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

#include <iterator>
#include "MBUtils.h"
#include "ACTable.h"
#include "PowerManger.h"
#include "logc/loguru.hpp"
#include <memory>

using namespace std;


bool _FsmCB(void * pParam)
{
    PowerManger* pMe = (PowerManger* )pParam;
    return pMe->FsmLoop();
}

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

PowerManger::PowerManger()
{
  workCondition = 0;
  currentMod = 0;
  powerState = 0;
  faultLevel = 0;
  soc = 0;
  sustainableTime = 0;
  m_faultNum = 0;
  m_ticker = 0;
  m_leakage = 0;
  faultCode.clear();

  m_skew = 2;

  m_pmCurrentState = {};
  m_currentDisBreakerState = {};
  m_targetDisBreakerState = {};
  m_currentDriverState = {};
  m_MSDriverCmd = {};
  m_subDisSysCmd = {};
  m_subDisSysState = {};
  //初始化控制指令
  initControlCmd();

  //初始化下位机通信
  m_lowerCommManager = new LowerCommManager(this,IPORT,CCUPORT,CCUHOST);
  m_lowerCommManager->initUdpComm();
  m_lowerCommManager->startListenThread();

  //初始化上位机通信
  m_upperCommManager = new UpperCommManager(this);

  //初始化数据库
  m_db = new SQLite("power_data.db");
  m_db->createTable();

  //初始化系统数据
  m_systemData = new SystemData();

  //初始化http服务器
  m_httpServer = new HttpServer(8090);
  m_httpServer->setPowerManger(this);
  m_httpServer->setLowerCommManager(m_lowerCommManager);
  m_httpServer->setSystemData(m_systemData);
  m_httpServer->start();
}

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

PowerManger::~PowerManger()
{
  delete m_db;
  delete m_lowerCommManager;
  delete m_upperCommManager;
  delete m_systemData;
  delete m_httpServer;
}

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

bool PowerManger::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();
    string strJson = msg.GetString();
    double dfT;
    msg.IsSkewed(m_curr_time, &dfT);
    if(fabs(dfT) > m_skew)
    {
      LOG_F(INFO, "Message from %s at time %f is Skewed", msg.GetSource().c_str(), dfT);
      return true;
    }
    //处理上位机发送的控制指令
    if(!m_upperCommManager->processUpperMsg(key,strJson))
    {
      LOG_F(ERROR, "上位机消息处理错误: %s", key.c_str());
    }
    
#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 == "FOO")
       LOG_F(INFO, "Received FOO message");

     else if(key != "APPCAST_REQ") // handled by AppCastingMOOSApp
       reportRunWarning("Unhandled Mail: " + key);
   }
	
   return(true);
}

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

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

//---------------------------------------------------------
// Procedure: Iterate()
//            happens AppTick times per second
//固定为4Hz
bool PowerManger::Iterate()
{
  AppCastingMOOSApp::Iterate();
  // 触发定时任务
  CycleTriggeredEvent cycleEvent;
  PowerManagerFsm::dispatch(cycleEvent);
  faultLevel = getFaultLevel();
  // 更新系统数据
  // m_systemData->updateSystemData(m_pmCurrentState.ccustate);
  // m_systemData->updateSystemData(m_pmCurrentState.bus1State);
  // m_systemData->updateSystemData(m_pmCurrentState.bus2State);
  // m_systemData->updateSystemData(m_pmCurrentState.bus3State);
  // m_systemData->updateSystemData(m_pmCurrentState.bus4State);
  // m_systemData->device_common_status.ccu_status.lastUpdateTime = m_lowerCommManager->msg_CcuStateFbMsg_Update_time;
  // m_systemData->device_common_status.dis_hv_c1.lastUpdateTime = m_lowerCommManager->msg_disHighVolBusFbMsg_Update_time;
  // m_systemData->device_common_status.dis_hv_c2.lastUpdateTime = m_lowerCommManager->msg_disHighAVolBusFbMsg_Update_time;
  // m_systemData->device_common_status.dis_lv_c1.lastUpdateTime = m_lowerCommManager->msg_disHighBVolBusFbMsg_Update_time;
  // m_systemData->device_common_status.dis_lv_c2.lastUpdateTime = m_lowerCommManager->msg_disLowBusFbMsg_Update_time;
  m_systemData->updateCommonStatus();
  // m_CcuColCmd.heartbeat
  if (m_ticker++ % 5 == 0)
  {
    m_CcuColCmd.heartbeat++;
    m_lowerCommManager->processPeriodicTasks();
    m_upperCommManager->processPeriodicTasks();
  }
  return(true);
}

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

bool PowerManger::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;
    }

    if(!handled)
      reportUnhandledConfigWarning(orig);

  }

  registerVariables();	
    
  // 初始化状态机
  PowerManagerFsm::init(this);
  PowerManagerFsm::start();
  InitEvent initEvent;
  PowerManagerFsm::dispatch(initEvent);
  return(true);
}

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

void PowerManger::registerVariables()
{
  AppCastingMOOSApp::RegisterVariables();
  // Register(DB_TO_PM_SUBDISSTATE, 0);

  Register(DB_TO_PM_MSCMD, 0);
  Register(DB_TO_PM_EQUIPMENTCMD, 0);
  Register(m_upperCommManager->m_secdistStateMsg.key_fb,0);
  Register(DB_TO_PM_MISSION,0);
  Register(DB_TO_PM_DEEPTH,0);
  Register(DB_TO_PM_SETOPCONDITION,0);
  Register(DB_TO_PM_SETOPMODE,0);
  Register(DB_TO_PM_SETPMSYS,0);
  Register(DB_TO_PM_SETDEVSWITCH,0);
  Register(DB_TO_PM_TASKSTOP,0);
}


//------------------------------------------------------------
// Procedure: buildReport()

bool PowerManger::buildReport() 
{
  m_msgs << "============================================" << endl;
  m_msgs << "File:                                       " << endl;
  m_msgs << "============================================" << endl;

  ACTable actab(4);
  actab << "Alpha | Bravo | Charlie | Delta";
  actab.addHeaderLines();
  actab << "one" << "two" << "three" << "four";
  m_msgs << actab.getFormattedString();

  return(true);
}



bool PowerManger::FsmLoop()
{
  //状态机循环
  // while (!m_FsmThread.IsQuitRequested())
  // {
  //   // // 检查故障并触发事件
  //   // if(int error = checkError()) {
  //   //   m_fsm.triggerFaultEvent(error);
  //   // } else {
  //   //   // 自动状态转换由状态机内部处理
  //   //   MOOSPause(1000);
  //   // }
    
  //   //延时1s
  //   usleep(1000000);
  // }
  return true;
}

int PowerManger::checkError()
{
  //TODO：更新协议
  //1.检查复合管控器状态
  // if(m_pmCurrentState.ccustate.fcuGZ_1H != 0 ||
  // m_pmCurrentState.ccustate.fcuGZ_1L != 0 ||
  // m_pmCurrentState.ccustate.fcuGZ_2H != 0 ||
  // m_pmCurrentState.ccustate.fcuGZ_2L != 0 ||
  // m_pmCurrentState.ccustate.fcuGZ_3H != 0 ||
  // m_pmCurrentState.ccustate.fcuGZ_3L != 0 ||
  // m_pmCurrentState.ccustate.insEmergencyStatusWord != 0)
  return 0;
  //2.检查断路器状态
}

void PowerManger::printState(const std::string& stateName, const std::string& desp){
  if (desp.find("故障") != string::npos) {
    LOG_F(ERROR, "STATE %s -> %s", stateName.c_str(), desp.c_str());
  } else {
    LOG_F(INFO, "STATE %s -> %s", stateName.c_str(), desp.c_str());
  }
}


void PowerManger::initControlCmd()
{
  //================初始化配电指令=============================
  m_targetDisBreakerState.bus1Breaker.fuelCellCircuitBreaker = 0;
  m_targetDisBreakerState.bus1Breaker.powerLithiumBatteryCircuitBreaker = 1; //动力锂电池默认接入
  m_targetDisBreakerState.bus1Breaker.propulsionMotorCircuitBreaker = 0; 
  m_targetDisBreakerState.bus1Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1; //仪表锂电池默认接入
  m_targetDisBreakerState.bus1Breaker.dcDc5ModuleCircuitBreaker = 1; //DC-DC模块默认接入
  m_targetDisBreakerState.bus1Breaker.bowHighVoltageDistributionBoxCircuitBreaker = 1; //艏部高压母线断路器默认接入
  m_targetDisBreakerState.bus1Breaker.sternFTDevice45CircuitBreaker = 0; // sternFTDevice45CircuitBreaker默认接入
  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch1CircuitBreaker = 0; 
  m_targetDisBreakerState.bus1Breaker.sternRudderSwitch2CircuitBreaker = 0; 
  m_targetDisBreakerState.bus1Breaker.fbReservedCircuitBreaker = 0; 
  m_targetDisBreakerState.bus1Breaker.tyzReservedCircuitBreaker = 0; 
  m_targetDisBreakerState.bus1Breaker.reservedCircuitBreaker = 0;

  m_targetDisBreakerState.bus2Breaker.bowFTDevice123CircuitBreaker = 0;
  m_targetDisBreakerState.bus2Breaker.actuatorCircuitBreaker = 0;
  m_targetDisBreakerState.bus2Breaker.mastSteeringGearControlBoxCircuitBreaker = 0;
  m_targetDisBreakerState.bus2Breaker.xczCircuitBreaker = 0;
  m_targetDisBreakerState.bus2Breaker.bowRudderControlBoxCircuitBreaker = 0;
  m_targetDisBreakerState.bus2Breaker.openWaterCoverStartCylinderCircuitBreaker = 0;
  //锂电池默认接入
  m_targetDisBreakerState.bus3Breaker.lithiumBatteryGroupInstrumentCircuitBreaker = 1;
  m_targetDisBreakerState.bus3Breaker.bowLowVoltageDistributionBoxCircuitBreaker = 1;
  m_targetDisBreakerState.bus3Breaker.unit4InstrumentDC48VCircuitBreaker = 1;
  m_targetDisBreakerState.bus3Breaker.dcC1DCDistributionPanelCircuitBreaker = 1;
  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker1 = 0;
  m_targetDisBreakerState.bus3Breaker.reservedCircuitBreaker2 = 0;
  m_targetDisBreakerState.bus3Breaker.emergencyLithiumBatteryGroup2CircuitBreaker = 1;

  m_targetDisBreakerState.bus4Breaker.unit1CircuitBreaker = 1;
  m_targetDisBreakerState.bus4Breaker.unit2CircuitBreaker = 1;
  m_targetDisBreakerState.bus4Breaker.unit3CircuitBreaker = 1;
  m_targetDisBreakerState.bus4Breaker.unit5CircuitBreaker = 1;
  m_targetDisBreakerState.bus4Breaker.bowPZDeviceCircuitBreaker = 1;
  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker1 = 0;
  m_targetDisBreakerState.bus4Breaker.reservedCircuitBreaker2 = 0;
  m_targetDisBreakerState.bus4Breaker.emergencyLithiumBatteryGroup1CircuitBreaker = 1; //紧急锂电池默认接入
  //================初始化复合管控=============================
  m_CcuColCmd.fcmode = 0x00; //默认无效
  m_CcuColCmd.fcuCmd = 0x00; //无效指令
  m_CcuColCmd.fcuPowerEfficiency = 15; //默认为15kw
  m_CcuColCmd.insChargeEnable = 0x30; //不允许充电
  m_CcuColCmd.insBatCmd = 0x00; //无效指令
  m_CcuColCmd.powerBatCmd = 0x00; //无效指令
  m_CcuColCmd.powerBatEfficiency = 230; //默认为最大
  m_CcuColCmd.heartbeat = 0;
  m_CcuColCmd.masterState = 0xAA;//主站状态,运行中
  //================初始化上位机指令=========================
  m_msCmd.modCMD = 99;
  m_msCmd.powerCMD = 99;
  m_msCmd.workCMD = 99;
  //================初始化设备驱动指令========================

}

unsigned char PowerManger::getFaultLevel()
{
    unsigned char maxLevel = 0;
    for (auto code : faultCode) {
        // 提取0xabcd中的b位 (右移8位后取低4位)
        unsigned char level = (code >> 8) & 0xF;
        if (level > maxLevel) {
            maxLevel = level;
        }
    }
    return maxLevel;
}

void PowerManger::injectFault(unsigned type,unsigned int faultCode){
  LOG_F(INFO, "注入故障: %d %d", type, faultCode);
  TestEvent testEvent("故障注入测试",type,faultCode);
  PowerManagerFsm::dispatch(testEvent);
}