#ifndef LOWER_COMM_MANAGER_H
#define LOWER_COMM_MANAGER_H
#define UNIX

#include "MOOS/libMOOS/Comms/XPCUdpSocket.h"
#include "MOOS/libMOOS/Utils/MOOSThread.h"
#include "MOOS/libMOOS/Utils/MOOSLock.h"
#include "../udpcomm/ccuUdpMsg.h"
#include "pmSysvariable.h"
#include <queue>
#include <map>
#include <functional>
#include <atomic>
#include <vector>
#include "udpcomm/udpComm.h"
#include <functional>

class PowerManger; // 前向声明

class LowerCommManager {
public:
    LowerCommManager(PowerManger* pm, long myPort, long ccuPort, const std::string& cccHost);
    ~LowerCommManager();

    //processPeriodicTasks
    void processPeriodicTasks();
    //clearMsgQueue
    void clearMsgQueue();
    
public:
    // 初始化UDP通信
    bool initUdpComm();

    // 更新设备状态
    bool updatePoweSystemStates();
    //================================断路器操作函数=======================================
    template<typename CmdT, typename StateT>
    bool operateBreakerGeneric(
        char const* name,
        char opt,
        std::function<void(CmdT&)>      fillCmd,    // 填 cmd 对应字段
        std::function<StateT()>         readState   // 读 pmCurrentState 对应字段
    );
    // 高电压母线
    bool operate_HV_fuelCellCircuit_Breaker(char opt);  
    bool operate_HV_powerLithiumBattery_Breaker(char opt);
    bool operate_HV_propulsionMotor_Breaker(char opt);  
    bool operate_HV_lithiumBatteryMeter_Breaker(char opt);
    bool operate_HV_dcDc5Module_Breaker(char opt);
    bool operate_HV_bowHighVoltageBox_Breaker(char opt);
    bool operate_HV_sternFt45_Breaker(char opt);
    bool operate_HV_sternRudder1_Breaker(char opt);
    bool operate_HV_sternRudder2_Breaker(char opt);
    bool operate_HV_fbReserved_Breaker(char opt);
    bool operate_HV_tyzReserved_Breaker(char opt);
    bool operate_HV_reserved_Breaker(char opt);
    bool operate_HV_dcDc5_Breaker(char opt);
    bool operate_HV_coolingSystem_Breaker(char opt);
    // 高压汇流排
    bool operate_HVA_bowFTDevice123Circuit_Breaker(char opt);
    bool operate_HVA_actuatorCircuit_Breaker(char opt);
    bool operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(char opt);
    bool operate_HVA_xczCircuit_Breaker(char opt);
    bool operate_HVA_bowRudderControlBoxCircuit_Breaker(char opt);
    bool operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(char opt);
    // 仪表母线
    bool operate_LV_lithiumBatteryGroupInstrumentCircuit_Breaker(char opt);
    bool operate_LV_bowLowVoltageDistributionBoxCircuit_Breaker(char opt);
    bool operate_LV_unit4Dc48V_Breaker(char opt);
    bool operate_LV_dcC1Panel_Breaker(char opt);
    bool operate_LV_reservedCircuit1_Breaker(char opt);
    bool operate_LV_reservedCircuit2_Breaker(char opt);
    bool operate_LV_mergencyLithiumBatteryGroup2Circuit_Breaker(char opt);
    // 仪表汇流排
    bool operate_LVA_unit1Circuit_Breaker(char opt);
    bool operate_LVA_unit2Circuit_Breaker(char opt);
    bool operate_LVA_unit3Circuit_Breaker(char opt);
    bool operate_LVA_unit5Circuit_Breaker(char opt);
    bool operate_LVA_bowPZDeviceCircuit_Breaker(char opt);
    bool operate_LVA_reservedCircuit1_Breaker(char opt);
    bool operate_LVA_reservedCircuit2_Breaker(char opt);
    bool operate_LVA_mergencyLithiumBatteryGroup1Circuit_Breaker(char opt);

    //保持指令
    void operate_hold();
    //================================复合管控器操作函数====================================
    // 发送CCU控制命令
    bool sendCcuCommand(const ccuColCmd cmd);
    bool sendDisSysCommand(const disSysBreakerList& cmd); //已废弃，不同时操作多个继电器设备
        
    // 启动/停止监听线程
    void startListenThread();
    void stopListenThread();
    void coutMsg(const msg_CcuStateFbMsg& p, std::ostream& os = std::cout);

    //转换函数
    char getBreakerOption(char cmd);

    // 配电和CCU的反馈状态
    msg_CcuStateFbMsg       m_CcuCurrentState;
    msg_disHighVolBusFbMsg  m_disHighVolBusCurrentState;
    msg_disHighAVolBusFbMsg m_disHighAVolBusCurrentState;
    msg_disLowMainBusFbMsg  m_disHighBVolBusCurrentState;
    msg_disLowBusFbMsg      m_disLowBusState;
    // 配电和CCU的反馈状态时间戳
    double msg_CcuStateFbMsg_Update_time;
    // double msg_CcuSetParmFbMsg_Update_time;
    double msg_disHighVolBusFbMsg_Update_time;
    double msg_disHighAVolBusFbMsg_Update_time;
    double msg_disHighBVolBusFbMsg_Update_time;
    double msg_disLowBusFbMsg_Update_time;
public:
    long m_port;
    long m_ccuPort;
    std::string m_ccuHost;
    std::string m_host;

    PowerManger* m_pm;
    udpComm* m_udpComm;

    CMOOSThread m_ListenThread;
    int m_connectState;
    
    // UDP监听线程函数
    bool listenThreadFunc();
};

#endif // LOWER_COMM_MANAGER_H