/* Includes ----------------------------------------------------------------- */
#include "device/mrobot.h"
#include "device/device.h"
#include "device/motor.h"
#include "component/freertos_cli.h"
#include "bsp/uart.h"
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include <FreeRTOS.h>
#include <task.h>
#include <cmsis_os2.h>

/* Private variables -------------------------------------------------------- */
static MRobot_Device_t devices[MROBOT_MAX_DEVICES];
static uint8_t device_count = 0;
static char current_path[64] = "/";
static char output_buffer[MROBOT_MAX_OUTPUT_LEN];

/* UART 相关变量 */
static uint8_t uart_rx_char;
static uint8_t cmd_buffer[128];
static volatile uint8_t cmd_index = 0;
static volatile bool cmd_ready = false;
static volatile bool htop_mode = false;
static volatile bool htop_exit = false;
static volatile bool tx_complete = true;

/* Private function prototypes ---------------------------------------------- */
static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);
static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString);

/* CLI 命令定义 */
static const CLI_Command_Definition_t cmd_def_help = {
    "help",
    "help: 显示所有可用命令\r\n",
    cmd_help,
    0
};

static const CLI_Command_Definition_t cmd_def_htop = {
    "htop",
    "htop: 动态显示 FreeRTOS 任务状态 (按 'q' 退出)\r\n",
    cmd_htop,
    0
};

static const CLI_Command_Definition_t cmd_def_cd = {
    "cd",
    "cd <path>: 切换目录\r\n",
    cmd_cd,
    1
};

static const CLI_Command_Definition_t cmd_def_ls = {
    "ls",
    "ls: 列出当前目录内容\r\n",
    cmd_ls,
    0
};

static const CLI_Command_Definition_t cmd_def_show = {
    "show",
    "show [device] [count]: 显示设备信息，count 默认为 1\r\n",
    cmd_show,
    -1  /* 可变参数 */
};

static const CLI_Command_Definition_t cmd_def_pwd = {
    "pwd",
    "pwd: 显示当前目录\r\n",
    cmd_pwd,
    0
};

/* Private functions -------------------------------------------------------- */

/* 通用 IMU 设备打印函数 */
static void mrobot_print_imu(void *device_data, char *buffer, uint16_t buffer_size) {
    DEVICE_IMU_t *imu = (DEVICE_IMU_t *)device_data;
    
    /* 将浮点数转换为整数和小数部分，避免 printf 浮点数支持问题 */
    int accl_x_int = (int)(imu->accl.x);
    int accl_x_frac = (int)((imu->accl.x - accl_x_int) * 1000);
    int accl_y_int = (int)(imu->accl.y);
    int accl_y_frac = (int)((imu->accl.y - accl_y_int) * 1000);
    int accl_z_int = (int)(imu->accl.z);
    int accl_z_frac = (int)((imu->accl.z - accl_z_int) * 1000);
    
    int gyro_x_int = (int)(imu->gyro.x);
    int gyro_x_frac = (int)((imu->gyro.x - gyro_x_int) * 1000);
    int gyro_y_int = (int)(imu->gyro.y);
    int gyro_y_frac = (int)((imu->gyro.y - gyro_y_int) * 1000);
    int gyro_z_int = (int)(imu->gyro.z);
    int gyro_z_frac = (int)((imu->gyro.z - gyro_z_int) * 1000);
    
    int temp_int = (int)(imu->temp);
    int temp_frac = (int)((imu->temp - temp_int) * 100);
    
    float roll_deg = imu->euler.rol * 57.2958f;
    float pitch_deg = imu->euler.pit * 57.2958f;
    float yaw_deg = imu->euler.yaw * 57.2958f;
    
    int roll_int = (int)roll_deg;
    int roll_frac = (int)((roll_deg - roll_int) * 100);
    int pitch_int = (int)pitch_deg;
    int pitch_frac = (int)((pitch_deg - pitch_int) * 100);
    int yaw_int = (int)yaw_deg;
    int yaw_frac = (int)((yaw_deg - yaw_int) * 100);
    
    snprintf(buffer, buffer_size,
             "状态:     %s\r\n"
             "加速度计: X=%d.%03d Y=%d.%03d Z=%d.%03d m/s²\r\n"
             "陀螺仪:   X=%d.%03d Y=%d.%03d Z=%d.%03d rad/s\r\n"
             "温度:     %d.%02d °C\r\n"
             "欧拉角:   Roll=%d.%02d Pitch=%d.%02d Yaw=%d.%02d °\r\n",
             imu->header.online ? "在线" : "离线",
             accl_x_int, abs(accl_x_frac), accl_y_int, abs(accl_y_frac), accl_z_int, abs(accl_z_frac),
             gyro_x_int, abs(gyro_x_frac), gyro_y_int, abs(gyro_y_frac), gyro_z_int, abs(gyro_z_frac),
             temp_int, abs(temp_frac),
             roll_int, abs(roll_frac), pitch_int, abs(pitch_frac), yaw_int, abs(yaw_frac));
}

/* 通用电机设备打印函数 */
static void mrobot_print_motor(void *device_data, char *buffer, uint16_t buffer_size) {
    MOTOR_t *motor = (MOTOR_t *)device_data;
    
    int angle_int = (int)(motor->feedback.rotor_abs_angle);
    int angle_frac = (int)((motor->feedback.rotor_abs_angle - angle_int) * 100);
    
    int speed_int = (int)(motor->feedback.rotor_speed);
    int speed_frac = (int)((motor->feedback.rotor_speed - speed_int) * 100);
    
    int current_int = (int)(motor->feedback.torque_current);
    int current_frac = (int)((motor->feedback.torque_current - current_int) * 100);
    
    int temp_int = (int)(motor->feedback.temp);
    int temp_frac = (int)((motor->feedback.temp - temp_int) * 10);
    
    snprintf(buffer, buffer_size,
             "状态:     %s\r\n"
             "反装:     %s\r\n"
             "角度:     %d.%02d °\r\n"
             "转速:     %d.%02d RPM\r\n"
             "电流:     %d.%02d A\r\n"
             "温度:     %d.%01d °C\r\n",
             motor->header.online ? "在线" : "离线",
             motor->reverse ? "是" : "否",
             angle_int, abs(angle_frac),
             speed_int, abs(speed_frac),
             current_int, abs(current_frac),
             temp_int, abs(temp_frac));
}

/* help 命令实现 */
static BaseType_t cmd_help(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    snprintf(pcWriteBuffer, xWriteBufferLen,
             "MRobot CLI v1.0\r\n"
             "可用命令:\r\n"
             "  help  - 显示帮助信息\r\n"
             "  htop  - 动态显示任务状态 (按 'q' 退出)\r\n"
             "  cd    - 切换目录\r\n"
             "  ls    - 列出目录内容\r\n"
             "  pwd   - 显示当前路径\r\n"
             "  show  - 显示设备信息\r\n"
             "\r\n");
    return pdFALSE;
}

/* htop 命令实现 - 由 cli.c 处理动态显示 */
static BaseType_t cmd_htop(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    (void)pcWriteBuffer;
    (void)xWriteBufferLen;
    /* htop 命令在 cli.c 中被特殊处理，这里返回空 */
    return pdFALSE;
}

/* pwd 命令实现 */
static BaseType_t cmd_pwd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    snprintf(pcWriteBuffer, xWriteBufferLen, "%s\r\n", current_path);
    return pdFALSE;
}

/* cd 命令实现 */
static BaseType_t cmd_cd(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    const char *param;
    BaseType_t param_len;
    
    param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
    
    if (param != NULL) {
        char path[64];
        strncpy(path, param, param_len);
        path[param_len] = '\0';
        
        if (strcmp(path, "/") == 0 || strcmp(path, "..") == 0) {
            strcpy(current_path, "/");
        } else if (strcmp(path, "dev") == 0 || strcmp(path, "/dev") == 0) {
            strcpy(current_path, "/dev");
        } else if (strcmp(path, "modules") == 0 || strcmp(path, "/modules") == 0) {
            strcpy(current_path, "/modules");
        } else {
            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 目录不存在\r\n");
            return pdFALSE;
        }
        snprintf(pcWriteBuffer, xWriteBufferLen, "切换到: %s\r\n", current_path);
    } else {
        snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 缺少路径参数\r\n");
    }
    
    return pdFALSE;
}

/* ls 命令实现 */
static BaseType_t cmd_ls(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    (void)pcCommandString;
    int offset = 0;
    
    if (strcmp(current_path, "/") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "dev/\r\nmodules/\r\n");
    } else if (strcmp(current_path, "/dev") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "设备列表:\r\n");
        for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "  %s\r\n", devices[i].name);
        }
        if (device_count == 0) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "  (无设备)\r\n");
        }
    } else if (strcmp(current_path, "/modules") == 0) {
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "(模块功能暂未实现)\r\n");
    }
    
    return pdFALSE;
}

/* show 命令实现 */
static BaseType_t cmd_show(char *pcWriteBuffer, size_t xWriteBufferLen, const char *pcCommandString) {
    const char *param;
    const char *count_param;
    BaseType_t param_len, count_param_len;
    static uint32_t print_count = 0;
    static uint32_t current_iteration = 0;
    static char saved_device_name[32] = {0};
    
    /* 首次调用时解析参数 */
    if (current_iteration == 0) {
        param = FreeRTOS_CLIGetParameter(pcCommandString, 1, &param_len);
        count_param = FreeRTOS_CLIGetParameter(pcCommandString, 2, &count_param_len);
        
        if (strcmp(current_path, "/dev") != 0) {
            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: show 命令仅在 /dev 目录下可用\r\n");
            return pdFALSE;
        }
        
        /* 解析打印次数，默认为 1 */
        print_count = 1;
        if (count_param != NULL) {
            char count_str[16];
            strncpy(count_str, count_param, count_param_len < 15 ? count_param_len : 15);
            count_str[count_param_len < 15 ? count_param_len : 15] = '\0';
            int parsed_count = atoi(count_str);
            if (parsed_count > 0 && parsed_count <= 100) {
                print_count = parsed_count;
            }
        }
        
        /* 保存设备名称 */
        if (param != NULL) {
            strncpy(saved_device_name, param, param_len);
            saved_device_name[param_len] = '\0';
        } else {
            saved_device_name[0] = '\0';
        }
    }
    
    /* 执行打印 */
    int offset = 0;
    
    /* 多次打印时清屏（像htop一样） */
    if (print_count > 1) {
        const char *clear = "\033[2J\033[H";  /* ANSI清屏 + 光标归位 */
        offset = snprintf(pcWriteBuffer, xWriteBufferLen, "%s", clear);
    }
    
    if (saved_device_name[0] == '\0') {
        /* 显示所有设备 */
        if (print_count > 1) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, 
                             "[第 %u/%u 次]\r\n", current_iteration + 1, print_count);
        }
        offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset, "所有设备信息:\r\n");
        for (uint8_t i = 0; i < device_count && offset < (int)xWriteBufferLen; i++) {
            offset += snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                             "\r\n=== %s ===\r\n", devices[i].name);
            if (devices[i].print_callback != NULL) {
                devices[i].print_callback(devices[i].data, 
                                         pcWriteBuffer + offset, 
                                         xWriteBufferLen - offset);
                offset = strlen(pcWriteBuffer);
            }
        }
    } else {
        /* 显示特定设备 */
        bool found = false;
        for (uint8_t i = 0; i < device_count; i++) {
            if (strcmp(devices[i].name, saved_device_name) == 0) {
                found = true;
                int offset = 0;
                if (print_count > 1) {
                    offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
                                     "[第 %u/%u 次] === %s ===\r\n", 
                                     current_iteration + 1, print_count, devices[i].name);
                } else {
                    offset = snprintf(pcWriteBuffer, xWriteBufferLen, 
                                     "=== %s ===\r\n", devices[i].name);
                }
                if (devices[i].print_callback != NULL) {
                    devices[i].print_callback(devices[i].data, 
                                             pcWriteBuffer + offset, 
                                             xWriteBufferLen - offset);
                } else {
                    snprintf(pcWriteBuffer + offset, xWriteBufferLen - offset,
                           "无打印函数\r\n");
                }
                break;
            }
        }
        
        if (!found && current_iteration == 0) {
            snprintf(pcWriteBuffer, xWriteBufferLen, "错误: 设备 '%s' 未找到\r\n", saved_device_name);
            current_iteration = 0;
            return pdFALSE;
        }
    }
    
    /* 判断是否需要继续打印 */
    current_iteration++;
    if (current_iteration < print_count) {
        osDelay(200);  /* 延时 200ms 再打印下一次 */
        return pdTRUE;  /* 返回 pdTRUE 表示还有更多输出 */
    } else {
        current_iteration = 0;  /* 重置计数器 */
        return pdFALSE;
    }
}

/* UART 发送完成回调 */
static void mrobot_uart_tx_callback(void) {
    tx_complete = true;
}

/* UART 接收中断回调 */
static void mrobot_uart_rx_callback(void) {
    uint8_t ch = uart_rx_char;
    
    /* 如果在 htop 模式，检查退出键 */
    if (htop_mode) {
        if (ch == 'q' || ch == 'Q' || ch == 27) {  /* q 或 ESC */
            htop_exit = true;
        }
        /* 重新启动接收 */
        BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
        return;
    }
    
    if (ch == '\r' || ch == '\n') {
        if (cmd_index > 0) {
            cmd_buffer[cmd_index] = '\0';
            cmd_ready = true;
            /* 换行使用中断方式发送（数据量小） */
            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)"\r\n", 2, false);
        }
    } else if (ch == 127 || ch == 8) {  /* 退格键 */
        if (cmd_index > 0) {
            cmd_index--;
            /* 回显退格（中断方式） */
            const char *backspace = "\b \b";
            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)backspace, 3, false);
        }
    } else if (ch >= 32 && ch < 127 && cmd_index < sizeof(cmd_buffer) - 1) {
        /* 只接受可打印字符 */
        cmd_buffer[cmd_index++] = ch;
        /* 回显字符（中断方式） */
        BSP_UART_Transmit(BSP_UART_VOFA, &ch, 1, false);
    }
    
    /* 重新启动接收 */
    BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
}

/* Exported functions ------------------------------------------------------- */

void MRobot_Init(void) {
    /* 初始化设备数组 */
    memset(devices, 0, sizeof(devices));
    device_count = 0;
    
    /* 注册 CLI 命令 */
    FreeRTOS_CLIRegisterCommand(&cmd_def_help);
    FreeRTOS_CLIRegisterCommand(&cmd_def_htop);
    FreeRTOS_CLIRegisterCommand(&cmd_def_cd);
    FreeRTOS_CLIRegisterCommand(&cmd_def_ls);
    FreeRTOS_CLIRegisterCommand(&cmd_def_show);
    FreeRTOS_CLIRegisterCommand(&cmd_def_pwd);
    
    /* 注册 UART 回调 */
    BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_RX_CPLT_CB, mrobot_uart_rx_callback);
    BSP_UART_RegisterCallback(BSP_UART_VOFA, BSP_UART_TX_CPLT_CB, mrobot_uart_tx_callback);
    
    /* 启动 UART 接收 */
    BSP_UART_Receive(BSP_UART_VOFA, &uart_rx_char, 1, false);
    
    /* 发送欢迎消息 */
    const char *welcome = "\r\n\r\n"
                         "================================\r\n"
                         "  MRobot CLI v1.0\r\n"
                         "  输入 'help' 获取帮助\r\n"
                         "================================\r\n"
                         "root@mrobot:~$ ";
    tx_complete = false;
    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)welcome, strlen(welcome), true);
    while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
}

int8_t MRobot_RegisterDevice(const char *name, MRobot_DeviceType_t type,
                             void *data, MRobot_PrintCallback_t print_callback) {
    if (device_count >= MROBOT_MAX_DEVICES) {
        return -1;
    }
    
    if (name == NULL || data == NULL) {
        return -1;
    }
    
    strncpy(devices[device_count].name, name, sizeof(devices[device_count].name) - 1);
    devices[device_count].type = type;
    devices[device_count].data = data;
    devices[device_count].print_callback = print_callback;
    device_count++;
    
    return 0;
}

int8_t MRobot_RegisterIMU(const char *name, void *imu_device) {
    return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_IMU, imu_device, mrobot_print_imu);
}

int8_t MRobot_RegisterMotor(const char *name, void *motor) {
    return MRobot_RegisterDevice(name, MROBOT_DEVICE_TYPE_MOTOR, motor, mrobot_print_motor);
}

void MRobot_Run(void) {
    /* 动态 htop 模式 */
    if (htop_mode) {
        /* 清屏并重置光标 */
        const char *clear = "\033[2J\033[H";
        tx_complete = false;
        BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true);
        while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
        
        /* 显示 htop 头部 */
        const char *header = 
            "MRobot Task Monitor (按 'q' 退出)\r\n"
            "================================================================================\r\n";
        tx_complete = false;
        BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)header, strlen(header), true);
        while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
        
        /* 获取任务列表 */
        char task_buffer[1024];
        vTaskList(task_buffer);
        
        /* 格式化输出 */
        char display_buffer[1536];
        int offset = snprintf(display_buffer, sizeof(display_buffer),
                             "%-16s %-8s %-4s %-8s %-4s\r\n"
                             "--------------------------------------------------------------------------------\r\n",
                             "Task Name", "State", "Prio", "Stack", "Num");
        
        /* 解析并美化任务列表 */
        char *line = strtok(task_buffer, "\r\n");
        while (line != NULL && offset < (int)sizeof(display_buffer) - 100) {
            char name[17] = {0};
            char state[9] = {0};
            int prio = 0;
            int stack = 0;
            int num = 0;
            
            if (sscanf(line, "%16s %c %d %d %d", name, &state[0], &prio, &stack, &num) == 5) {
                /* 状态字符转换 */
                const char *state_str = "?";
                switch(state[0]) {
                    case 'R': state_str = "Running"; break;
                    case 'B': state_str = "Blocked"; break;
                    case 'S': state_str = "Suspend"; break;
                    case 'D': state_str = "Deleted"; break;
                    default: state_str = "Unknown"; break;
                }
                
                offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset,
                                 "%-16s %-8s %-4d %-8d %-4d\r\n",
                                 name, state_str, prio, stack, num);
            }
            line = strtok(NULL, "\r\n");
        }
        
        /* 添加运行时统计 */
        offset += snprintf(display_buffer + offset, sizeof(display_buffer) - offset,
                          "--------------------------------------------------------------------------------\r\n"
                          "System Tick: %lu\r\n",
                          (unsigned long)xTaskGetTickCount());
        
        tx_complete = false;
        BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)display_buffer, strlen(display_buffer), true);
        while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
        
        /* 检查退出标志 */
        if (htop_exit) {
            htop_mode = false;
            htop_exit = false;
            
            /* 清屏 */
            tx_complete = false;
            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)clear, strlen(clear), true);
            while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
            
            /* 显示提示符 */
            char prompt[128];
            snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path);
            tx_complete = false;
            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
            while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
        }
        
        osDelay(200);  /* 每 200ms 刷新一次，5fps */
        return;
    }
    
    /* 检查是否有命令需要处理 */
    if (cmd_ready) {
        /* 检查是否是 htop 命令 */
        if (strcmp((char *)cmd_buffer, "htop") == 0) {
            htop_mode = true;
            htop_exit = false;
        } else {
            /* 处理其他命令 */
            BaseType_t result;
            output_buffer[0] = '\0';  /* 清空输出缓冲区 */
            
            do {
                result = FreeRTOS_CLIProcessCommand((char *)cmd_buffer, 
                                                    output_buffer, 
                                                    sizeof(output_buffer));
                
                /* 立即发送输出 */
                if (strlen(output_buffer) > 0) {
                    tx_complete = false;
                    BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)output_buffer, strlen(output_buffer), true);
                    while (!tx_complete) { osDelay(1); }
                    output_buffer[0] = '\0';  /* 清空缓冲区准备下一次 */
                }
            } while (result != pdFALSE);
            
            /* 发送提示符 */
            char prompt[128];
            snprintf(prompt, sizeof(prompt), "root@mrobot:%s$ ", current_path);
            tx_complete = false;
            BSP_UART_Transmit(BSP_UART_VOFA, (uint8_t *)prompt, strlen(prompt), true);
            while (!tx_complete) { osDelay(1); }  /* 等待发送完成 */
        }
        
        /* 重置状态 */
        cmd_index = 0;
        cmd_ready = false;
    }
    
    osDelay(10);
}