/************************************************************/
/*    NAME:                                               */
/*    ORGN: MIT, Cambridge MA                               */
/*    FILE: AUV150.cpp                                        */
/*    DATE: December 29th, 1963                             */
/************************************************************/

#include <iterator>
#include "MBUtils.h"
#include "ACTable.h"
#include "AUV150.h"
#include <iomanip>
#include <string>
#include <iostream>

// #define DEBUG_

using namespace std;

// 添加静态成员定义
Controler AUV150::m_control;

static bool TCP_ReadLoop(void *p)
{
    AUV150 *pAUV150 = (AUV150 *)p;
    return pAUV150->ListenLoop();
}

static bool TCP_WriteLoop(void *p)
{
    AUV150 *pAUV150 = (AUV150 *)p;
    return pAUV150->WriteLoop();
}

//---------------------------------------------------------
// Constructor()

AUV150::AUV150()
{
    m_TcpSocket = new XPCTcpSocket(8150L);
    m_real_read_freq = 0;
    m_real_write_freq = 0;
    m_counter = 0;
    m_bConnected = false;
    m_status = {0};
    m_faultCodes.clear();
    m_pos_x = 0;
    m_pos_y = 0;
    m_OriginLatitude = 39.9042;
    m_OriginLongitude = 116.4074;
    m_controlGap = 0;
    m_desiredVarTime = 0;
    m_controlTime = 0;
    m_samplingTime = 0;

    m_overrived = true; //手动控制
    m_control.initialize();

    // Controler::rtP.pid_heading.P = 10.0f;
    // Controler::rtP.pid_heading.I = 0.1;
    // Controler::rtP.pid_heading.D = 0.1f;
}

//---------------------------------------------------------
// Destructor

AUV150::~AUV150()
{
    if(m_TcpSocket)
    {
        m_TcpSocket->vCloseSocket();
    }
    delete m_TcpSocket;
}

//---------------------------------------------------------
// Procedure: OnNewMail()

bool AUV150::OnNewMail(MOOSMSG_LIST &NewMail)
{
  AppCastingMOOSApp::OnNewMail(NewMail);

  MOOSMSG_LIST::iterator p;
  for(p=NewMail.begin(); p!=NewMail.end(); p++) {
    CMOOSMsg &msg = *p;
    string key    = msg.GetKey();
#if 0 // Keep these around just for template
    string comm  = msg.GetCommunity();
    double dval  = msg.GetDouble();
    string sval  = msg.GetString(); 
    string msrc  = msg.GetSource();
    double mtime = msg.GetTime();
    bool   mdbl  = msg.IsDouble();
    bool   mstr  = msg.IsString();
#endif
    if((key == "MOOS_MANUAL_OVERIDE") || (key == "MOOS_MANUAL_OVERRIDE"))
    {
        string sval = msg.GetString();
        if(sval == "false")
        {
            m_overrived == false;
        }
        else
        {
            m_overrived == true;
        }
    }
    // else if(key == "DESIRED_RUDDER")
    // {
    //     if(m_overrived)
    //     {
    //         m_CommandFrame.rudderUp = msg.GetDouble() + 30.0f;
    //         m_CommandFrame.rudderDown = msg.GetDouble() + 30.0f;
    //         m_desiredVarTime = msg.GetTime();
    //     }
    // }
    // else if(key == "DESIRED_ELEVATOR")
    // {
    //     if(m_overrived)
    //     {
    //         m_CommandFrame.rudderLeft = msg.GetDouble()+ 30.0f;
    //         m_CommandFrame.rudderRight = msg.GetDouble()+ 30.0f;
    //     }
    // }
    // else if(key == "DESIRED_THRUST")
    // {
    //     if(m_overrived)
    //     {
    //         m_CommandFrame.mainThruster = msg.GetDouble();
    //     }
    // }
    else if(key == "DESIRED_HEADING")
    {
        m_control.rtU.heading_cmd = msg.GetDouble();
    }
    else if(key == "DESIRED_SPEED")
    {
        m_control.rtU.speed_cmd = msg.GetDouble();
    }
    else if(key == "DESIRED_DEPTH") 
    {
        m_control.rtU.depth_cmd = msg.GetDouble();
    }
    else if(key != "APPCAST_REQ") 
       reportRunWarning("Unhandled Mail: " + key);
   }
	
   return(true);
}

//---------------------------------------------------------
// Procedure: OnConnectToServer()

bool AUV150::OnConnectToServer()
{
   registerVariables();
   return(true);
}

//---------------------------------------------------------
// Procedure: Iterate()
//            happens AppTick times per second

bool AUV150::Iterate()
{
    AppCastingMOOSApp::Iterate();
    // Do your thing here!
    #ifdef DEBUG_
        m_status.insLatitude += 0.000001;
        m_status.insLongitude += 0.000001;
        m_geodesy.LatLong2LocalGrid(m_status.insLatitude, m_status.insLongitude, m_pos_x, m_pos_y);
        postStatusUpdate("NAV");
    #endif
    AppCastingMOOSApp::PostReport();
    return(true);
}

//---------------------------------------------------------
// Procedure: OnStartUp()
//            happens before connection is open

bool AUV150::OnStartUp()
{
  AppCastingMOOSApp::OnStartUp();

  STRING_LIST sParams;
  m_MissionReader.EnableVerbatimQuoting(false);
  if(!m_MissionReader.GetConfiguration(GetAppName(), sParams))
    reportConfigWarning("No config block found for " + GetAppName());

  STRING_LIST::iterator p;
  for(p=sParams.begin(); p!=sParams.end(); p++) {
    string orig  = *p;
    string line  = *p;
    string param = tolower(biteStringX(line, '='));
    string value = line;

    bool handled = false;
    if(param == "foo") {
      handled = true;
    }
    else if(param == "bar") {
      handled = true;
    }
    else if(param == "server_host")
    {
        setServerHost(value);
        handled = true;
    }
    else if(param == "latorigin")
    {
        m_OriginLatitude = stod(value);
        handled = true;
    }
    else if(param == "longorigin")
    {
        m_OriginLongitude = stod(value);
        handled = true;
    }
    else if(param == "controlfrequency")
    {
        m_controlCycle = 1.0 / stod(value);
        handled = true;
    }
    if(!handled)
      reportUnhandledConfigWarning(orig);
  }
  m_geo_ok = m_geodesy.Initialise(m_OriginLatitude, m_OriginLongitude);
  Start();
  registerVariables();
#ifdef DEBUG_
    m_status.insLatitude = m_OriginLatitude;
    m_status.insLongitude = m_OriginLongitude;
#endif
  return(true);
}

//---------------------------------------------------------
// Procedure: registerVariables()

void AUV150::registerVariables()
{
  AppCastingMOOSApp::RegisterVariables();
  Register("DESIRED_RUDDER",0);
  Register("DESIRED_THRUST",0);
  Register("DESIRED_ELEVATOR",0);
  Register("DESIRED_HEADING", 0);
  Register("DESIRED_SPEED", 0);
  Register("DESIRED_DEPTH", 0);
  Register("MOOS_MANUAL_OVERIDE", 0);
  Register("MOOS_MANUAL_OVERRIDE", 0);
}


bool AUV150::Start()
{
    //初始化TcpSocket
    try
    {
        m_TcpSocket->vSetRecieveBuf(m_nReceiveBufferSizeKB * 1024);
        m_TcpSocket->vSetSendBuf(m_nSendBufferSizeKB * 1024);
    }
    catch (XPCException & e)
    {
        std::cerr << "there was trouble configuring socket buffers: "
                << e.sGetException() << "\n";
    }

    //启动线程
    WritingThread_.Initialise(TCP_ReadLoop,this);
    WritingThread_.Start();
    ReadingThread_.Initialise(TCP_WriteLoop,this);
    ReadingThread_.Start();
    return true;
}
void AUV150::setServerHost(std::string serverHost)
{
    m_serverHost = serverHost;
}

bool AUV150::ListenLoop()
{
    double start_time = MOOSTime();
    int message_count = 0;
    
    while(!ReadingThread_.IsQuitRequested())
    {
        char buffer[sizeof(FeedbackFrame_150AUV)] = {0};
        try
        {
            if((m_TcpSocket!=NULL) && m_bConnected)
            {
                int count = m_TcpSocket->iRecieveMessage(buffer, sizeof(FeedbackFrame_150AUV));
                if(count > 0) {
                    std::cout << "Received " << count << " bytes" << std::endl;
                    FeedbackFrame_150AUV *p = reinterpret_cast<FeedbackFrame_150AUV *>(buffer);
                    // 处理接受到的数据
                    if(p->frameHeader != 0xEBA1)
                    {
                        std::cout << "Received data is not a valid frame" << std::endl;
                        m_faultCodes.insert(0x11);
                        continue;
                    }
                    // 解析数据
                    m_counter = p->counter;
                    updateStatus(*p);
                    postStatusUpdate("NAV");
                    // if(!m_overrived)
                    // {
                        // 计算控制量
                        m_control.rtU.u = m_status.dvlVelX;
                        m_control.rtU.v = m_status.dvlVelY;
                        m_control.rtU.w = m_status.dvlVelZ;
                        m_control.rtU.dx = m_status.velocityEast;
                        m_control.rtU.dy = m_status.velocityNorth;
                        m_control.rtU.dz = m_status.velocityDown;
                        m_control.rtU.phi = m_status.roll;
                        m_control.rtU.psi = (m_status.trueHeading);
                        m_control.rtU.theta = (m_status.pitch);
                        m_control.rtU.x = m_status.x;
                        m_control.rtU.y = m_status.y;
                        m_control.rtU.z = m_status.z;
                        m_control.step();
                        m_CommandFrame.rudderUp = m_control.rtY.DirectUpperRudderServoAngleCmd + 35.0f; 
                        m_CommandFrame.rudderDown = m_control.rtY.DirectLowerRudderServoAngleCmd + 35.0f;
                        m_CommandFrame.rudderLeft = m_control.rtY.DirectLeftRudderServoAngleCmd + 35.0f;
                        m_CommandFrame.rudderRight = m_control.rtY.DirectRightRudderServoAngleCmd + 35.0f;
                        m_CommandFrame.mainThruster = m_control.rtY.MainThrusterSpeedCmd;
                    // }
                    // 发送消息 
                    try
                    {
                        m_TcpSocket->iSendMessage(&m_CommandFrame, sizeof(CommandFrame_150AUV));
                        m_controlGap =  MOOSTime() - m_desiredVarTime;
                        m_controlTime = MOOSTime();
                        m_bConnected = true;
                    }
                    catch(XPCException &e)
                    {
                        m_bConnected = false;
                        std::cerr << "there was trouble sending message: "
                                << e.sGetException() << "\n";
                    }

                    // 计算控制频率
                    m_samplingTime = MOOSTime();
                    message_count++;
                    double elapsed_time = m_samplingTime - start_time;
                    if(elapsed_time >= 1.0) {  // 每秒更新一次频率
                        m_real_read_freq = message_count / elapsed_time;
                        message_count = 0;
                        start_time = MOOSTime();
                    }
                    //正常情况下清除错误码
                    m_faultCodes.erase(0x11);
                    m_faultCodes.erase(0x12);
                    m_faultCodes.erase(0x13);
                }
                else
                {
                    m_faultCodes.insert(0x12); //无数据接收
                }
            }
        }
        catch (XPCException & e)
        {
            m_faultCodes.insert(0x13);
            std::cerr << "there was trouble recieving message: "
                    << e.sGetException() << "\n";
            return false;
        }
    }
    return true;
}

bool AUV150::WriteLoop()
{   
    while(!WritingThread_.IsQuitRequested()){
        if(!m_bConnected)
        {
            m_real_read_freq = 0;
            m_real_write_freq = 0;
            try 
            {   
                if(m_TcpSocket) {
                    m_TcpSocket->vCloseSocket();
                    delete m_TcpSocket;
                }
                // m_TcpSocket->vCloseSocket();
                m_TcpSocket = new XPCTcpSocket(8150L);
                m_TcpSocket->vSetRecieveBuf(m_nReceiveBufferSizeKB * 1024);
                m_TcpSocket->vSetSendBuf(m_nSendBufferSizeKB * 1024);
                m_TcpSocket->vConnect(m_serverHost.c_str());
                m_bConnected = true;
            } catch(XPCException &e) 
            {
                std::cerr << "连接失败: " << e.sGetException() << std::endl;
                MOOSTime(1.0);
            }
        }
    }
    return true;
}


bool AUV150::buildReport()
{
    auto displayWidth = [&](const std::string& str) {
        std::mbstate_t state;
        std::memset(&state, 0, sizeof(state));
        const char* ptr = str.c_str();
        size_t remaining = str.size();
        int count = 0;
        while (remaining > 0) {
            wchar_t wc;
            size_t ret = std::mbrtowc(&wc, ptr, remaining, &state);
            if (ret == (size_t)-1 || ret == (size_t)-2 || ret == 0) {
                // invalid or null or incomplete, treat a byte as a char
                ptr++;
                remaining--;
            } else {
                ptr += ret;
                remaining -= ret;
            }
            count++;
        }
        return count;
    };

    // Helper to center text within a given display width
    auto centerText = [&](const std::string& text, int width) {
        int len = displayWidth(text);
        int pad = width - len;
        int padLeft = pad / 2;
        int padRight = pad - padLeft;
        return std::string(padLeft, ' ') + text + std::string(padRight, ' ');
    };

    // Helper to print a formatted table
    auto printTable = [&](const std::vector<std::string>& headers,
                          const std::vector<std::string>& values)
    {
        size_t cols = headers.size();
        std::vector<int> colWidths(cols);
        // Compute max display width per column and add padding
        for (size_t i = 0; i < cols; ++i) {
            int h = displayWidth(headers[i]);
            int v = displayWidth(values[i]);
            colWidths[i] = std::max(h, v) + 2;
        }

        std::ostringstream oss;
        // Header row
        for (size_t i = 0; i < cols; ++i) {
            oss << centerText(headers[i], colWidths[i]);
            if (i + 1 < cols) oss << " | ";
        }
        m_msgs << oss.str() << std::endl;

        // Divider row
        oss.str(""); oss.clear();
        for (size_t i = 0; i < cols; ++i) {
            oss << std::string(colWidths[i], '-');
            if (i + 1 < cols) oss << " | ";
        }
        m_msgs << oss.str() << std::endl;

        // Value row
        oss.str(""); oss.clear();
        for (size_t i = 0; i < cols; ++i) {
            oss << centerText(values[i], colWidths[i]);
            if (i + 1 < cols) oss << " | ";
        }
        m_msgs << oss.str() << std::endl << std::endl;
    };

    //=================DEGUB==========================

    m_msgs << "MOOS_MANUAL_OVERIDE : " << m_overrived << std::endl;
    m_msgs << "DirectUpperRudderServoAngleCmd : " << m_control.rtY.DirectUpperRudderServoAngleCmd << std::endl;
    m_msgs << "DirectLowerRudderServoAngleCmd : " << m_control.rtY.DirectLowerRudderServoAngleCmd << std::endl;
    m_msgs << "DirectLeftRudderServoAngleCmd  : " << m_control.rtY.DirectLeftRudderServoAngleCmd << std::endl;
    m_msgs << "DirectRightRudderServoAngleCmd : " << m_control.rtY.DirectRightRudderServoAngleCmd << std::endl;
    m_msgs << "mainThruster                   : " << m_control.rtY.MainThrusterSpeedCmd << std::endl;
                        //     m_CommandFrame.rudderUp = m_control.rtY.DirectUpperRudderServoAngleCmd + 35.0f; 
                        // m_CommandFrame.rudderDown = m_control.rtY.DirectLowerRudderServoAngleCmd + 35.0f;
                        // m_CommandFrame.rudderLeft = m_control.rtY.DirectLeftRudderServoAngleCmd + 35.0f;
                        // m_CommandFrame.rudderRight = m_control.rtY.DirectRightRudderServoAngleCmd + 35.0f;
                        // m_CommandFrame.mainThruster = m_control.rtY.MainThrusterSpeedCmd;
    // =============== Navigation Info ===============
      printTable(
      {"Connect", "Read", "Writ" ,"Conter" ,"Server ip","Latitude", "Longitude","Gap"},
      {
          (isConnected() ? "Yes" : "No"),
          doubleToString(getRealReadFreq(), 4) + " Hz",
          doubleToString(getRealWriteFreq(), 4) + " Hz",
          ulintToString(getCounter()),
          m_serverHost,
          doubleToString(m_OriginLatitude, 5) + "deg",
          doubleToString(m_OriginLongitude, 5) + "deg",
          doubleToString(m_controlGap, 5) + "s"
      }
    );
    m_msgs << "Fault Codes: ";
    for (uint8_t code : getFaultCodes()) {
        m_msgs << uintToString(code) + " ";
    }
    m_msgs << std::endl;
    m_msgs << "Navigation Mode  : " << uintToString(m_status.navModeFb) << std::endl;
    // =============== Heading & Attitude ===============
    printTable(
        {"Heading", "Pitch", "Roll", "X", "Y", "Z", "H"},
        {
            doubleToString(m_status.trueHeading, 2) + "deg",
            doubleToString(m_status.pitch, 2) + "deg",
            doubleToString(m_status.roll, 2) + "deg",
            doubleToString(m_pos_x, 4) + "m",
            doubleToString(m_pos_y, 4) + "m",
            doubleToString(m_status.depthSensor, 2) + "m",
            doubleToString(m_status.altimeterHeight, 2) + "m"
        }
    );
    m_msgs << "---------------INS------------------\n";

    // =============== Velocity Info ===============
    printTable(
    {"Latitude", "Longitude", "Altitude","East Velocity","North Velocity","Down Velocity"},
    {
        doubleToString(m_status.insLatitude, 4) + "deg",
        doubleToString(m_status.insLongitude, 4) + "deg",
        doubleToString(m_status.insAltitude, 2) + "m",
        doubleToString(m_status.velocityEast, 2) + "m/s",
        doubleToString(m_status.velocityNorth, 2) + "m/s",
        doubleToString(m_status.velocityDown, 2) + "m/s"
    }
    );
    m_msgs << "----------------DVL-----------------\n";
    printTable(
        {"DVL X Velocity", "DVL Y Velocity", "DVL Z Velocity"},
        {
            doubleToString(m_status.dvlVelX, 2) + "m/s",
            doubleToString(m_status.dvlVelY, 2) + "m/s",
            doubleToString(m_status.dvlVelZ, 2) + "m/s"
        }
    );
    m_msgs << "---------------------------------\n";

    // =============== Propulsion System ===============
    printTable(
        {"Thruster RPM", "Thruster CMD" ,"up", "down", "left", "right"},
        {
            doubleToString(m_status.thrusterRPM, 1) + "rpm",
            doubleToString(m_CommandFrame.mainThruster, 1) + "%",
            doubleToString(m_CommandFrame.rudderUp-35.0f, 1) + "deg",
            doubleToString(m_CommandFrame.rudderDown-35.0f, 1) + "deg",
            doubleToString(m_CommandFrame.rudderLeft-35.0f, 1) + "deg",
            doubleToString(m_CommandFrame.rudderRight-35.0f, 1) + "deg",
        }
    );
    // m_msgs << "---------------------------------\n";

    // =============== Power System ===============
    printTable(
        {"Battery Voltage", "Battery Level", "Battery Temperature"},
        {
            doubleToString(m_status.batteryVoltage / 1000.0, 2) + "V",
            uintToString(m_status.batteryLevel) + "%",
            doubleToString(m_status.batteryTemp / 10.0, 1) + "°C"
        }
    );
    m_msgs << "---------------------------------\n";

    // =============== System Status ===============
    printTable(
        {"Light", "Leak", "Power" , "Emergency power" , "Payload", "DVL Status","Thruster Status"},
        {
            m_status.ledSwitch ? "ON" : "OFF",
            m_status.leakStatus ? "LEAK" : "NORMAL",
            uintToString(m_status.powerModule),
            uintToString(m_status.backupPower),
            m_status.payloadStatus ?"DROPPED" : "NORMAL",
            m_status.dvlStatus?"ON" : "OFF",
            uintToString(m_status.thrusterStatus)
        }
    );
    // m_msgs << "---------------------------------\n";

    return true;
}

bool AUV150::updateStatus(FeedbackFrame_150AUV &feedbackFrame)
{
    m_status.navModeFb = feedbackFrame.navModeFb;
    m_status.altimeterHeight = feedbackFrame.altimeterHeight / 100.0f;
    m_status.depthSensor = feedbackFrame.depthSensor / 100.0f;
    m_status.trueHeading = feedbackFrame.trueHeading / 100.0f;

    m_status.pitch = feedbackFrame.pitch / 100.0f;
    m_status.roll = feedbackFrame.roll / 100.0f;
    m_status.velocityEast = feedbackFrame.velocityEast / 100.0f;
    m_status.velocityNorth = feedbackFrame.velocityNorth / 100.0f;
    m_status.velocityDown = feedbackFrame.velocityDown / 100.0f;
    m_status.insLongitude = feedbackFrame.insLongitude / 1e5 - 180.0f; 
    m_status.insLatitude = feedbackFrame.insLatitude / 1e5 - 90.0f;
    m_status.insAltitude = feedbackFrame.insAltitude / 100.0f;
    m_status.dvlVelX = feedbackFrame.dvlVelX / 100.0f;
    m_status.dvlVelY = feedbackFrame.dvlVelY / 100.0f;
    m_status.dvlVelZ = feedbackFrame.dvlVelZ / 100.0f;
    m_status.thrusterRPM = feedbackFrame.thrusterRPM;
    m_status.ledSwitch = feedbackFrame.ledSwitch;
    m_status.batteryVoltage = feedbackFrame.batteryVoltage / 1000.0f;
    m_status.batteryLevel = feedbackFrame.batteryLevel;
    m_status.batteryTemp = feedbackFrame.batteryTemp / 10.0f;
    m_status.leakStatus = feedbackFrame.leakStatus;
    m_status.powerModule = feedbackFrame.powerModule;
    m_status.backupPower = feedbackFrame.backupPower;
    m_status.thrusterStatus = feedbackFrame.thrusterStatus;
    m_status.reserved = feedbackFrame.reserved;
    m_status.payloadStatus = feedbackFrame.payloadStatus;
    m_status.dvlStatus = feedbackFrame.dvlStatus;

    m_geodesy.LatLong2LocalGrid(m_status.insLatitude, m_status.insLongitude, m_pos_x, m_pos_y);

    m_status.x = m_pos_x;
    m_status.y = m_pos_y;
    m_status.z = m_status.depthSensor;

    return true;
}

void AUV150::postStatusUpdate(std::string prefix)
{
    m_curr_time = MOOSTime();
    
    // 发布位置信息
    Notify(prefix+"_X", m_pos_x, m_curr_time);
    Notify(prefix+"_Y", m_pos_y, m_curr_time);
    
    if(m_geo_ok) {
        double lat, lon;
        m_geodesy.LocalGrid2LatLong(m_pos_x, m_pos_y, lat, lon);
        Notify(prefix+"_LAT", lat, m_curr_time);
        Notify(prefix+"_LONG", lon, m_curr_time);
    }

    // 发布运动状态
    Notify(prefix+"_HEADING", m_status.trueHeading, m_curr_time);
    Notify(prefix+"_SPEED", m_status.dvlVelX, m_curr_time); 
    Notify(prefix+"_DEPTH", m_status.depthSensor, m_curr_time);
    
    // 发布姿态信息
    Notify(prefix+"_Z", -m_status.depthSensor, m_curr_time);
    Notify(prefix+"_PITCH", m_status.pitch, m_curr_time);
    Notify(prefix+"_YAW", m_status.trueHeading*3.1415926/180, m_curr_time);
    Notify("TRUE_X", m_pos_x, m_curr_time);
    Notify("TRUE_Y", m_pos_y, m_curr_time);

    // 发布对地速度
    Notify(prefix+"_HEADING_OVER_GROUND", m_status.trueHeading, m_curr_time);
    Notify(prefix+"_SPEED_OVER_GROUND", m_status.dvlVelX, m_curr_time);
    
    // 发布高度信息
    if(m_status.insAltitude > 0) {
        Notify(prefix+"_ALTITUDE", m_status.insAltitude, m_curr_time);
    }
}