#include "cmsis_os2.h"
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"
#include "HIDO_Input.h"
#include "HIDO_Timer.h"
#include "GPS.h"
#include "DBG.h"
#include "Internet.h"
#include "global_param.h"
#include "MCUFlash.h"
#include "HIDO_ATLite.h"
#include "UDPClient.h"
#include "bluetooth.h"
#include "TCPClient.h"
#include "SBUS.h"
#include "pwm_ctrol.h"
#include "PythonLink.h"
#include "motion_mode.h"
#include "motion_control_task.h"
#include "motion_calibration_task.h"
osSemaphoreId_t g_semaphoreHandle = NULL;
TaskHandle_t g_app_task_handle = NULL;

extern uint8_t restart_num;
void IdleTask(void)
{
        if(g_com_map[CNT_RESTART]==1)
        {
            g_com_map[CNT_RESTART]=0;
//            printf("%s URTRestart",__debug_info__);
            HAL_NVIC_SystemReset();
        }
            if(g_com_map[MAP_SIGN_INDEX]!=0x55AA)
        {
//            printf("%s URTRestart",__debug_info__);
            HAL_NVIC_SystemReset();
              //  SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //����λ�ص�bootloader
        }

    }
void app_task(void *pvParameters)
{
    Shell_Init();
    GPS_Init();
    Internet_Init();
    UDPClient_Init();
    TCPClient_Init();
	BT_Init();
    SBUS_Init();
    PythonLink_Init();
#if (MOTION_ACTIVE_MODE == MOTION_MODE_CONTROL)
    MotionControl_TaskInit();
#elif (MOTION_ACTIVE_MODE == MOTION_MODE_CALIBRATION)
    MotionCalibration_TaskInit();
#else
#error "Unsupported MOTION_ACTIVE_MODE"
#endif
    /* ENU调试打印（非校准模式） */
    static HIDO_UINT32 debug_print_counter = 0;
    const HIDO_UINT32 DEBUG_PRINT_INTERVAL = 100; /* 每100次循环打印一次 (约500ms) */
    
    /* GPS GGA上传定时器 */
    static HIDO_UINT32 gps_upload_counter = 0;
    const HIDO_UINT32 GPS_UPLOAD_INTERVAL = 200; /* 每200次循环上传一次 (约1000ms) */
    
    while (1)
    {
        //HIDO_UINT32 timeout = HIDO_TimerGetNearestTimeout(1000);
        HIDO_UINT32 timeout = 5;
        if (xSemaphoreTake(g_semaphoreHandle, timeout / portTICK_PERIOD_MS) == pdTRUE)
        {

        }
        DBG_Poll();
        BT_Poll();
        SBUS_Poll();
        PythonLink_Poll();
        HIDO_ATLitePoll();
        Internet_Poll();
        GPS_Poll();
        
        /* 定时上传GGA报文到4G（每秒一次） */
        if (++gps_upload_counter >= GPS_UPLOAD_INTERVAL)
        {
            gps_upload_counter = 0;
            GPS_UploadGGA();
        }
        
        /* 周期性打印ENU坐标和IMU数据（用于调试GPS解析） */
#if (MOTION_ACTIVE_MODE != MOTION_MODE_CALIBRATION)
        if (++debug_print_counter >= DEBUG_PRINT_INTERVAL)
        {
            debug_print_counter = 0;
            
            ST_GPRMI gprmi;
            ST_GPIMU gpimu;
            float enu[3];
            
            if (GPS_GetGPRMI(&gprmi) == HIDO_OK && 
                GPS_GetGPIMU(&gpimu) == HIDO_OK && 
                GPS_GetCurrentENU(enu) == HIDO_OK)
            {
                HIDO_Debug2("$DEBUG,ENU,%.2f,%.2f,%.2f,HDG,%.2f,ACC,%.3f,%.3f,%.3f,GYRO,%.3f,%.3f,%.3f\r\n",
                            enu[0], enu[1], enu[2],  /* ENU坐标 (m) */
                            gprmi.m_fHeadingAngle,    /* 航向角 (度) */
                            gpimu.m_fAccelX, gpimu.m_fAccelY, gpimu.m_fAccelZ, /* 加速度 (m/s²) */
                            gpimu.m_fGyroX, gpimu.m_fGyroY, gpimu.m_fGyroZ);   /* 角速度 (rad/s) */
            }
        }
#endif
        
        UDPClient_Poll();
        TCPClient_Poll();
        IdleTask();
        HIDO_TimerPoll();
    }
}

void app_trigger_from_isr(void)
{
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;

    if (g_semaphoreHandle != NULL)
    {
        BaseType_t result = xSemaphoreGiveFromISR(g_semaphoreHandle, &xHigherPriorityTaskWoken);

        if (xHigherPriorityTaskWoken == pdTRUE)
        {
            portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
        }
    }
}

void app_trigger(void)
{
    if (g_semaphoreHandle != NULL)
    {
        xSemaphoreGive(g_semaphoreHandle);
    }
}

void app_main(void)
{
    MCUFlash_Init();
    parameter_init();
     
    {
        uint16_t dev_id = g_com_map[DEV_ID];
        uint16_t udp_port = g_com_map[UDP_PORT];
        uint16_t tcp_port = g_com_map[TCP_PORT];
        uint16_t ip0 = g_com_map[IP_0];
        uint16_t ip1 = g_com_map[IP_1];
        uint16_t ip2 = g_com_map[IP_2];
        uint16_t ip3 = g_com_map[IP_3];
        uint16_t tip0 = g_com_map[TCP_IP_0];
        uint16_t tip1 = g_com_map[TCP_IP_1];
        uint16_t tip2 = g_com_map[TCP_IP_2];
        uint16_t tip3 = g_com_map[TCP_IP_3];

			
        uint16_t version = g_com_map[VERSION];

        HIDO_Debug2("[BOOT] Version: %u\r\n", version);
        HIDO_Debug2("[BOOT] DeviceID: %u\r\n", dev_id);
        HIDO_Debug2("[BOOT] UDP Server: %u.%u.%u.%u:%u\r\n", ip0, ip1, ip2, ip3, udp_port);
        HIDO_Debug2("[BOOT] TCP Server: %u.%u.%u.%u:%u\r\n", tip0, tip1, tip2, tip3, tcp_port);
    }
    osSemaphoreAttr_t semaphore_attr = {
        .name = "MySemaphore",
        .attr_bits = 0,
        .cb_mem = NULL,
        .cb_size = 0};

    //
    g_semaphoreHandle = osSemaphoreNew(1, 0, &semaphore_attr);

    xTaskCreate(
        app_task,
        "AppTask",
        2048,
        NULL,
        tskIDLE_PRIORITY + 1,
        &g_app_task_handle);
}