Weight/readcard/MsgHandler.cxx

#include <iostream>
#include <iomanip>
#include <algorithm>
#include <cerrno>
#include <unistd.h>
#include <sys/ioctl.h>
#include <termios.h>
#include <sstream>

#include "MsgHandler.hpp"
#include "DEBUG.hpp"
#include "../common/SerialMsgHandler.hpp"

#include <thread> 
#include <fcntl.h>

#define BEEP_CARD   1
#define FIND_CARD   2
#define SET_PWD     3
#define READ_CARD   4
#define WRITE_CARD  5
#define STOP_CARD   8
#define WRITE_BLOCK_ID  0x04   // 写数据的块号

namespace
{
const char* PendingCommandName(PendingCommand command)
{
    switch (command)
    {
    case PendingCommand::Find: return "FIND";
    case PendingCommand::SetPassword: return "SET_PASSWORD";
    case PendingCommand::ReadBlock: return "READ_BLOCK";
    case PendingCommand::WriteBlock: return "WRITE_BLOCK";
    case PendingCommand::Stop: return "STOP";
    case PendingCommand::Beep: return "BEEP";
    default: return "NONE";
    }
}

uint16_t MapDeviceError(uint8_t command, uint8_t status)
{
    if (status == 0) return 0;
    if (status == 0x0B) return 0x0012; // authentication failure
    if (status == 0x0C) return command == READ_CARD ? 0x0013 : 0x0014;
    if (status == 0x0A) return 0x001A; // invalid block
    return command == WRITE_CARD ? 0x0014 : 0x0013;
}
std::string CardStateName(CardState state)
{
    switch (state)
    {
    case CardState::AUTO_FIND: return "AUTO_FIND";
    case CardState::WAIT_DDS_READ: return "WAIT_DDS_READ";
    case CardState::WAIT_DDS_WRITE: return "WAIT_DDS_WRITE";
    case CardState::WAIT_DDS_DECISION: return "WAIT_DDS_DECISION";
    case CardState::WAIT_DDS_WRITE_NEXT: return "WAIT_DDS_WRITE_NEXT";
    }
    return "UNKNOWN";
}

std::string HexBytes(const std::vector<uint8_t>& bytes)
{
    std::ostringstream out;
    out << std::hex << std::uppercase << std::setfill('0');
    for (uint8_t byte : bytes)
    {
        out << std::setw(2) << static_cast<int>(byte) << ' ';
    }
    return out.str();
}
}

MsgHandler::MsgHandler() : fd(-1), m_CardState(CardState::AUTO_FIND),
    m_CurrentIndex(0),
    m_ResultCode(0), m_BlockCount(0),
    m_BlockOpStartTime(std::chrono::steady_clock::now()),
    m_CurrentOperatingBlock(0),
    m_PendingReadResponse(std::vector<uint8_t>()),
    OnCardDetected(nullptr) 
{

}

bool MsgHandler::OpenPort(const std::string& port, const std::string& baudrate)
{
    return true;
}

void MsgHandler::ClosePort()
{
    if (fd != -1)
    {
        close(fd);
        fd = -1;
    }
}

bool MsgHandler::SetDevice(const std::string& device)
{
    this->device = device;
    return true;
}

int MsgHandler::SendDeviceMsg(const std::vector<uint8_t>& data)
{
    DEBUG("SERIAL TX device=" << this->device << " size=" << data.size()
          << " bytes=" << HexBytes(data));

    int bytesWritten = SendMsg(data);
    DEBUG("SERIAL TX result=" << bytesWritten << "/" << data.size());
    return bytesWritten;
}

int MsgHandler::RecvDeviceMsg(std::vector<uint8_t>& data, int timeoutMs)
{
    int bytesRead = RecvMsg(data, timeoutMs);

    if (bytesRead > 0)
    {
        DEBUG("SERIAL RX device=" << this->device << " size=" << data.size()
              << " bytes=" << HexBytes(data));
    }
    return bytesRead;
}

int MsgHandler::SendMsg(const std::vector<uint8_t>& data)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);

    if (fd == -1)
    {
        perror("设备未打开");
        return -1;
    }

    size_t totalWritten = 0;
    while (totalWritten < data.size())
    {
        const ssize_t written = write(fd, data.data() + totalWritten,
                data.size() - totalWritten);
        if (written < 0)
        {
            perror("发送数据失败");
            return -1;
        }
        if (written == 0)
        {
            break;
        }
        totalWritten += static_cast<size_t>(written);
    }

    return static_cast<int>(totalWritten);
}

int MsgHandler::RecvMsg(std::vector<uint8_t>& data, int timeoutMs)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);

    if (fd == -1)
    {
        perror("设备未打开\n");
        return -1;
    }

    const auto deadline = std::chrono::steady_clock::now()
            + std::chrono::milliseconds(std::max(0, timeoutMs));

    while (true)
    {
        if (TryExtractDeviceFrame(data))
        {
            return static_cast<int>(data.size());
        }

        const auto remaining = std::chrono::duration_cast<std::chrono::milliseconds>(
                deadline - std::chrono::steady_clock::now()).count();
        if (remaining <= 0)
        {
            // 兼容现场设备短读帧：只要块号和 16 字节数据已经到齐，
            // 即 LEN + header + block + data 至少 21 字节，就交给读卡解析。
            if (m_ReceiveBuffer.size() >= 21U
                    && m_ReceiveBuffer[1] == 0x01U
                    && m_ReceiveBuffer[2] == READ_CARD
                    && m_ReceiveBuffer[3] == 0x00U)
            {
                data = m_ReceiveBuffer;
                m_ReceiveBuffer.clear();
                DEBUG("SERIAL RX short READ_BLOCK frame accepted for data extraction, size="
                      << data.size() << " bytes=" << HexBytes(data));
                return static_cast<int>(data.size());
            }
            // 兼容现场设备偶发的写应答短帧：
            // 05 01 05 status crc_hi（缺少最后一个 CRC 字节）。
            // 只放行固定 5 字节写应答，ParseDeviceMsg 仍会检查 status。
            if (ALLOW_SHORT_WRITE_ACK
                    && m_ReceiveBuffer.size() == 5U
                    && m_ReceiveBuffer[0] == 0x05U
                    && m_ReceiveBuffer[1] == 0x01U
                    && m_ReceiveBuffer[2] == WRITE_CARD)
            {
                data = m_ReceiveBuffer;
                m_ReceiveBuffer.clear();
                DEBUG("SERIAL RX short WRITE_BLOCK ACK accepted without final CRC byte, size="
                      << data.size() << " bytes=" << HexBytes(data));
                return static_cast<int>(data.size());
            }
            if (!m_ReceiveBuffer.empty())
            {
                const std::string incomplete = HexBytes(m_ReceiveBuffer);
                const size_t bufferedSize = m_ReceiveBuffer.size();
                m_ReceiveBuffer.clear();
                DEBUG("SERIAL RX incomplete frame timeout buffered="
                      << bufferedSize << " bytes=" << incomplete);


                // 【新增】AUTO_FIND 下收不满一帧超时 → 直接触发重置
                if (m_CardState == CardState::AUTO_FIND)
                {
                    DEBUG("AUTO_FIND: incomplete frame timeout — scheduling ResetSerialAndReinit");
                    m_AutoFindNeedsReset = true;
                }


                bool retried = false;
                if (m_PendingCommand == PendingCommand::WriteBlock)
                {
                    DEBUG("Write incomplete frame, reverting to AUTO_FIND without retry");
                    m_BlockOperationPending = false;
                    m_PendingCommand = PendingCommand::None;
                    m_AutoFindNeedsReset = true;
                    m_AutoFind = true;
                    m_FindIntervalMs = 5000;
                    m_LastFindTime = std::chrono::steady_clock::now()
                            - std::chrono::milliseconds(m_FindIntervalMs);
                    SetCardState(CardState::AUTO_FIND);
                    if (fd != -1)
                        tcflush(fd, TCIFLUSH);
                }
                else
                {
                    // ★ 移除重试：读卡失败直接回 AUTO_FIND
                    DEBUG("Read incomplete frame, reverting to AUTO_FIND");
                    m_BlockOperationPending = false;
                    m_PendingCommand = PendingCommand::None;
                    m_AutoFindNeedsReset = true;
                    m_AutoFind = true;
                    m_FindIntervalMs = 5000;
                    m_LastFindTime = std::chrono::steady_clock::now()
                            - std::chrono::milliseconds(m_FindIntervalMs);
                    SetCardState(CardState::AUTO_FIND);
                    if (fd != -1)
                        tcflush(fd, TCIFLUSH);
                }





            }
            return 0;
        }

        fd_set readfds;
        struct timeval tv;
        FD_ZERO(&readfds);
        FD_SET(fd, &readfds);
        tv.tv_sec = static_cast<long>(remaining / 1000);
        tv.tv_usec = static_cast<long>((remaining % 1000) * 1000);

        const int ret = select(fd + 1, &readfds, nullptr, nullptr, &tv);
        if (ret < 0)
        {
            if (errno == EINTR)
            {
                continue;
            }
            perror("select错误");
            return -1;
        }
        if (ret == 0)
        {
            continue;
        }

        int available = 0;
        if (ioctl(fd, FIONREAD, &available) < 0)
        {
            perror("ioctl FIONREAD失败");
            return -1;
        }
        if (available <= 0)
        {
            continue;
        }

        std::vector<uint8_t> received(static_cast<size_t>(available));
        const ssize_t bytesRead = read(fd, received.data(), received.size());
        if (bytesRead < 0)
        {
            if (errno == EINTR)
            {
                continue;
            }
            perror("读取数据失败");
            return -1;
        }
        if (bytesRead == 0)
        {
            continue;
        }

        received.resize(static_cast<size_t>(bytesRead));
        const auto rx_ms = std::chrono::duration_cast<std::chrono::milliseconds>(
                std::chrono::steady_clock::now().time_since_epoch()).count();
        DEBUG("SERIAL RX RAW t_ms=" << rx_ms << " available=" << available
              << " read=" << bytesRead << " buffered_before=" << m_ReceiveBuffer.size()
              << " bytes=" << HexBytes(received));

        m_ReceiveBuffer.insert(m_ReceiveBuffer.end(), received.begin(), received.end());
    }
}

bool MsgHandler::TryExtractDeviceFrame(std::vector<uint8_t>& data)
{
    data.clear();

    while (!m_ReceiveBuffer.empty())
    {
        const size_t expectedSize = static_cast<size_t>(m_ReceiveBuffer.front()) + 1U;
        if (expectedSize < 6U || expectedSize > 256U)
        {
            DEBUG("Discarding invalid device frame length="
                    << static_cast<int>(m_ReceiveBuffer.front()));
            m_ReceiveBuffer.erase(m_ReceiveBuffer.begin());
            continue;
        }

        if (m_ReceiveBuffer.size() < expectedSize)
        {
            return false;
        }

        std::vector<uint8_t> frame(m_ReceiveBuffer.begin(),
                m_ReceiveBuffer.begin() + expectedSize);
        m_ReceiveBuffer.erase(m_ReceiveBuffer.begin(),
                m_ReceiveBuffer.begin() + expectedSize);

        if (!IsValidDeviceFrame(frame))
        {
            DEBUG("Discarding invalid device frame, length=" << frame.size()
                  << " bytes=" << HexBytes(frame));
            // ★ 移除重试：CRC 校验失败直接回 AUTO_FIND（与写卡 incomplete frame 处理一致）
            if (frame.size() >= 4U
                    && frame[1] == 0x01U
                    && frame[2] == READ_CARD
                    && m_PendingCommand == PendingCommand::ReadBlock)
            {
                DEBUG("ReadCard CRC validation failure, reverting to AUTO_FIND");
                m_BlockOperationPending = false;
                m_PendingCommand = PendingCommand::None;
                m_AutoFindNeedsReset = true;
                m_AutoFind = true;
                m_FindIntervalMs = 5000;
                m_LastFindTime = std::chrono::steady_clock::now()
                        - std::chrono::milliseconds(m_FindIntervalMs);
                SetCardState(CardState::AUTO_FIND);
                if (fd != -1)
                    tcflush(fd, TCIFLUSH);
                return false;
            }

            // 【新增】AUTO_FIND 状态下任意一帧 CRC/length 失败 → 直接触发重置
            if (m_CardState == CardState::AUTO_FIND)
            {
                DEBUG("AUTO_FIND: frame validation failure — scheduling ResetSerialAndReinit");
                m_AutoFindNeedsReset = true;
            }


            continue;
        }

        data = std::move(frame);

        m_AutoFindNeedsReset = false;   // 【新增】成功后清除重置标志

        return true;
    }

    return false;
}

bool MsgHandler::RetryCurrentReadBlock(const char* reason)
{
    if (m_PendingCommand != PendingCommand::ReadBlock
            || !m_BlockOperationPending
            || m_ReadBlockRetryCount >= READ_BLOCK_MAX_RETRIES)
    {
        DEBUG("Read block retry unavailable: reason=" << reason
              << " attempts=" << static_cast<int>(m_ReadBlockRetryCount)
              << " max=" << static_cast<int>(READ_BLOCK_MAX_RETRIES));
        return false;
    }

    const uint8_t block = m_PendingBlock;
    ++m_ReadBlockRetryCount;
    DEBUG("Retrying read block=" << static_cast<int>(block)
          << " attempt=" << static_cast<int>(m_ReadBlockRetryCount)
          << "/" << static_cast<int>(READ_BLOCK_MAX_RETRIES)
          << " reason=" << reason);

    std::this_thread::sleep_for(std::chrono::milliseconds(READ_BLOCK_RETRY_DELAY_MS));
    m_ReceiveBuffer.clear();
    if (fd != -1)
    {
        tcflush(fd, TCIFLUSH);
    }
    DEBUG("Read block retry buffer cleared, block=" << static_cast<int>(block));
    ReadCard({block});
    return true;
}

// ========== 新增：写卡失败重试 ==========
bool MsgHandler::RetryCurrentWriteBlock(const char* reason)
{
    if (m_PendingCommand != PendingCommand::WriteBlock
            || !m_BlockOperationPending
            || m_WriteBlockRetryCount >= WRITE_BLOCK_MAX_RETRIES)
    {
        DEBUG("Write block retry unavailable: reason=" << reason
              << " attempts=" << static_cast<int>(m_WriteBlockRetryCount)
              << " max=" << static_cast<int>(WRITE_BLOCK_MAX_RETRIES));
        return false;
    }

    const uint8_t block = m_PendingWriteBlock;

    ++m_WriteBlockRetryCount;
    DEBUG("Retrying write block=" << static_cast<int>(block)
          << " attempt=" << static_cast<int>(m_WriteBlockRetryCount)
          << "/" << static_cast<int>(WRITE_BLOCK_MAX_RETRIES)
          << " reason=" << reason);

    std::this_thread::sleep_for(std::chrono::milliseconds(WRITE_BLOCK_RETRY_DELAY_MS));
    m_ReceiveBuffer.clear();
    if (fd != -1)
    {
        tcflush(fd, TCIFLUSH);
    }

    
    // ★ 用保存的 block + value 重新构造数据帧并发送
    std::vector<uint8_t> data;
    data.push_back(m_PendingWriteBlock);
    data.insert(data.end(), m_PendingWriteValue.begin(), m_PendingWriteValue.end());
    WriteCard(data);
    return true;
}



bool MsgHandler::HasActiveDeviceOperation() const
{
    return m_PendingCommand != PendingCommand::None || m_BlockOperationPending;
}

int MsgHandler::HandleFindResponse(const std::vector<uint8_t>& data,
        WeighingSystem::ReadCardRsp& rsp)
{
    m_PendingCommand = PendingCommand::None;

    // ========== 新增：WAIT_DDS_READ 期间的 RF 喂送响应：不修改状态 ==========
    if (m_CardState == CardState::WAIT_DDS_READ)
    {
        DEBUG("RF-feed FIND response ignored (card already selected, cardId=" << m_CardId << ")");
        return 0;
    }

    if (data[3] != 0)
    {
        m_AutoFind = true;
        m_FindIntervalMs = 500;
        m_LastFindTime = std::chrono::steady_clock::now();
        SetCardState(CardState::AUTO_FIND);
        rsp.msg()["find"].push_back(data[3]);
        return 1;
    }
    if (data.size() < 10U)
    {
        DEBUG("FindCard success frame too short, size=" << data.size());
        m_AutoFind = true;
        m_FindIntervalMs = 500;
        m_LastFindTime = std::chrono::steady_clock::now();
        SetCardState(CardState::AUTO_FIND);
        m_AutoFindNeedsReset = true;
        return 0;
    }

    const uint32_t cardIdValue = (data[4] << 24) | (data[5] << 16)
            | (data[6] << 8) | data[7];
    std::stringstream ss;
    ss << std::hex << std::uppercase << std::setw(8) << std::setfill('0') << cardIdValue;
    m_CardId = ss.str();
    m_AutoFind = true;                // ★ 改成 true，让 AutoFindTick 在等重量时继续喂 RF
    m_FindIntervalMs = 2000;          // ★ 显式设成 5 秒间隔（用现有逻辑）
    m_LastFindTime = std::chrono::steady_clock::now();
    SetCardState(CardState::WAIT_DDS_READ);
    rsp.msg()["find"].insert(rsp.msg()["find"].end(), data.begin() + 4, data.begin() + 8);
    if (OnCardDetected)
    {
        OnCardDetected(m_CardId);
    }
    DEBUG("Card found: " << m_CardId << ", ready for DDS read or write command");
    return 1;
}

bool MsgHandler::IsValidDeviceFrame(const std::vector<uint8_t>& data)
{
    const bool shortWriteAck = ALLOW_SHORT_WRITE_ACK
            && data.size() == 5U
            && data[0] == 0x05U
            && data[1] == 0x01U
            && data[2] == WRITE_CARD;
    if (data.size() < 6U && !shortWriteAck)
    {
        return false;
    }
    const bool shortReadFrame = data.size() >= 21U
            && data[0] != static_cast<uint8_t>(data.size() - 1U)
            && data[1] == 0x01U
            && data[2] == READ_CARD
            && data[3] == 0x00U;
    if (!shortReadFrame && !shortWriteAck
            && data.size() != static_cast<size_t>(data[0]) + 1U)
    {
        return false;
    }
    if (data[1] != 0x01)
    {
        DEBUG("Invalid device fixed byte=" << std::hex << static_cast<int>(data[1]));
        return false;
    }

    if (shortWriteAck)
    {
        DEBUG("Accepting short WRITE_BLOCK ACK without final CRC byte, size="
              << data.size() << " status=0x" << std::hex << static_cast<int>(data[3]));
        return true;
    }

    if (shortReadFrame)
    {
        DEBUG("Accepting short READ_BLOCK frame without length/CRC enforcement, size="
              << data.size());
        return true;
    }
    if (!VERIFY_DEVICE_CRC)
    {
        DEBUG("CRC_BYPASS device frame accepted, size=" << std::dec << data.size()
              << " cmd=0x" << std::hex << static_cast<int>(data[2]));
        return true;
    }

    std::vector<uint8_t> crcData(data.begin(), data.end() - 2);
    CRC16(crcData);
    // 现场实帧确认：响应 CRC 与本地发送方向一致，高字节在前、低字节在后。
    const bool valid = crcData[crcData.size() - 2] == data[data.size() - 2]
            && crcData[crcData.size() - 1] == data[data.size() - 1];
    if (!valid)
    {
        DEBUG("Invalid device CRC expected(high/low)="
              << std::hex << static_cast<int>(crcData[crcData.size() - 2]) << "/"
              << static_cast<int>(crcData[crcData.size() - 1])
              << " actual(high/low)=" << static_cast<int>(data[data.size() - 2])
              << "/" << static_cast<int>(data[data.size() - 1]));
    }
    return valid;
}

bool MsgHandler::IsDataBlock(uint8_t block)
{
    return block < 64U && (block % 4U) != 3U;
}

void MsgHandler::HandleDdsMsg(const std::map<std::string, std::vector<uint8_t>>& msg, 
    unsigned long index)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    if (msg.size() != 1U)
    {
        DEBUG("Rejecting DDS command: expected exactly one msg key, actual=" << msg.size());
        return;
    }
    auto cmd = msg.begin();

    DEBUG("HandleDdsMsg: cmd=" << cmd->first << ", index=" << index);
    DEBUG("COMMAND state=" << CardStateName(m_CardState)
          << " auto_find=" << m_AutoFind << " payload_size=" << cmd->second.size());

    // ========== read 命令处理 ==========
    if (cmd->first == "read")
    {
         // 【新增】如果在恢复序列执行期间收到了新命令，说明恢复被新命令打断
        // 此时要：1）停止旧恢复，2）清空旧状态，3）开始新命令
        if (m_IsInTimeoutRecovery) {
            DEBUG("HandleDdsMsg: new read command arrived during timeout recovery, aborting old recovery");
            // 清除旧的恢复标志（让 SkipCurrentBlock 不要再发了）
            m_IsInTimeoutRecovery = false;
        }

        // 【新增】开始计时
        m_ReadStartTime = std::chrono::steady_clock::now();


         // ★ 修改：WAIT_DDS_DECISION / WAIT_DDS_WRITE_NEXT 也可以接收 read 命令
        if (m_CardState != CardState::WAIT_DDS_READ
            && m_CardState != CardState::WAIT_DDS_DECISION
            && m_CardState != CardState::WAIT_DDS_WRITE_NEXT)
        {
            DEBUG("Unexpected read command, current state=" << (int)m_CardState);
            
            if (m_CardState == CardState::AUTO_FIND)
            {
                DEBUG("read cmd during AUTO_FIND → scheduling reset");
                m_AutoFindNeedsReset = true;
            }

            return;
        }
        if (HasActiveDeviceOperation())
        {
            DEBUG("Rejecting read command: device operation is active");
            return;
        }

        // 解析 read 请求协议:
        // 版本(1) | 卡号长度(1) | 卡号ASCII | 块数量(1) | 块号列表
        const std::vector<uint8_t>& data = cmd->second;

        DEBUG("DDS raw data: size=" << data.size());
        for (size_t i = 0; i < data.size() && i < 20; i++) {
            std::cout << std::hex << std::setw(2) << std::setfill('0') 
                    << (int)data[i] << " ";
        }
        std::cout << std::endl;

        if (data.size() < 3)
        {
            DEBUG("Invalid read request, size=" << data.size());
            return;
        }

        uint8_t version = data[0];
        uint8_t cardIdLen = data[1];
        if (data.size() < static_cast<size_t>(3U + cardIdLen))
        {
            DEBUG("Invalid read request card ID length=" << static_cast<int>(cardIdLen));
            return;
        }
        std::string reqCardId(data.begin() + 2, data.begin() + 2 + cardIdLen);
        uint8_t blockCount = data[2 + cardIdLen];
        if (data.size() < static_cast<size_t>(3U + cardIdLen + blockCount))
        {
            DEBUG("Invalid read request block count=" << static_cast<int>(blockCount));
            return;
        }

        DEBUG("Read req: version=" << (int)version 
        << ", cardId=" << reqCardId 
        << ", blockCount=" << (int)blockCount);

        // 验证卡号（与检测到的卡号匹配）
        if (reqCardId != m_CardId)
        {
            DEBUG("Card ID mismatch: req=" << reqCardId << ", found=" << m_CardId);
            return;
        }

        // 清空读卡缓冲区
        ClearReadBuffer();
        m_CardId = reqCardId;

        // 保存请求的块号列表。块 4、5 是扇区 1 的数据块，不能特殊跳过。
        m_RequestedBlocks.clear();
        for (int i = 0; i < blockCount; i++)
        {
            uint8_t blockNum = data[3 + cardIdLen + i];
            if (!IsDataBlock(blockNum))
            {
                DEBUG("Rejecting sector trailer/control block " << static_cast<int>(blockNum));
                ClearReadBuffer();
                m_AutoFind = true;
                m_FindIntervalMs = 500;
                m_LastFindTime = std::chrono::steady_clock::now();
                SetCardState(CardState::AUTO_FIND);
                return;
            }
            m_RequestedBlocks.push_back(blockNum);
            DEBUG("Queuing block " << (int)blockNum << " for reading");
        }
        m_BlockCount = static_cast<uint8_t>(m_RequestedBlocks.size());

        if (m_RequestedBlocks.empty())
        {
            DEBUG("Read request contains no blocks");
            return;
        }

        // 【修改】只发送第一个读卡命令
        m_CurrentReadIndex = 0;
        m_ReadBlockRetryCount = 0;
        m_CurrentIndex = index;
        if (!m_RequestedBlocks.empty())
        {
            ReadCard({m_RequestedBlocks[0]});
            DEBUG("Sent first read command for block " << (int)m_RequestedBlocks[0]);
        }
        // 切换到等待读卡完成状态
        SetCardState(CardState::WAIT_DDS_READ);
        m_StateEnterTime = std::chrono::steady_clock::now();
        // 保存 index 以便后续使用
        m_CurrentIndex = index;
        return;
    }

    // ========== write 命令处理 ==========
    if (cmd->first == "write")
    {
        // 已寻到并验证卡号后，读和写都是独立 DDS 操作；写卡不要求先读卡。
        // ★ 修改：WAIT_DDS_DECISION / WAIT_DDS_WRITE_NEXT 也可以接收 write 命令
        if (m_CardState != CardState::WAIT_DDS_READ
            && m_CardState != CardState::WAIT_DDS_DECISION
            && m_CardState != CardState::WAIT_DDS_WRITE_NEXT)
        {
            DEBUG("Unexpected write command, current state=" << (int)m_CardState);
            
            if (m_CardState == CardState::AUTO_FIND)
            {
                DEBUG("write  cmd during AUTO_FIND → scheduling reset");
                m_AutoFindNeedsReset = true;
            }
            
            return;
        }
        if (HasActiveDeviceOperation())
        {
            DEBUG("Rejecting write command: device operation is active");
            return;
        }

        // 解析 write 请求协议:
        // 版本(1) | 卡号长度(1) | 卡号ASCII | 块号(1) | 16字节块数据
        const std::vector<uint8_t>& data = cmd->second;
        if (data.size() < 3)
        {
            DEBUG("Invalid write request, size=" << data.size());
            return;
        }

        uint8_t version = data[0];
        uint8_t cardIdLen = data[1];
        if (data.size() < static_cast<size_t>(3U + cardIdLen + 16U))
        {
            DEBUG("Invalid write request length=" << data.size()
                    << ", card ID length=" << static_cast<int>(cardIdLen));
            return;
        }
        std::string reqCardId(data.begin() + 2, data.begin() + 2 + cardIdLen);
        uint8_t blockNum = data[2 + cardIdLen];
        if (!IsDataBlock(blockNum))
        {
            DEBUG("Rejecting sector trailer/control block " << static_cast<int>(blockNum));
            m_AutoFind = true;
            m_FindIntervalMs = 500;
            m_LastFindTime = std::chrono::steady_clock::now();
            SetCardState(CardState::AUTO_FIND);
            return;
        }

        DEBUG("Write req: version=" << (int)version 
                << ", cardId=" << reqCardId 
                << ", block=" << (int)blockNum);

        // 验证卡号（先校验，校验通过再切状态）
        if (reqCardId != m_CardId)
        {
            DEBUG("Card ID mismatch: req=" << reqCardId << ", found=" << m_CardId);
            return;       // ← 此时还是 WAIT_DDS_DECISION，状态不会卡死
        }

        // 校验通过，进入"等 RC522 写卡响应"状态
        m_CurrentIndex = index;
        SetCardState(CardState::WAIT_DDS_WRITE);

        // 构造写卡数据（块号 + 16字节数据）
        std::vector<uint8_t> writeData;
        writeData.push_back(blockNum);
        writeData.insert(writeData.end(), 
            data.begin() + 3 + cardIdLen, 
            data.begin() + 3 + cardIdLen + 16);

        DEBUG("Writing block " << (int)blockNum);

        // ★ 修复：每次新 WRITE 命令入口清零（这是"新会话"的起点）
        m_WriteBlockRetryCount = 0;

        WriteCard(writeData);

        return;
    }

    // ========== 其他命令保持不变 ==========
    if (cmd->first == "find")
    {
        if (HasActiveDeviceOperation())
        {
            DEBUG("Ignoring find command while a device operation is active");
            return;
        }
        m_AutoFind = true;
        m_PreCard.clear();
        m_CardId.clear();
        SetCardState(CardState::AUTO_FIND);
        FindCard();
        m_FindIntervalMs = 5000;
        m_LastFindTime = std::chrono::steady_clock::now();
    }
    else if (cmd->first == "stop")
    {
        if (HasActiveDeviceOperation())
        {
            DEBUG("Ignoring stop command while a device operation is active");
            return;
        }
        m_AutoFind = false;
        SetCardState(CardState::AUTO_FIND);
        StopCard();
    }
    else if (cmd->first == "beep")
    {
        if (HasActiveDeviceOperation())
        {
            DEBUG("Ignoring beep command while a device operation is active");
            return;
        }
        m_AutoFind = false;
        BeepCard(cmd->second);
    }
    else if (cmd->first == "reset")
    {
        if (HasActiveDeviceOperation())
        {
            DEBUG("Ignoring reset command while a device operation is active");
            return;
        }
        m_AutoFind = false;
        SetCardState(CardState::AUTO_FIND);
        ResetCard();
    }
}


int MsgHandler::HandleDeviceMsg(WeighingSystem::ReadCardRsp& rsp)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    std::vector<uint8_t> m_RecvData;

    // ★ 新增:写操作给更长的读窗口,覆盖 RC522 auth fail 时清理 Crypto1 的延迟
    int timeout_ms = 200;
    if (m_PendingCommand == PendingCommand::WriteBlock ||
        m_PendingCommand == PendingCommand::SetPassword)
    {
        timeout_ms = 500;   // 或 800,根据 RC522 固件实测调
    }
    if (RecvDeviceMsg(m_RecvData, timeout_ms) > 0)
    {
        return (ParseDeviceMsg(m_RecvData, rsp));
    }
    return 0;
}

void MsgHandler::CRC16(std::vector<uint8_t>& data)
{
    uint8_t chCRCHi = 0xFF;
    uint8_t chCRCLo = 0xFF;

    for (size_t i = 0; i < data.size(); i++)
    {
        uint8_t wIndex = chCRCLo ^ data[i];
        chCRCLo = chCRCHi ^ chCRCHTalbe[wIndex];
        chCRCHi = chCRCLTalbe[wIndex];
    }
    // 保持当前运行环境既有 CRC 字节序：高字节在前、低字节在后。
    data.insert(data.end(), {chCRCHi, chCRCLo});
}




int MsgHandler::ParseDeviceMsg(std::vector<uint8_t>& data, WeighingSystem::ReadCardRsp& rsp)
{

    // 【新增】清理之前的响应消息，避免键累积
    rsp.msg().clear();

    // 仅接受已完整接收且通过协议校验的帧。
    if (!IsValidDeviceFrame(data))
    {
        DEBUG("ParseDeviceMsg: invalid device frame, size=" << data.size());
        return 0;
    }

    DEBUG("DEVICE FRAME seq=" << std::dec << m_OperationSequence
          << " expected=" << PendingCommandName(m_PendingCommand)
          << " cmd=0x" << std::hex << static_cast<int>(data[2])
          << " status=0x" << static_cast<int>(data[3])
          << " state=" << CardStateName(m_CardState)
          << " dds_index=" << std::dec << m_CurrentIndex
          << " pending_block=" << static_cast<int>(m_CurrentOperatingBlock)
          << " pending=" << m_BlockOperationPending);

    switch (data[2])
    {
    case BEEP_CARD:
        if (m_PendingCommand != PendingCommand::Beep) return 0;
        m_PendingCommand = PendingCommand::None;
        rsp.msg()["beep"].insert(rsp.msg()["beep"].end(), data[3]);
        break;
    case STOP_CARD:
        // if (m_PendingCommand == PendingCommand::Find)
        // {
        //     return HandleFindResponse(data, rsp);
        // }
        if (m_PendingCommand != PendingCommand::Stop) return 0;
        m_PendingCommand = PendingCommand::None;
        rsp.msg()["stop"].insert(rsp.msg()["stop"].end(), data[3]);
        break;
    case FIND_CARD:
        if (m_PendingCommand != PendingCommand::Find) return 0;
        return HandleFindResponse(data, rsp);
    case READ_CARD:
        {
            if (m_PendingCommand != PendingCommand::ReadBlock)
            {
                DEBUG("Ignoring unmatched READ_CARD response");
                return 0;
            }
            const uint8_t status = data[3];
            if (status != 0)
            {
                DEBUG("ReadCard FAIL: error code=0x" << std::hex << static_cast<int>(status));

                std::vector<uint8_t> rsp_data;
                rsp_data.push_back(1);
                const uint16_t error = MapDeviceError(READ_CARD, status);
                rsp_data.push_back(static_cast<uint8_t>(error >> 8));
                rsp_data.push_back(static_cast<uint8_t>(error & 0xFF));
                rsp_data.push_back(static_cast<uint8_t>(m_CardId.length()));
                rsp_data.insert(rsp_data.end(), m_CardId.begin(), m_CardId.end());
                rsp_data.push_back(0);

                rsp.msg()["read"] = rsp_data;
                ClearReadBuffer();
                m_CurrentOperatingBlock = 0;
                m_BlockOperationPending = false;
                m_PendingCommand = PendingCommand::None;
                // ★ 新增：读卡 NACK 也走统一的 AUTO_FIND 异常恢复流程
                m_AutoFindNeedsReset = true;
                m_AutoFind = true;
                m_FindIntervalMs = 500;
                m_LastFindTime = std::chrono::steady_clock::now();
                SetCardState(CardState::AUTO_FIND);
                return 1;
            }

            if (m_RequestedBlocks.empty() || m_CurrentReadIndex >= m_RequestedBlocks.size())
            {
                DEBUG("ReadCard success without a pending requested block");
                return 0;
            }

            const size_t payloadSize = data.size() - 6U;
            uint8_t blockNum = m_RequestedBlocks[m_CurrentReadIndex];
            std::vector<uint8_t> block16;
            if (data.size() >= 21U)
            {
                // 兼容参考驱动的固定偏移：data[4] 为块号，data[5..20] 为 16 字节数据。
                const uint8_t responseBlock = data[4];
                if (responseBlock != blockNum)
                {
                    DEBUG("ReadCard response block mismatch, expected=" << static_cast<int>(blockNum)
                            << ", actual=" << static_cast<int>(responseBlock));
                    return 0;
                }
                block16.assign(data.begin() + 5, data.begin() + 21);
            }
            else if (payloadSize == 16U)
            {
                block16.assign(data.begin() + 4, data.begin() + 20);
            }
            else if (payloadSize == 17U)
            {
                const uint8_t responseBlock = data[4];
                if (responseBlock != blockNum)
                {
                    // ★ 移除重试：块号不匹配直接回 AUTO_FIND
                    DEBUG("ReadCard response block mismatch, expected=" << static_cast<int>(blockNum)
                            << ", actual=" << static_cast<int>(responseBlock)
                            << " — reverting to AUTO_FIND");
                    m_BlockOperationPending = false;
                    m_PendingCommand = PendingCommand::None;
                    m_AutoFindNeedsReset = true;
                    m_AutoFind = true;
                    m_FindIntervalMs = 5000;
                    m_LastFindTime = std::chrono::steady_clock::now()
                            - std::chrono::milliseconds(m_FindIntervalMs);
                    SetCardState(CardState::AUTO_FIND);
                    return 0;
                }
                block16.assign(data.begin() + 5, data.begin() + 21);
            }
            else
            {
                // ★ 移除重试：payload 长度无效直接回 AUTO_FIND
                DEBUG("ReadCard success payload length invalid, size=" << payloadSize
                       << " — reverting to AUTO_FIND");
                m_BlockOperationPending = false;
                m_PendingCommand = PendingCommand::None;
                m_AutoFindNeedsReset = true;
                m_AutoFind = true;
                m_FindIntervalMs = 5000;
                m_LastFindTime = std::chrono::steady_clock::now()
                        - std::chrono::milliseconds(m_FindIntervalMs);
                SetCardState(CardState::AUTO_FIND);
                return 0;
            }

            m_BlockOpStartTime = std::chrono::steady_clock::now();
            m_CurrentOperatingBlock = 0;
            m_BlockOperationPending = false;
            m_PendingCommand = PendingCommand::None;
            m_ReadBlockRetryCount = 0;

            DEBUG("ReadCard OK, block=" << (int)blockNum);
                
            m_BlockData.push_back({blockNum, block16});
                
            if (m_BlockData.size() >= m_RequestedBlocks.size())
                {
                    // 所有块读取完成，构建完整 DDS 响应
                    DEBUG("All blocks read, building complete DDS response");
                    
                    std::vector<uint8_t> rsp_data;
                    rsp_data.push_back(1);  // 版本
                    rsp_data.push_back(0x00);  // 结果码高
                    rsp_data.push_back(0x00);  // 结果码低
                    rsp_data.push_back(m_CardId.length());  // 卡号长度
                    rsp_data.insert(rsp_data.end(), m_CardId.begin(), m_CardId.end());  // 卡号
                    rsp_data.push_back(m_BlockData.size());  // 块数量
                    
                    // 添加所有块的数据
                    for (const auto& block : m_BlockData)
                    {
                        rsp_data.push_back(block.first);  // 块号
                        rsp_data.insert(rsp_data.end(), block.second.begin(), block.second.end());  // 16字节
                    }
                    
                    rsp.msg()["read"] = rsp_data;
                    
                    // 清理并恢复状态
                    m_BlockData.clear();
                    m_RequestedBlocks.clear();
                    m_CurrentReadIndex = 0;
                    // ★ 修改：读卡成功后切到 WAIT_DDS_DECISION，等待下一个 DDS 命令（20秒超时）
                    //     SetCardState 会自动重置 m_StateEnterTime，超时重新计时
                    m_AutoFind = false;                   // RF 保持关闭（前面 SummaryUpdate 后已经停掉了）
                    m_LastFindTime = std::chrono::steady_clock::now();
                    SetCardState(CardState::WAIT_DDS_READ);
                 
                    

                    // 【新增】结束计时并打印
                    m_ReadEndTime = std::chrono::steady_clock::now();
                    auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
                        m_ReadEndTime - m_ReadStartTime).count();
                    DEBUG("Read card elapsed: " << elapsed << " ms (" 
                    << elapsed / 1000.0 << " seconds)");

                    return 1;  // ← 返回1表示需要发布 DDS 响应
                }
                
            m_CurrentReadIndex++;
            if (m_CurrentReadIndex < m_RequestedBlocks.size())
            {
                uint8_t nextBlock = m_RequestedBlocks[m_CurrentReadIndex];
                DEBUG("Sending next read command for block " << (int)nextBlock);
                m_ReadBlockRetryCount = 0;
                ReadCard({nextBlock});
                std::this_thread::sleep_for(std::chrono::milliseconds(30));
            }
            
            return 0;  // ← 未全部完成，不发布响应
        }
        break;
    case WRITE_CARD:
        {
            if (m_PendingCommand != PendingCommand::WriteBlock)
            {
                DEBUG("Ignoring unmatched WRITE_CARD response");
                return 0;
            }

            if (data[3] == 0)   // 写卡成功
            {
                m_BlockOperationPending = false;
                m_PendingCommand = PendingCommand::None;
                m_WriteBlockRetryCount = 0;     // ★ 新增：写卡成功后清零，给下次操作
                DEBUG("WriteCard OK: block=" << (int)m_PendingWriteBlock);
    
                // ★ 修改：写卡成功后切到 WAIT_DDS_WRITE_NEXT，等待下一个 DDS 命令（10秒超时）
                //     SetCardState 会自动重置 m_StateEnterTime，超时重新计时
                m_AutoFind = false;                   // RF 保持关闭
                SetCardState(CardState::WAIT_DDS_WRITE_NEXT);
                DEBUG("Write complete, waiting for next DDS command");
    
                // ★ 与 read 响应同协议：1 键 + vector
                std::vector<uint8_t> write_rsp;
                write_rsp.push_back(1);                                    // 版本
                write_rsp.push_back(0x00);                                 // 结果码高
                write_rsp.push_back(0x00);                                 // 结果码低（成功）
                write_rsp.push_back((uint8_t)m_CardId.size());             // 卡号长度
                write_rsp.insert(write_rsp.end(), 
                                 m_CardId.begin(), m_CardId.end());        // 卡号
                write_rsp.push_back(1);                                    // 块数量 = 1
                write_rsp.push_back(m_PendingWriteBlock);                  // 块号
                write_rsp.push_back(0x00);                                 // 块结果码高 = 0（成功）
                write_rsp.push_back(0x00);                                 // 块结果码低 = 0（成功）                                  // 块数量 = 0
                rsp.msg()["write"] = write_rsp;
    
                rsp.index(m_CurrentIndex);

                // ★ 新增：清理敏感数据，避免长期驻留内存
                std::fill(m_PendingWriteValue.begin(), m_PendingWriteValue.end(), 0);
                m_PendingWriteValue.clear();
                m_PendingWriteBlock = 0;

                return 1;
            }
            else   // 写卡失败
            {
                DEBUG("WriteCard FAIL: block=" << (int)m_PendingWriteBlock
                    << " error code=0x" << std::hex << (int)data[3]);


                // ========== 回 AUTO_FIND ==========
                m_WriteBlockRetryCount = 0;          // ★ 新增：清掉计数，给下次扫描用
                m_BlockOperationPending = false;
                m_PendingCommand = PendingCommand::None;
                m_AutoFindNeedsReset = true;    // ★ 加这行
                m_AutoFind = true;
                m_FindIntervalMs = 500;
                m_LastFindTime = std::chrono::steady_clock::now();
                SetCardState(CardState::AUTO_FIND);

                // ========== 修复：失败响应包用与成功完全一致的格式 ==========
                const uint16_t error = MapDeviceError(WRITE_CARD, data[3]);
                std::vector<uint8_t> write_rsp;
                write_rsp.push_back(1);                                    // 版本
                write_rsp.push_back(static_cast<uint8_t>(error >> 8));
                write_rsp.push_back(static_cast<uint8_t>(error & 0xFF));   // 结果码
                write_rsp.push_back(static_cast<uint8_t>(m_CardId.size()));        // ★ 新增：卡号长度（与成功分支一致）
                write_rsp.insert(write_rsp.end(),
                                m_CardId.begin(), m_CardId.end());        // ★ 卡号：与成功分支一致（直接拼 8 字节，不带长度前缀）
                write_rsp.push_back(1);                                    // 块数量 = 1
                write_rsp.push_back(m_PendingWriteBlock);                  // 块号
                write_rsp.push_back(static_cast<uint8_t>(error >> 8));
                write_rsp.push_back(static_cast<uint8_t>(error & 0xFF));   // 块结果码
                rsp.msg()["write"] = write_rsp;

                rsp.index(m_CurrentIndex);

                // ★ 新增：清理敏感数据，避免长期驻留内存
                std::fill(m_PendingWriteValue.begin(), m_PendingWriteValue.end(), 0);
                m_PendingWriteValue.clear();
                m_PendingWriteBlock = 0;

                return 1;
            }
        }
        break;
    default:
        break;
    }

    return 0;
}
void MsgHandler::StorePasswd(std::map<uint8_t, std::vector<uint8_t>>& data)
{
    m_PassWord = data;
}

void MsgHandler::SetPasswd(const std::vector<uint8_t>& data)
{

    std::this_thread::sleep_for(std::chrono::milliseconds(50));  // 添加延迟

    std::vector<uint8_t> m_SendData;
    m_PendingCommand = PendingCommand::SetPassword;
    ++m_OperationSequence;

    m_SendData.insert(m_SendData.end(), {0x0C, 0x01, 0x03, 60, data[0]});
    auto it = m_PassWord.find(data[0]);
    if (it != m_PassWord.end())
    {
        m_SendData.insert(m_SendData.end(), it->second.begin(), it->second.end());
    }

    CRC16(m_SendData);
    SendDeviceMsg(m_SendData);
}

void MsgHandler::StopCard(void)
{
    std::vector<uint8_t> m_SendData;
    m_PendingCommand = PendingCommand::Stop;
    ++m_OperationSequence;

    m_SendData.insert(m_SendData.end(), {0x04, 0x01, 0x08});
    CRC16(m_SendData);
    SendDeviceMsg(m_SendData);
}

void MsgHandler::FindCard(void)
{
    std::vector<uint8_t> m_SendData;
    m_PendingCommand = PendingCommand::Find;
    ++m_OperationSequence;

    m_SendData.insert(m_SendData.end(), {0x04, 0x01, 0x02});
    CRC16(m_SendData);
    SendDeviceMsg(m_SendData);
}

// ★ 新增：RF 喂送专用寻卡 —— 只发字节，不修改 m_PendingCommand、不动 m_OperationSequence
// 响应回来时 ParseDeviceMsg 会因为 m_PendingCommand != Find 直接丢弃（return 0），
// 不会触发 HandleFindResponse 改状态，不会污染 HasActiveDeviceOperation() 判断。
void MsgHandler::SendRfFeedFind(void)
{
    std::vector<uint8_t> m_SendData;
    m_SendData.insert(m_SendData.end(), {0x04, 0x01, 0x02});
    CRC16(m_SendData);
    SendDeviceMsg(m_SendData);
}


void MsgHandler::ReadCard(const std::vector<uint8_t>& data)
{
    std::vector<uint8_t> m_SendData;


    std::this_thread::sleep_for(std::chrono::milliseconds(100));


    m_SendData.insert(m_SendData.end(), {0x05, 0x01, 0x04, data[0]});
    // ========== 新增：记录当前块操作开始时间 ==========
    m_CurrentOperatingBlock = data[0];
    m_BlockOpStartTime = std::chrono::steady_clock::now();
    m_BlockOperationPending = true;
    m_PendingCommand = PendingCommand::ReadBlock;
    m_PendingBlock = data[0];
    ++m_OperationSequence;

    
    CRC16(m_SendData);

    m_AutoFind = false;             // ★ 关闭 RF-feed，防止 FindCard 响应干扰

    SendDeviceMsg(m_SendData);
    // 【新增】保护延时：给 RC522 和 STM32 固件留出处理时间
    // 原因：连续发读块命令时，RC522 内部认证状态可能丢失
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

void MsgHandler::WriteCard(const std::vector<uint8_t>& data)
{
    // ★ 在调串口之前先存请求参数（响应时要用）
    // data = [blockNum(1)] + [16 字节块数据]
    if (data.size() != 17U)
    {
        DEBUG("WriteCard rejected: expected block plus 16 data bytes, size=" << data.size());
        m_BlockOperationPending = false;
        m_PendingCommand = PendingCommand::None;
        return;
    }

    // ★ 新增:发命令前延时,让 RC522 处理完上一条命令
    std::this_thread::sleep_for(std::chrono::milliseconds(100));

    m_PendingWriteBlock = data[0];
    m_PendingWriteValue.assign(data.begin() + 1, data.end());

    DEBUG("WriteCard request block=" << static_cast<int>(m_PendingWriteBlock)
          << " data_size=" << m_PendingWriteValue.size()
          << " data=" << HexBytes(m_PendingWriteValue));

    // ========== 新增：记录当前块操作开始时间 ==========
    m_CurrentOperatingBlock = data[0];
    m_BlockOpStartTime = std::chrono::steady_clock::now();
    m_BlockOperationPending = true;
    m_PendingCommand = PendingCommand::WriteBlock;
    m_PendingBlock = data[0];
    ++m_OperationSequence;


    std::vector<uint8_t> m_SendData;
    m_SendData.insert(m_SendData.end(), {0x15, 0x01, 0x05});
    m_SendData.insert(m_SendData.end(), data.begin(), data.end());

    DEBUG("WriteCard frame_without_crc size=" << m_SendData.size()
          << " bytes=" << HexBytes(m_SendData));
    
    CRC16(m_SendData);
    
    DEBUG("WriteCard frame_with_crc size=" << m_SendData.size()
          << " bytes=" << HexBytes(m_SendData));

    m_AutoFind = false;            // ★ 关闭 RF-feed，防止 FindCard 响应干扰      

    SendDeviceMsg(m_SendData);

    // ★ 新增:发命令后延时,让 RC522 完成 Crypto1 重建(如果固件会重建)
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
}

void MsgHandler::BeepCard(const std::vector<uint8_t>& data)
{
    std::vector<uint8_t> m_SendData;
    m_PendingCommand = PendingCommand::Beep;
    ++m_OperationSequence;

    uint8_t duration = data.empty() ? 0x0F : data[0];
    m_SendData.insert(m_SendData.end(), {0x05, 0x01, 0x01, duration});
    CRC16(m_SendData);
    SendDeviceMsg(m_SendData);
}

void MsgHandler::ResetCard(void)
{
    if (fd != -1)
    {
        tcflush(fd, TCIOFLUSH);
    }
    m_ReceiveBuffer.clear();
    DEBUG("ResetCard: serial buffer flushed");
}



// ========== 重置串口并重新初始化 RC522 ==========
// 用于块操作超时后的恢复，因为 RC522 可能在某些情况下完全无响应
bool MsgHandler::ResetSerialAndReinit()
{
    DEBUG("ResetSerialAndReinit: resetting serial port and RC522");
    m_ReceiveBuffer.clear();
    
    // 第一步：关闭当前串口
    ClosePort();
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    
        // 第二步：重新打开串口（使用保存的端口）
        if (m_Port.empty())
        {
            DEBUG("ResetSerialAndReinit: m_Port is empty, cannot reopen");
            return false;
        }
        std::string tty = "/dev/" + m_Port;
        DEBUG("ResetSerialAndReinit: reopening " << tty << " with baudrate " << (int)m_Baudrate);
        
        fd = open(tty.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
        if (fd == -1)
        {
            DEBUG("ResetSerialAndReinit: failed to reopen serial port " << tty);
            return false;
        }
        
        // 第三步：重新配置串口参数（使用保存的波特率）
        struct termios options;
        if (tcgetattr(fd, &options) != 0)
        {
            DEBUG("ResetSerialAndReinit: failed to get serial attributes");
            close(fd);
            fd = -1;
            return false;
        }
        
        cfmakeraw(&options);
        cfsetispeed(&options, m_Baudrate);
        cfsetospeed(&options, m_Baudrate);
    options.c_cflag |= CS8;
    options.c_cflag &= ~PARENB;
    options.c_cflag &= ~CSTOPB;
    options.c_cflag &= ~CRTSCTS;
    options.c_cc[VMIN] = 0;
    options.c_cc[VTIME] = 10;
    
    tcflush(fd, TCIOFLUSH);
    if (tcsetattr(fd, TCSANOW, &options) != 0)
    {
        DEBUG("ResetSerialAndReinit: failed to set serial attributes");
        close(fd);
        fd = -1;
        return false;
    }
    
    DEBUG("ResetSerialAndReinit: serial port reopened successfully");
    
    // 第四步：等待 RC522 准备好
    std::this_thread::sleep_for(std::chrono::milliseconds(100));
    
        // 第五步：清空 RC522 内部状态（直接发命令，不等待响应）
        StopCard();
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
        
        // 第六步：重新下载所有扇区密码（直接发命令，不等待响应）
        for (auto& kv : m_PassWord) {
            SetPasswd({kv.first});
            std::this_thread::sleep_for(std::chrono::milliseconds(50));
        }
        
        // 第七步：启动寻卡（直接发命令，不等待响应）
        FindCard();
        std::this_thread::sleep_for(std::chrono::milliseconds(100));
        
        DEBUG("ResetSerialAndReinit: commands sent, waiting for RC522 to recover...");
    
    DEBUG("ResetSerialAndReinit: RC522 reinitialized successfully");
    return true;
}





bool MsgHandler::WaitForResponse(uint8_t expected_cmd, int timeout_ms)
{
    int elapsed = 0;
    const int poll_interval = 100;

    while (elapsed < timeout_ms)
    {
        std::vector<uint8_t> data;
        if (RecvDeviceMsg(data, poll_interval) > 0)
        {
            if (data.size() >= 4 && data[2] == expected_cmd && data[3] == 0x00)
            {
                return true;
            }
        }
        elapsed += poll_interval;
    }

    DEBUG("WaitForResponse timeout, expected_cmd=0x"
          << std::hex << (int)expected_cmd);
    return false;
}

bool MsgHandler::InitSequence(void)
{
    // 第一步：停止寻卡
    StopCard();
    if (!WaitForResponse(STOP_CARD))
    {
        DEBUG("InitSequence: StopCard failed");
        return false;
    }
    DEBUG("InitSequence: StopCard OK");

    // 第二步：逐扇区下载密码（升序）
    for (auto& kv : m_PassWord)
    {
        SetPasswd({kv.first});
        if (!WaitForResponse(SET_PWD))
        {
            DEBUG("InitSequence: SetPasswd sector "
                  << (int)kv.first << " failed");
            return false;
        }
        DEBUG("InitSequence: SetPasswd sector "
              << (int)kv.first << " OK");
    }

    // 第三步：启动寻卡
    FindCard();
    m_AutoFind = true;
    m_FindIntervalMs = 5000;  // 发送后5000ms超时保护
    m_LastFindTime = std::chrono::steady_clock::now();
    DEBUG("InitSequence: complete, auto-find enabled");

    return true;
}

void MsgHandler::AutoFindTick(void)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);

    if (!m_AutoFind)
        return;

    if (m_CardState != CardState::AUTO_FIND
        && m_CardState != CardState::WAIT_DDS_READ)
        return;

    const auto now = std::chrono::steady_clock::now();
    const auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
            now - m_LastFindTime).count();

    if (elapsed >= m_FindIntervalMs)
    {
        if (m_CardState == CardState::AUTO_FIND)
        {
            DEBUG("AUTO_FIND tick elapsed_ms=" << elapsed
                  << " interval_ms=" << m_FindIntervalMs);
            // AUTO_FIND 状态：响应回来后要切到 WAIT_DDS_READ，用普通 FindCard
            FindCard();
        }
        else
        {
            DEBUG("WAIT_DDS_READ RF-feed tick elapsed_ms=" << elapsed
                  << " interval_ms=" << m_FindIntervalMs);
            // ★ WAIT_DDS_READ 状态：用 RF 喂送专用函数，m_PendingCommand 不动
            //   这样不会被 ParseDeviceMsg 当成 Find 响应，也不会被 HandleDdsMsg 当成设备忙拒掉
            SendRfFeedFind();
        }

        m_FindIntervalMs = (m_CardState == CardState::WAIT_DDS_READ) ? 2000 : 5000;
        m_LastFindTime = now;
    }
}

void MsgHandler::SetCardState(CardState state)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    const CardState oldState = m_CardState;
    m_CardState = state;
    m_StateEnterTime = std::chrono::steady_clock::now();
    DEBUG("STATE " << CardStateName(oldState) << " -> " << CardStateName(state));
}

unsigned long MsgHandler::GetCurrentIndex() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_CurrentIndex;
}

bool MsgHandler::IsTimeoutRecovery() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_IsInTimeoutRecovery;
}

uint64_t MsgHandler::GetOperationSequence() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_OperationSequence;
}

bool MsgHandler::IsReadResponseReady() const
{
    // 检查读卡响应是否准备好（块数据已累积完成）
    return (m_CardState == CardState::WAIT_DDS_WRITE) && (m_BlockCount > 0);
}

bool MsgHandler::IsWriteResponseReady() const
{
    // 写卡响应在每次写成功后立即可用
    return false;  // 由 ParseDeviceMsg 实时处理
}

void MsgHandler::ClearReadBuffer()
{
    m_BlockData.clear();
    m_BlockCount = 0;
    m_ResultCode = 0;
    m_RequestedBlocks.clear();  // 【新增】清空块号列表
    m_SkippedBlocks.clear();  // 【新增】清空跳过的块记录
}

void MsgHandler::SetReadResult(uint8_t resultCode, const std::string& cardId, 
                               uint8_t blockCount,
                               const std::vector<std::pair<uint8_t, std::vector<uint8_t>>>& blockData)
{
    m_ResultCode = resultCode;
    m_CardId = cardId;
    m_BlockCount = blockCount;
    m_BlockData = blockData;
}

void MsgHandler::SetWriteResult(uint8_t resultCode, const std::string& cardId, uint8_t blockNum)
{
    m_ResultCode = resultCode;
    m_CardId = cardId;
    // blockNum 已在写卡命令中处理
}

int MsgHandler::CheckDdsTimeout()
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);

    // 设备读写事务期间不使用空闲超时，避免中断块序列。
    if (m_CardState == CardState::WAIT_DDS_READ)
    {
        if (m_BlockOperationPending || m_PendingCommand != PendingCommand::None)
            return 0;

        const auto now = std::chrono::steady_clock::now();
        const auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
                now - m_StateEnterTime).count();
        if (elapsed >= CARD_READY_IDLE_TIMEOUT_MS)
        {
            DEBUG("Card ready idle timeout (" << CARD_READY_IDLE_TIMEOUT_MS
                  << "ms), reverting to AUTO_FIND");
            m_AutoFind = true;
            m_FindIntervalMs = 500;
            m_LastFindTime = now;
            m_AutoFindNeedsReset = true;     // ★ 与写卡超时路径保持一致
            SetCardState(CardState::AUTO_FIND);
            return 1;
        }
        return 0;
    }


    // 【新增】WAIT_DDS_WRITE 写卡块操作超时：等 RC522 响应超过 2s 视为失败，回 AUTO_FIND
    if (m_CardState == CardState::WAIT_DDS_WRITE)
    {
        if (!m_BlockOperationPending)
            return 0;
        const auto writeNow = std::chrono::steady_clock::now();
        const auto writeElapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
                writeNow - m_BlockOpStartTime).count();
        if (writeElapsed >= WRITE_BLOCK_OPERATION_TIMEOUT_MS)
        {

            // 【关键修复】：如果写块还有重试额度，交给 RecvMsg 的截断帧分支处理，
            // 不要在 CheckDdsTimeout 里提前清掉 m_PendingCommand，导致 retry 失效。
            // if (m_WriteBlockRetryCount < WRITE_BLOCK_MAX_RETRIES)
            // {
            //     DEBUG("CheckDdsTimeout: WAIT_DDS_WRITE timeout but retries remain ("
            //         << static_cast<int>(m_WriteBlockRetryCount) << "/"
            //         << static_cast<int>(WRITE_BLOCK_MAX_RETRIES)
            //         << "), skipping AUTO_FIND — RecvMsg incomplete handler will retry");
            //     return 0;   // ← 关键：不清状态，让截断帧处理分支优先
            // }


            DEBUG("Write block operation timeout (" << WRITE_BLOCK_OPERATION_TIMEOUT_MS
                  << "ms), reverting to AUTO_FIND");
            // 清理 pending 标志
            m_BlockOperationPending = false;
            m_PendingCommand = PendingCommand::None;
            // 清串口残留帧（避免下个循环再拿到那 5 字节尾巴）
            m_ReceiveBuffer.clear();
            if (fd != -1)
                tcflush(fd, TCIFLUSH);

            // ★ 新增：标记需要 reset RC522，由 Publisher 主循环里的
            //   ConsumeAutoFindNeedsReset() 统一触发 ResetSerialAndReinit()
            //   与 RecvMsg 截断帧 / TryExtractDeviceFrame CRC 失败的处理路径一致。
            m_AutoFindNeedsReset = true;


            // 恢复自动寻卡
            m_AutoFindNeedsReset = true;    // ★ 加这行
            m_AutoFind = true;
            m_FindIntervalMs = 5000;
            //m_LastFindTime = writeNow;
            m_LastFindTime = writeNow - std::chrono::milliseconds(m_FindIntervalMs);
            SetCardState(CardState::AUTO_FIND);
            return 1;
        }
        return 0;
    }


    if (m_CardState != CardState::WAIT_DDS_DECISION
            && m_CardState != CardState::WAIT_DDS_WRITE_NEXT)
        return 0;

    auto now = std::chrono::steady_clock::now();
    auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
        now - m_StateEnterTime).count();

    // ★ 不同状态用不同的超时阈值
    int timeout_ms = DDS_TIMEOUT_MS;
    if (m_CardState == CardState::WAIT_DDS_DECISION)
    {
        timeout_ms = DDS_DECISION_TIMEOUT_MS;
    }

    else if (m_CardState == CardState::WAIT_DDS_WRITE_NEXT)  // 【新增】
    {
        timeout_ms = DDS_WRITE_TIMEOUT_MS;                   // 【新增】10秒
    }

    if (elapsed >= timeout_ms)
    {
        DEBUG("DDS timeout (" << timeout_ms << "ms), reverting to AUTO_FIND");
        
        // 恢复自动寻卡
        m_AutoFind = true;
        m_FindIntervalMs = 5000;
        m_LastFindTime = now;
        
        // 清空读卡缓冲区
        ClearReadBuffer();

        // ★ 新增：触发完整 RC522 重置路径，与 WAIT_DDS_READ / WAIT_DDS_WRITE 超时保持一致
        m_AutoFindNeedsReset = true;
        
        // 切换状态
        SetCardState(CardState::AUTO_FIND);
        return 1;  // 返回1表示触发了超时
    }
    return 0;
}

void MsgHandler::ResetWriteTimeout()
{
    if (m_CardState == CardState::WAIT_DDS_WRITE_NEXT)
        m_StateEnterTime = std::chrono::steady_clock::now();
}

// ========== 单块操作超时控制实现 ==========

int MsgHandler::GetBlockOpElapsed() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    auto now = std::chrono::steady_clock::now();
    return std::chrono::duration_cast<std::chrono::milliseconds>(
        now - m_BlockOpStartTime).count();
}

uint8_t MsgHandler::GetCurrentOperatingBlock() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_CurrentOperatingBlock;
}

bool MsgHandler::IsBlockOperationPending() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_BlockOperationPending;
}

bool MsgHandler::HasPendingReadResponse() const
{
    return !m_PendingReadResponse.empty();
}

std::vector<uint8_t> MsgHandler::GetPendingReadResponse()
{
    auto tmp = m_PendingReadResponse;
    m_PendingReadResponse.clear();
    return tmp;
}

void MsgHandler::SkipCurrentBlock()
{


    DEBUG("SkipCurrentBlock: state=" << (int)m_CardState
         << ", index=" << (int)m_CurrentReadIndex
         << ", total=" << (int)m_RequestedBlocks.size());


    // 【新增】标记正在恢复，防止 HandleDdsMsg 在此期间发新命令
    m_IsInTimeoutRecovery = true;


    // ★ 修改：WAIT_DDS_DECISION / WAIT_DDS_WRITE_NEXT 也可以调用 SkipCurrentBlock
    if (m_CardState != CardState::WAIT_DDS_READ
        && m_CardState != CardState::WAIT_DDS_DECISION
        && m_CardState != CardState::WAIT_DDS_WRITE_NEXT)
    {
        DEBUG("SkipCurrentBlock: not in WAIT_DDS_READ state, ignored");
        m_IsInTimeoutRecovery = false;
        return;
    }

    if (m_RequestedBlocks.empty() || m_CurrentReadIndex >= m_RequestedBlocks.size())
    {
        DEBUG("SkipCurrentBlock: no more blocks to skip");
        m_IsInTimeoutRecovery = false;
        return;
    }

    uint8_t skipBlock = m_RequestedBlocks[m_CurrentReadIndex];
    DEBUG("Read block timeout, block=" << static_cast<int>(skipBlock));

    // 超时不是成功数据，使用 README 约定的设备超时错误码 0x0015。
    std::vector<uint8_t> rsp_data;
    rsp_data.push_back(1);
    // README 约定：设备超时使用大端结果码 0x0015。
    rsp_data.push_back(0x00);
    rsp_data.push_back(0x15);
    rsp_data.push_back(static_cast<uint8_t>(m_CardId.size()));
    rsp_data.insert(rsp_data.end(), m_CardId.begin(), m_CardId.end());
    rsp_data.push_back(0);

    m_PendingReadResponse = rsp_data;
    ClearReadBuffer();
                m_CurrentOperatingBlock = 0;
                m_BlockOperationPending = false;
    m_IsInTimeoutRecovery = false;
    m_AutoFind = true;
    m_FindIntervalMs = 500;
    m_LastFindTime = std::chrono::steady_clock::now();
    SetCardState(CardState::AUTO_FIND);
    DEBUG("Read block timeout response ready, block=" << static_cast<int>(skipBlock));
    return;


}
CardState MsgHandler::GetCardState() const
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    return m_CardState;
}


bool MsgHandler::ConsumeAutoFindNeedsReset()
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    if (!m_AutoFindNeedsReset)
    {
        return false;
    }
    m_AutoFindNeedsReset = false;
    return true;
}

// 【新增】AUTO_FIND 恢复用的细粒度访问器
void MsgHandler::SetAutoFind(bool on)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    m_AutoFind = on;
}
void MsgHandler::SetFindIntervalMs(int interval_ms)
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    m_FindIntervalMs = interval_ms;
}
void MsgHandler::SetLastFindTimeToNow()
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    m_LastFindTime = std::chrono::steady_clock::now();
}
void MsgHandler::ClearPendingCommand()
{
    std::lock_guard<std::recursive_mutex> lock(mtx_);
    m_PendingCommand = PendingCommand::None;
}




// ========== refreshPort 默认实现 ==========
bool MsgHandler::refreshPort()
{
    DEBUG("MsgHandler::refreshPort: base class default implementation, no-op");
    return true;
}