#include <stdio.h>
#include <time.h>
#include <string.h>
#include <math.h>
#include "wifi-connect.h"
#include "esp_lvgl_port.h"
#include "lvgl_st7789_use.h"
#include "ui.h"
#include "vars.h"
#include "relay_ctrl.h"
#include "esp_err.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "esp_task_wdt.h"
#include "sntp_time.h"
#include "esp_mac.h"
#include "esp_system.h"
#include "esp_efuse.h"
#include "esp_efuse_table.h"
#include "sntp_time.h"
#include "bh1750_use.h"
#include "aht30.h"
#include "MQ-2.h"
#include "JW01.h"
#include "human_door.h"
#include "fire_sensor.h"
#include "hx711.hpp"

#define TAG "MAIN"
#define CO2_SPOILAGE_THRESHOLD_PPM 1500.0f
#define FIRE_DANGER_THRESHOLD_PERCENT 35.0f
static const gpio_num_t kClockPin = GPIO_NUM_13;
static const gpio_num_t kDataPin = GPIO_NUM_14;

#define HX711_TARE_SAMPLES 24
#define HX711_READ_TIMEOUT_MS 350
#define HX711_REFRESH_MS 120
#define HX711_COUNTS_PER_GRAM 430.0f
#define HX711_ZERO_DEADBAND_G 2.0f
#define HX711_FILTER_ALPHA 0.15f
#define HX711_STABLE_BAND_G 0.30f
#define HX711_UNLOCK_DELTA_G 2.00f
#define HX711_UPDATE_MIN_STEP_G 0.05f
#define HX711_STABLE_SAMPLES 15
#define TWDT_NORMAL_TIMEOUT_MS 5000
#define TWDT_UI_INIT_TIMEOUT_MS 120000

typedef struct
{
    char time_str[32];
    float lux;
    float temp;
    float humidity;
    float gas_percent;
    float tvoc;
    float hcho;
    float co2;
    float ice_weight;
    float fire_percent;
    bool fire_danger;
    bool human_present;
    bool door_closed;
} env_data_t;

static env_data_t s_env_data;
static SemaphoreHandle_t s_env_data_lock = NULL;
static volatile bool s_ui_ready = false;

static void reconfigure_twdt(uint32_t timeout_ms, uint32_t idle_core_mask)
{
    const esp_task_wdt_config_t twdt_cfg = {
        .timeout_ms = timeout_ms,
        .idle_core_mask = idle_core_mask,
        .trigger_panic = true,
    };

    esp_err_t ret = esp_task_wdt_reconfigure(&twdt_cfg);
    if (ret != ESP_OK) {
        ESP_LOGW(TAG, "TWDT reconfigure failed: %s", esp_err_to_name(ret));
    }
}

static bool wait_for_wifi_connected(TickType_t timeout_ticks)
{
    const TickType_t start_ticks = xTaskGetTickCount();
    while ((xTaskGetTickCount() - start_ticks) < timeout_ticks)
    {
        if (wifi_connect_get_status() == WIFI_CONNECT_STATUS_CONNECTED)
            return true;
        vTaskDelay(pdMS_TO_TICKS(200));
    }
    return false;
}

static void env_data_update_system_info(void)
{
    if (s_env_data_lock == NULL)
        return;
    time_t now;
    struct tm timeinfo;
    time(&now);
    localtime_r(&now, &timeinfo);
    char time_buf[32];
    strftime(time_buf, sizeof(time_buf), "%Y-%m-%d %H:%M:%S", &timeinfo);

    xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
    strncpy(s_env_data.time_str, time_buf, sizeof(s_env_data.time_str));
    xSemaphoreGive(s_env_data_lock);
    set_var_local_time(s_env_data.time_str);
}

static void ui_task(void *arg)
{
    for (;;)
    {
        if (!s_ui_ready)
        {
            vTaskDelay(pdMS_TO_TICKS(20));
            continue;
        }
        env_data_update_system_info();
        lvgl_port_lock(0);
        ui_tick();
        lvgl_port_unlock();
        vTaskDelay(pdMS_TO_TICKS(30));
    }
}

static void ui_init_task(void *arg)
{
    (void)arg;

    ESP_LOGI(TAG, "UI init start");
    lvgl_port_lock(100 / portTICK_PERIOD_MS);
    ui_init();
    lvgl_port_unlock();
    ESP_LOGI(TAG, "UI init done");

    s_ui_ready = true;
    reconfigure_twdt(TWDT_NORMAL_TIMEOUT_MS, (1U << portNUM_PROCESSORS) - 1U);
    vTaskDelete(NULL);
}

static void status_task(void *arg)
{
    (void)arg;
    for (;;)
    {
        human_door_state_t io_state{};
        if (human_door_read(&io_state) == ESP_OK)
        {
            set_var_hum_status(io_state.human_present ? "有人" : "无人");
            set_var_door_status(io_state.door_closed ? "关闭" : "开启");

            if (s_env_data_lock)
            {
                xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
                s_env_data.human_present = io_state.human_present;
                s_env_data.door_closed = io_state.door_closed;
                xSemaphoreGive(s_env_data_lock);
            }
        }
        vTaskDelay(pdMS_TO_TICKS(200));
    }
}

static void sntp_task(void *arg)
{
    (void)arg;

    if (wait_for_wifi_connected(pdMS_TO_TICKS(15000))) {
        esp_err_t sntp_ret = sntp_timp_sync_time(10000);
        if (sntp_ret != ESP_OK) {
            ESP_LOGW(TAG, "SNTP sync failed: %s", esp_err_to_name(sntp_ret));
        }
    }

    vTaskDelete(NULL);
}

static void hx711_task(void *arg)
{
    (void)arg;

    HX711 hx711(kClockPin, kDataPin, HX711::Mode::kChannelA128);
    int64_t tare_sum = 0;
    int tare_ok_count = 0;

    // 上电空载自动去皮：当前重量作为 0g 基准
    for (int i = 0; i < HX711_TARE_SAMPLES; ++i) {
        int32_t raw = hx711.Read(pdMS_TO_TICKS(HX711_READ_TIMEOUT_MS));
        if (raw != HX711::kUndefined) {
            tare_sum += raw;
            tare_ok_count++;
        }
        vTaskDelay(pdMS_TO_TICKS(40));
    }

    int32_t tare_offset = 0;
    if (tare_ok_count > 0) {
        tare_offset = (int32_t)(tare_sum / tare_ok_count);
        ESP_LOGI(TAG, "HX711 tare done: raw0=%ld, samples=%d", (long)tare_offset, tare_ok_count);
    } else {
        ESP_LOGW(TAG, "HX711 tare failed, use 0 as offset");
    }

    float filtered_weight_g = 0.0f;
    float display_weight_g = 0.0f;
    bool display_initialized = false;
    bool display_locked = false;
    uint32_t stable_count = 0;
    uint32_t err_cnt = 0;
    for (;;) {
        int32_t value = hx711.Read(pdMS_TO_TICKS(HX711_READ_TIMEOUT_MS));
        if (value != HX711::kUndefined) {
            float weight_g = ((float)(value - tare_offset)) / HX711_COUNTS_PER_GRAM;
            if (fabsf(weight_g) < HX711_ZERO_DEADBAND_G) {
                weight_g = 0.0f;
            }
            if (weight_g < 0.0f) {
                weight_g = 0.0f;
            }

            // 一阶低通，减小抖动
            filtered_weight_g = filtered_weight_g * (1.0f - HX711_FILTER_ALPHA) + weight_g * HX711_FILTER_ALPHA;
            float rounded_weight_g = roundf(filtered_weight_g * 100.0f) / 100.0f;

            if (!display_initialized) {
                display_weight_g = rounded_weight_g;
                display_initialized = true;
            }

            float diff_from_display = fabsf(rounded_weight_g - display_weight_g);

            // 稳定后锁定显示，重量明显变化时再解锁并继续更新
            if (display_locked) {
                if (diff_from_display >= HX711_UNLOCK_DELTA_G) {
                    display_locked = false;
                    stable_count = 0;
                }
            }

            if (!display_locked) {
                if (diff_from_display <= HX711_STABLE_BAND_G) {
                    if (stable_count < HX711_STABLE_SAMPLES) {
                        stable_count++;
                    }
                    if (stable_count >= HX711_STABLE_SAMPLES) {
                        display_locked = true;
                    }
                } else {
                    stable_count = 0;
                }

                if (diff_from_display >= HX711_UPDATE_MIN_STEP_G) {
                    display_weight_g = rounded_weight_g;
                }
            }

            set_var_ice_weight(display_weight_g);

            if (s_env_data_lock) {
                xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
                s_env_data.ice_weight = display_weight_g;
                xSemaphoreGive(s_env_data_lock);
            }
            err_cnt = 0;
        } else {
            if ((++err_cnt % 20) == 0) {
                ESP_LOGW(TAG, "HX711 read timeout, check DOUT/SCK wiring and power");
            }
        }
        vTaskDelay(pdMS_TO_TICKS(HX711_REFRESH_MS));
    }
}

extern "C" void app_main(void)
{
    vTaskDelay(pdMS_TO_TICKS(100));
    ESP_LOGI(TAG, "--- APP STARTING ---");
    s_env_data_lock = xSemaphoreCreateMutex();

    // 1. 初始化 Wi-Fi
    ESP_ERROR_CHECK(wifi_connect_init());

    // 2. 初始化显示屏和 LVGL
    start_lvgl_demo();

    // UI 初始化期间，临时放宽 TWDT（仅监控 CPU0 空闲任务）
    reconfigure_twdt(TWDT_UI_INIT_TIMEOUT_MS, 1U << 0);

    // 3. 在 CPU1 上执行 UI 初始化，避免 app_main 长时间占用 CPU0
    xTaskCreatePinnedToCore(ui_init_task, "ui_init_task", 8192, NULL, 8, NULL, 1);
    set_var_food_status("良好");
    set_var_fire_status("安全");

    // 7. 创建 UI 刷新任务并固定在 CPU1（与 ui_init_task 同核）
    xTaskCreatePinnedToCore(ui_task, "ui_task", 8192, NULL, 5, NULL, 1);

    if (wait_for_wifi_connected(pdMS_TO_TICKS(15000)))
    {
        set_var_system_ip(wifi_connect_get_ip());
    }

    // 4. 独立 SNTP 对时任务
    xTaskCreate(sntp_task, "sntp_task", 4096, NULL, 4, NULL);

    // HX711 电子秤：GPIO13(SCK) / GPIO14(DOUT)
    xTaskCreate(hx711_task, "hx711_task", 4096, NULL, 6, NULL);

    // 初始化继电器 (独立配置每个通道)
    const relay_config_t relay_cfg[RELAY_CTRL_ID_MAX] = {
        {.pin = GPIO_NUM_12, .active_high = true},
        {.pin = GPIO_NUM_11, .active_high = true},
        {.pin = GPIO_NUM_10, .active_high = true},
        {.pin = GPIO_NUM_9, .active_high = true},
    };
    ESP_ERROR_CHECK(relay_ctrl_init(relay_cfg));

    // 5. 初始化 I2C 总线并注册传感器 (共享总线)
    ESP_ERROR_CHECK(bh1750_user_init());
    i2c_master_bus_handle_t i2c_bus = bh1750_get_i2c_bus_handle();

    // AHT30 挂载到同一条 I2C 总线上
    aht30_handle_t aht30_dev = NULL;
    ESP_ERROR_CHECK(aht30_create(i2c_bus, AHT30_I2C_ADDRESS, &aht30_dev));

    // MQ-2 使用 ADC(GPIO8)
    ESP_ERROR_CHECK(mq2_init());

    // JW01 使用 UART0(GPIO43/44)
    ESP_ERROR_CHECK(jw01_init());

    // 火焰传感器使用 ADC(GPIO3)
    ESP_ERROR_CHECK(fire_sensor_init());

    // GPIO16: HC-SR312, GPIO17: Door switch(低电平=关门)
    ESP_ERROR_CHECK(human_door_init());
    set_var_hum_status("无人");
    set_var_door_status("关闭");

    // 6. 创建传感器读取任务
    xTaskCreate([](void *arg)
                {
        aht30_handle_t aht30 = (aht30_handle_t)arg;
        uint32_t log_cnt = 0;
        for (;;) {
            float lux = 0.0f, temp = 0.0f, hum = 0.0f, gas_percent = 0.0f, fire_percent = 0.0f;
            jw01_data_t jw01{};
            esp_err_t bh_ret = ESP_FAIL;
            esp_err_t aht_ret = ESP_FAIL;
            esp_err_t mq2_ret = ESP_FAIL;
            esp_err_t jw_ret = ESP_FAIL;
            esp_err_t fire_ret = ESP_FAIL;
            // 读取 BH1750
            bh_ret = bh1750_user_read(&lux);
            if (bh_ret == ESP_OK) {
                set_var_light_val(lux);
            }
            // 读取 AHT30
            aht_ret = aht30_get_temperature_humidity_value(aht30, &temp, &hum);
            if (aht_ret == ESP_OK) {
                set_var_temp(temp);
                set_var_humity_val(hum);
            }

            // 读取 MQ-2，更新空气质量变量
            mq2_ret = mq2_read_percent(&gas_percent);
            if (mq2_ret == ESP_OK) {
                set_var_air_quity(gas_percent);
            }

            // 读取火焰传感器，更新火焰状态
            fire_ret = fire_sensor_read_percent(&fire_percent);
            if (fire_ret == ESP_OK) {
                set_var_fire_status(fire_sensor_is_danger(fire_percent, FIRE_DANGER_THRESHOLD_PERCENT) ? "危险" : "安全");
            }

            // 读取 JW01（TVOC/HCHO/CO2）
            jw_ret = jw01_read(&jw01, 200);
            if (jw_ret == ESP_OK) {
                if (jw01.co2_valid) {
                    if (jw01.co2 >= CO2_SPOILAGE_THRESHOLD_PPM) {
                        set_var_food_status("变质");
                    } else {
                        set_var_food_status("良好");
                    }

                }
            }

            // 每 5 次打印一次综合状态，避免日志刷屏
            if ((log_cnt++ % 10) == 0) {
                ESP_LOGI(TAG,
                         "SENS bh=%s lux=%.1f | aht=%s t=%.1f h=%.1f | mq2=%s gas=%.1f | fire=%s fp=%.1f | jw01=%s co2_valid=%d co2=%.1f",
                         esp_err_to_name(bh_ret), lux,
                         esp_err_to_name(aht_ret), temp, hum,
                         esp_err_to_name(mq2_ret), gas_percent,
                         esp_err_to_name(fire_ret), fire_percent,
                         esp_err_to_name(jw_ret), jw01.co2_valid ? 1 : 0, jw01.co2);
            }
            

            // 数据存入共享结构体
            if (s_env_data_lock) {
                xSemaphoreTake(s_env_data_lock, portMAX_DELAY);
                s_env_data.lux = lux;
                s_env_data.temp = temp;
                s_env_data.humidity = hum;
                s_env_data.gas_percent = gas_percent;
                s_env_data.fire_percent = fire_percent;
                s_env_data.fire_danger = fire_sensor_is_danger(fire_percent, FIRE_DANGER_THRESHOLD_PERCENT);
                if (jw01.tvoc_valid) s_env_data.tvoc = jw01.tvoc;
                if (jw01.hcho_valid) s_env_data.hcho = jw01.hcho;
                if (jw01.co2_valid) s_env_data.co2 = jw01.co2;
                xSemaphoreGive(s_env_data_lock);
            }
            vTaskDelay(pdMS_TO_TICKS(1000));
        } }, "sensor_task", 4096 * 3, (void *)aht30_dev, 6, NULL);

    // 独立任务：人体与门状态检测
    xTaskCreate(status_task, "status_task", 4096, NULL, 6, NULL);
}