>
#include <thread>

#include <fastdds/dds/log/Log.hpp>

#include "Subscriber.hpp"
#include "Publisher.hpp"
#include "SerialMsgHandler.hpp"
#include "msg.hpp"
#include "DEBUG.hpp"

using eprosima::fastdds::dds::Log;

std::function<void(int)> stop_handler;
void signal_handler(
        int signum)
{
    stop_handler(signum);
}

std::string parse_signal(
        const int& signum)
{
    switch (signum)
    {
        case SIGINT:
            return "SIGINT";
        case SIGTERM:
            return "SIGTERM";
#ifndef _WIN32
        case SIGQUIT:
            return "SIGQUIT";
        case SIGHUP:
            return "SIGHUP";
#endif // _WIN32
        default:
            return "UNKNOWN SIGNAL";
    }
}

std::queue<WeighingSystem::ReadCardReq> MsgData::ReadCardReq_queue_;
std::mutex MsgData::queue_cv_mtx_;

std::queue<WeighingSystem::ScaleInfo> MsgData::ScaleInfo_queue_;
std::queue<WeighingSystem::InfraredUpdate> MsgData::InfraredUpdate_queue_;

std::mutex MsgData::infrared_mtx_;
bool MsgData::front_blocked_ = false;
bool MsgData::back_blocked_  = false;
bool MsgData::infrared_ready_ = false;

int main(int argc, char** argv)
{
    auto ret = EXIT_SUCCESS;
    std::shared_ptr<SubscriberApp> sub;
    std::shared_ptr<PublisherApp> pub;
    std::shared_ptr<MsgHandler> dev;

    int domain_id = 0;
    const char* interface = "serial";
    const char* port = "ttyS1";
    const char* baudrate = "9600";
    const char* device = "RC522";



    // std::map<uint8_t, std::vector<uint8_t>> password = {
    //                                                     {0,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},  // AUSEFT
    //                                                     {1,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {2,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {3,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {4,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {5,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {6,  {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     {10, {0x41, 0x55, 0x53, 0x45, 0x46, 0x54}},
    //                                                     };

    std::map<uint8_t, std::vector<uint8_t>> password = {
                                                        {0,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},  // B7ML5F
                                                        {1,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        {2,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        {3,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        {4,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        {5,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        //{6,  {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        {6,  {0xB1, 0x0A, 0x23, 0xD1, 0x8F, 0x20}},  // B10A23D18F20
                                                        {10, {0x42, 0x37, 0x4D, 0x4C, 0x35, 0x46}},
                                                        };


    for (int i = 1; i < argc; i++)
    {
        if (strcmp(argv[i], "--domain") == 0 && i + 1 < argc)
        {
            domain_id = atoi(argv[++i]);
        }
        else if (strcmp(argv[i], "--interface") == 0 && i + 1 < argc)
        {
            interface = argv[++i];
        }
        else if (strcmp(argv[i], "--port") == 0 && i + 1 < argc)
        {
            port = argv[++i];
        }
        else if (strcmp(argv[i], "--baudrate") == 0 && i + 1 < argc)
        {
            baudrate = argv[++i];
        }
        else if (strcmp(argv[i], "--device") == 0 && i + 1 < argc)
        {
            device = argv[++i];
        }
        else if (strcmp(argv[i], "--version") == 0)
        {
            std::cout << "Vesrion: " << PROGRAM_VERSION << "\n";
            return EXIT_SUCCESS;
        }
        else if (strcmp(argv[i], "--help") == 0)
        {
            std::cout << "Usage: [options]\n"
                      << "Options:\n"
                      << "  --domain        Set domain ID\n"
                      << "  --interface     Set interface (e.g., serial)\n"
                      << "  --baudrate      Set baudrate (e.g., 9600)\n"
                      << "  --port          Set port name (e.g., ttyS1)\n"
                      << "  --device        Set device name (e.g., RC522)\n"
                      << "  --version       Show software Version\n"
                      << "  --help          Show this help message\n";
            return EXIT_SUCCESS;
        }
        else
        {
            std::cerr << "Unknown option: " << argv[i] << "\n";
            std::cout << "Usage: [options]\n"
                      << "Options:\n"
                      << "  --domain        Set domain ID\n"
                      << "  --interface     Set interface (e.g., serial)\n"
                      << "  --baudrate      Set baudrate (e.g., 9600)\n"
                      << "  --port          Set port name (e.g., ttyS1)\n"
                      << "  --device        Set device name (e.g., RC522)\n"
                      << "  --version       Show software Version\n"
                      << "  --help          Show this help message\n";
            return EXIT_FAILURE;
        }
    }

    sub = std::make_shared<SubscriberApp>(domain_id);
    pub = std::make_shared<PublisherApp>(domain_id);
    dev = std::make_shared<SerialMsgHandler>();

    dev->OpenPort(port, baudrate);
    dev->SetDevice(device);
    dev->StorePasswd(password);

    // ========== 新增：保存端口名，供 SkipCurrentBlock 使用 ==========
    dev->m_Port = port;

    // ========== 设置卡检测回调，触发 SummaryUpdate 发布 ==========
    dev->OnCardDetected = [pub](const std::string& cardId) {
        pub->PublishSummaryUpdate(cardId, 0.0f);  // StableValue 暂时用 0.0f，后续从称重系统获取
    };

    if (!dev->InitSequence())
    {
        DEBUG("Device initialization failed, exiting.");
        return EXIT_FAILURE;
    }

    std::thread sub_thread(&SubscriberApp::run, sub, dev);
    std::thread pub_thread(&PublisherApp::run, pub, dev);

    DEBUG("Program is running. Please press Ctrl+C to stop at any time.");

    stop_handler = [&](int signum)
            {
                std::cout << "\n" << parse_signal(signum) << " received, stopping execution." << std::endl;
                sub->stop();
                pub->stop();
            };

    signal(SIGINT, signal_handler);
    signal(SIGTERM, signal_handler);
#ifndef _WIN32
    signal(SIGQUIT, signal_handler);
    signal(SIGHUP, signal_handler);
#endif // _WIN32

    sub_thread.join();
    pub_thread.join();

    Log::Reset();
    return ret;
}