#include "app_config.h"
#include "interface.h"
#include "app_frm_monitor.h"
#include "app_frm_signal.h"
#include "app_frm_timer.h"
#include "app_param_manage.h"

#include "app_power.h"


// 定义按钮状态枚举
typedef enum {
    BUTTON_STATE_INITIAL,
    BUTTON_STATE_SHORT_PRESS,
    BUTTON_STATE_SHORT_PRESS_DETECTED,
    BUTTON_STATE_WAIT_FOR_LONG_PRESS,
    BUTTON_STATE_LONG_PRESS,
    BUTTON_STATE_LONG_PRESS_WAIT      
} ButtonState;

// 定义按钮结构体
typedef struct {
    ButtonState state;
    uint32_t press_start_time;
    uint32_t release_start_time;
    uint8_t is_power_on;
    Timer timer;
    uint8_t old_is_power_on;
    Timer timer1;
    
} PowerButton;

// 全局变量
PowerSystem power_data;
static PowerButton power_button = {BUTTON_STATE_INITIAL, 0, 0, 0, {0},0};

//// 电源按钮处理函数
//static void handlePowerButton(void)
//{
//    switch (power_button.state)
//    {
//    case BUTTON_STATE_INITIAL:
//        if (power_data.remote_power_switch == app_close())
//        {
//            power_button.state = BUTTON_STATE_SHORT_PRESS_DETECTED;
//            timerStart(&power_button.timer, 500, 0); // 启动短按定时器，500ms
//        }
//        break;
//
//    case BUTTON_STATE_SHORT_PRESS_DETECTED:
//        if (power_data.remote_power_switch == app_open())
//        {
//            if (power_button.timer.active) // 定时器未到期,短按完成，启动等待长按定时器
//            {
//                power_button.state = BUTTON_STATE_WAIT_FOR_LONG_PRESS;
//                timerStart(&power_button.timer, 500, 0); // 启动等待长按定时器，500ms
//            }
//        }
//        else if (!power_button.timer.active)// 短按定时器到期，按键仍被按下，视为无效，重置为初始状态
//        {   
//            power_button.state = BUTTON_STATE_INITIAL;
//        }
//        break;
//
//    case BUTTON_STATE_WAIT_FOR_LONG_PRESS:  
//        if (power_data.remote_power_switch == app_close())// 检测是否在等待时间内进行长按
//        {
//            power_button.state = BUTTON_STATE_LONG_PRESS;
//            timerStart(&power_button.timer, 1000, 0); // 启动长按定时器，1000ms
//        }
//        else if (!power_button.timer.active) // 等待长按超时，重置为初始状态
//        { 
//            power_button.state = BUTTON_STATE_INITIAL;
//        }
//        break;
//
//    case BUTTON_STATE_LONG_PRESS:
//      
//        if (!power_button.timer.active)// 长按完成，切换电源状态  20250423 修改不需要判断松开按键就打开控制器
//        { 
//            power_button.is_power_on = !power_button.is_power_on;
//            printf("PowerButton: is_power_on = %d\n", power_button.is_power_on);
//            power_button.state = BUTTON_STATE_LONG_PRESS_WAIT;
//        }
//        else if(power_data.remote_power_switch == app_open())
//        {
//            power_button.state = BUTTON_STATE_INITIAL;
//            printf("Long press for short duration");            
//        }
//        else
//        break;
//        
//    case BUTTON_STATE_LONG_PRESS_WAIT:
//        if (power_data.remote_power_switch == app_open())// 检测按键释放
//        {
//            power_button.state = BUTTON_STATE_INITIAL;
//            printf("Release the button");             
//        }      
//    default:
//        power_button.state = BUTTON_STATE_INITIAL;
//        break;
//    }
//}


// 输出处理函数
static void powerOutput(void *signal_id)
{
    (void)signal_id;

    // 根据当前状态,控制各个设备的电源
    switch (power_data.current_state)
    {
    case POWER_PRE_CHARGE:
        publishMessage(&power_data.pre_charge_finish, 1);//发布预充完成信号，100ms发送一次，直到预充完成
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器
        break;
        
    case POWER_NEUTRAL:
        publishMessage(&power_data.pre_charge_finish, 1);//20250316增加，发送空挡信号，保证电机控制器高压上电后，发送空挡信号
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器      
        break;        
        

    case POWER_STANDBY:
        // 初始状态,只开启基本设备
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器
        break;

    case POWER_WORKING:
        // 工作状态,除预充继电器外所有设备开启
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器
        break;

    case POWER_EMERGENCY:
        // 急停状态,断开高压
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器
        break;

    case POWER_SLEEP:
        // 休眠状态,关闭所有设备
        un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3
        un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
        un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
        un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
        un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
        un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
//        un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
//        un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
        un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
        un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器
        break;

    default:
        break;
    }
    publishMessage(&power_data, 1);
    publishMessage(&un_inf_can_kgf_output1, 1);
//    publishMessage(&un_inf_can_kgf_output2, 1);
}

static void wakeupProcess(void *signal_id)
{
    (void)signal_id;  
    
    un_gather_output.bit_data.sleep_duration = (uint16_t)getParam("sleepTm");
    un_gather_output.bit_data.wakeup_interval = (uint16_t)getParam("wakeTm");
    
    if(un_gather_output.bit_data.sleep_duration < 5)//最小值限定
    {
       un_gather_output.bit_data.sleep_duration = 5;
    }
    
    if(un_gather_output.bit_data.wakeup_interval < 5)//最小值限定
    {
       un_gather_output.bit_data.wakeup_interval = 5;
    }    
    
    un_gather_output.bit_data.vehicle_mode = power_data.current_state;
    
    publishMessage(&un_gather_output, 1);
    timerStart(&power_data.timer1, 500, 1); //周期调用
}


// 定时器处理函数
static void powerTimerProcess(void *signal_id)
{
    (void)signal_id;

    // 调用电源按钮处理函数
//    handlePowerButton();
    // 电源按钮状态有变化，保存到参数
//    if (power_button.is_power_on != power_button.old_is_power_on)
//    {
//        setParam("pwr_btn", (float)power_button.is_power_on);
//        power_button.old_is_power_on = power_button.is_power_on;
//    }

    // 状态转换逻辑
    switch (power_data.current_state)
    {
    case POWER_PRE_CHARGE:
        if (!power_data.timer_pre_charge.active) // 预充时间到
        {
            power_data.current_state = POWER_NEUTRAL; // 工作
            power_data.pre_charge_finish = 1; // 预充完成
            printf("Power: Transitioning from PRE_CHARGE to POWER_NEUTRAL state\n");
        }
        break;
    case POWER_NEUTRAL://20250316增加，发送空挡信号
        if (power_data.neutral_cnt >= 5) // 运行5次
        {
            power_data.neutral_cnt = 0; 
            power_data.current_state = POWER_WORKING; // 工作
            power_data.pre_charge_finish = 1; // 预充完成
            printf("Power: Transitioning from POWER_NEUTRAL to WORKING state\n");
        }
        else
        { 
            power_data.neutral_cnt ++;
            power_data.current_state = POWER_NEUTRAL; // 空挡
            power_data.pre_charge_finish = 1; // 预充完成            
        }
        break;        

    case POWER_STANDBY:
      
        power_data.current_state = POWER_WORKING; // 休眠     20251005 修改不需要休眠，直接上电
//        if (power_data.high_voltage_switch == app_open()) // 高压开关断开
//        {
//            power_data.current_state = POWER_SLEEP; // 休眠
//            printf("Power: Transitioning from STANDBY to SLEEP state\n");
//        }
//        else if (power_button.is_power_on == app_close() && power_data.emergency_stop == app_close()) // 遥控器电源开关闭合且急停开关闭合
//        {
//            power_data.current_state = POWER_EMERGENCY; // 急停
//            printf("Power: Transitioning from STANDBY to EMERGENCY state\n");
//        }
        break;
        
    case POWER_WORKING:
//        if (power_data.high_voltage_switch == app_open()) // 高压开关断开
//        {
//            power_data.current_state = POWER_SLEEP; // 休眠
//            printf("Power: Transitioning from STANDBY to SLEEP state\n");
//      
        if (power_data.emergency_stop == app_close()) // 急停开关闭合
        {
            power_data.current_state = POWER_EMERGENCY; // 急停
            printf("Power: Transitioning from WORKING to EMERGENCY state\n"); 
                        
            printf("emergency_stop_switch: %d, remote_emergency_stop: %d\n", power_data.emergency_stop_switch, power_data.remote_emergency_stop);  //打印状态 
            printf("remote_stop: %d\n", un_remote_control_input.bit_data.switch_b);            
        }
        break;
    case POWER_EMERGENCY:
//        if (power_data.high_voltage_switch == app_open()) // 高压开关断开
//        {
//            power_data.current_state = POWER_SLEEP; // 休眠
//            printf("Power: Transitioning from EMERGENCY to SLEEP state\n");
//        }
//        else if (power_button.is_power_on == app_open()) // 遥控器电源开关断开  //20251005 修改不需要电源开关
//        {
//            power_data.current_state = POWER_STANDBY; // 待机
//            printf("Power: Transitioning from EMERGENCY to STANDBY state\n");
//        }
        if (power_data.emergency_stop == app_open()) // 急停断开
        {
            power_data.current_state = POWER_PRE_CHARGE; // 预充
            timerStart(&power_data.timer_pre_charge,  (uint32_t)(getParam("prCTime") * 1000), 1); // 启动预充定时器
            printf("Power: Transitioning from EMERGENCY to PRE_CHARGE state\n");
        }
        break;
    case POWER_SLEEP:
        if (power_data.high_voltage_switch == app_close()) // 高压开关闭合
        {
            power_data.current_state = POWER_STANDBY; // 待机
            printf("Power: Transitioning from SLEEP to STANDBY state\n");
        }
        break;
    default:
        power_data.current_state = POWER_STANDBY; // 待机
        break;
    }

    powerOutput(NULL); // 输出

    // 电源状态有变化，记录到参数
    if (power_data.old_state != power_data.current_state)
    {
        power_data.old_state = power_data.current_state;
        setParam("pwr_sta", (float)power_data.current_state);
    }   

    timerStart(&power_data.timer, 100, 1); //周期调用
}




// 处理所有输入信号的函数
static void powerInput(void *signal_id)
{
    //不能直接赋值，用memcpy    
    PowerSystem old_data;
    memcpy(&old_data, &power_data, sizeof(PowerSystem));

    // 填充数据
    power_data.emergency_stop_switch = 0;//急停开关  20251005 修改四轮四转车无急停开关以及采集模块  高压
    power_data.high_voltage_switch = 1;//高压开关  
    
    if (signal_id == &un_sw_sample)
    {
//        power_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;//急停开关
//        power_data.high_voltage_switch = (uint8_t)un_sw_sample.bit_data.High_voltage_switch;//高压开关
    }
    else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
    {
        power_data.remote_power_switch = (uint8_t)un_remote_control_input.bit_data.switch_d; // 遥控器电源开关
        power_data.remote_emergency_stop = ((uint8_t)un_remote_control_input.bit_data.switch_b == 1) ? 0 : 1;// 遥控器急停开关
    }
    // 急停开关
    power_data.emergency_stop = (uint8_t)( (power_data.emergency_stop_switch == app_close()) || (power_data.remote_emergency_stop == app_close()) );
    
    // 急停开关有变化，记录到参数
    if (power_data.old_emergency_stop != power_data.emergency_stop)
    {
        power_data.old_emergency_stop = power_data.emergency_stop;
        setParam("stop_sw", (float)power_data.emergency_stop);
    }   
    
    // 高压开关状态有变化，记录到参数
    if (power_data.old_high_voltage_switch != power_data.high_voltage_switch)
    {
        power_data.old_high_voltage_switch = power_data.high_voltage_switch;
        setParam("high_sw", (float)power_data.high_voltage_switch);
    }   
}


// APP模块的初始化
void powerAppInit(void)
{
    // 初始化变量
    memset(&power_data, 0, sizeof(PowerSystem));
    power_data.current_state = POWER_STANDBY;
    // 初始化时恢复电源状态
    power_data.current_state = (PowerState)getParam("pwr_sta");
    power_data.old_state = power_data.current_state;
    // 恢复电源按钮状态
    power_button.is_power_on = (uint8_t)getParam("pwr_btn");
    power_button.old_is_power_on = power_button.is_power_on;
    //恢复高压开关状态
    power_data.high_voltage_switch = (uint8_t)getParam("high_sw");
    power_data.old_high_voltage_switch = power_data.high_voltage_switch;
    //恢复急停开关状态    
    power_data.emergency_stop = (uint8_t)getParam("stop_sw");    
    power_data.old_emergency_stop = power_data.emergency_stop;

    un_inf_can_kgf_output1.bit_data.KGF01 = setPowerOff();   // E3  初始化上电默认打开
    un_inf_can_kgf_output1.bit_data.KGF02 = setPowerOn();   // 导航仪
    un_inf_can_kgf_output1.bit_data.KGF03 = setPowerOff();  // 导航仪
    un_inf_can_kgf_output1.bit_data.KGF05 = setPowerOn();   // 交换机、路由器
    un_inf_can_kgf_output1.bit_data.KGF06 = setPowerOn();   // 交换机、路由器
    un_inf_can_kgf_output1.bit_data.KGF07 = setPowerOn();   // 计算机
    un_inf_can_kgf_output1.bit_data.KGF08 = setPowerOn();   // 计算机
    un_inf_can_kgf_output1.bit_data.KGF09 = setPowerOn();  // 上装
    un_inf_can_kgf_output1.bit_data.KGF11 = setPowerOn();  // 上装
    un_inf_can_kgf_output1.bit_data.KGF12 = setPowerOn();   // 待定
    un_inf_can_kgf_output1.bit_data.KGF13 = setPowerOn();   // 前左右红灯
    un_inf_can_kgf_output1.bit_data.KGF14 = setPowerOn();   // 后左右红灯
    un_inf_can_kgf_output1.bit_data.KGF15 = setPowerOn();   // 网络摄像头
    un_inf_can_kgf_output1.bit_data.KGF16 = setPowerOn();   // 遥控器

    // 订阅输入信号
    subscribe(&un_sw_sample, powerInput);            // 急停开关、高压开关
    subscribe(&un_remote_control_input, powerInput); // 遥控器电源开关
    // 定时器
    timerInit(&power_data.timer);
    subscribe(&power_data.timer, powerTimerProcess);
    timerStart(&power_data.timer, 500, 1); // 周期调用
    //定时器唤醒
    timerInit(&power_data.timer1);
    subscribe(&power_data.timer1, wakeupProcess);
    timerStart(&power_data.timer1, 500, 1); // 周期调用    
    //预充定时器
    timerInit(&power_data.timer_pre_charge);
    subscribe(&power_data.timer_pre_charge, powerTimerProcess);

    printf("app_power: initial OK\n");
}