#ifndef _WIN32
#include <stdio.h>
#include <stdlib.h>
#ifndef _WIN32
#include <unistd.h>
#endif
#include <string.h>

#include "LidarHelper.h"

CLidarHelper* CLidarHelper::m_instance;
extern "C" {

/** 回调函数声明 */
static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message);
static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type);
static void OnDeviceBroadcast(const BroadcastDeviceInfo* info);

/** 用于Python的回调函数指针 */
//static void (*python_data_callback)(uint8_t, uint32_t*, uint32_t) = NULL;
//static void (*python_error_callback)(livox_status, uint8_t, ErrorMessage*) = NULL;
//static void (*python_device_change_callback)(const DeviceInfo*, DeviceEvent) = NULL;
//static void (*python_device_broadcast_callback)(const BroadcastDeviceInfo*) = NULL;
//static void (*python_common_command_callback)(livox_status, uint8_t, uint8_t) = NULL;



typedef enum {
    kDeviceStateDisconnect = 0,
    kDeviceStateConnect = 1,
    kDeviceStateSampling = 2,
} DeviceState;

typedef struct {
    uint8_t handle;
    DeviceState device_state;
    DeviceInfo info;
} DeviceItem;

static DeviceItem devices[kMaxLidarCount];
static int lidar_count = 0;
static FuncGetLidarData pfuncGetLidarData = nullptr;

static bool init_sdk() {
    printf("Livox SDK initializing.\n");
    if (!Init()) {
        return false;
    }
    printf("Livox SDK has been initialized.\n");
    LivoxSdkVersion _sdkversion;
    GetLivoxSdkVersion(&_sdkversion);
    printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);

    memset(devices, 0, sizeof(devices));
    return true;
}

/** 启动设备扫描 */
static bool start_discovery() {
    SetBroadcastCallback(OnDeviceBroadcast);
    SetDeviceStateUpdateCallback(OnDeviceInfoChange);

    if (!Start()) {
        printf("Failed to start device discovery.\n");
        Uninit();
        return false;
    }
    printf("Started device discovery.\n");
    return true;
}

/** 停止SDK并清理 */
static void stop_sdk() {
    printf("Stopping Livox SDK.\n");
    for (int i = 0; i < kMaxLidarCount; ++i) {
        if (devices[i].device_state == kDeviceStateSampling) {
            LidarStopSampling(devices[i].handle, OnStopSampleCallback, NULL);
        }
    }
    Uninit();
}

static int connect(const char* broadcast_code) {
    uint8_t handle = 0;
    livox_status result = AddLidarToConnect(broadcast_code, &handle);
    if (result == kStatusSuccess) {
        /** Set the point cloud data for a specific Livox LiDAR. */
        SetDataCallback(handle, pfuncGetLidarData, NULL);
    }
    return result;
}

static int start_sampling(uint8_t handle) {
    livox_status result = LidarStartSampling(handle, OnSampleCallback, NULL);
    devices[handle].device_state = kDeviceStateSampling;
    return result;
}

static int stop_sampling(uint8_t handle) {
    livox_status result = LidarStopSampling(handle, OnSampleCallback, NULL);
    devices[handle].device_state = kDeviceStateSampling;
    return result;
}

static int set_mode(LidarMode mode) {
    return LidarSetMode(devices[0].handle, mode, OnCommonCommandCallback, NULL);
}

/** 回调函数的定义 */
static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message) {
    //if (python_error_callback) {
    //    python_error_callback(status, handle, message);
    //}
}

static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
    //if (python_common_command_callback) {
    //    python_common_command_callback(status, handle, response);
    //}
}

static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data) {
    if (data) {
        /** Parsing the timestamp and the point cloud data. */
        uint64_t cur_timestamp = *((uint64_t*)(data->timestamp));
        if (data->data_type == kCartesian) {
            LivoxRawPoint* p_point_data = (LivoxRawPoint*)data->data;
        }
        else if (data->data_type == kSpherical) {
            LivoxSpherPoint* p_point_data = (LivoxSpherPoint*)data->data;
        }
        else if (data->data_type == kExtendCartesian) {
            LivoxExtendRawPoint* p_point_data = (LivoxExtendRawPoint*)data->data;
#ifdef _WIN32
            LivoxExtendRawPoint point_array[10*10000];
#else
            LivoxExtendRawPoint point_array[data_num];
#endif
            uint32_t* converted_data = (uint32_t*)malloc(data_num * 4 * sizeof(uint32_t));
            for (uint32_t i = 0; i < data_num; ++i) {
                LivoxExtendRawPoint* point = &p_point_data[i];
                // 将结构体的 x, y, z 放入 uint32_t 数组中
                converted_data[i * 4] = point->x;
                converted_data[i * 4 + 1] = point->y;
                converted_data[i * 4 + 2] = point->z;
                // 将 reflectivity 和 tag 合并成一个 uint32_t（高16位和低16位）
                converted_data[i * 4 + 3] = (uint32_t)(point->reflectivity << 8 | point->tag);
            }
            //// 调用 Python 回调函数
            //if (python_data_callback) {
            //    python_data_callback(handle, converted_data, data_num);
            //}
        }
        else if (data->data_type == kExtendSpherical) {
            LivoxExtendSpherPoint* p_point_data = (LivoxExtendSpherPoint*)data->data;
        }
        else if (data->data_type == kDualExtendCartesian) {
            LivoxDualExtendRawPoint* p_point_data = (LivoxDualExtendRawPoint*)data->data;
        }
        else if (data->data_type == kDualExtendSpherical) {
            LivoxDualExtendSpherPoint* p_point_data = (LivoxDualExtendSpherPoint*)data->data;
        }
        else if (data->data_type == kImu) {
            LivoxImuPoint* p_point_data = (LivoxImuPoint*)data->data;
        }
        else if (data->data_type == kTripleExtendCartesian) {
            LivoxTripleExtendRawPoint* p_point_data = (LivoxTripleExtendRawPoint*)data->data;
        }
        else if (data->data_type == kTripleExtendSpherical) {
            LivoxTripleExtendSpherPoint* p_point_data = (LivoxTripleExtendSpherPoint*)data->data;
        }
        // printf("data_type %d\n", data->data_type);
    }
}

static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
    if (status == kStatusSuccess && response != 0) {
        devices[handle].device_state = kDeviceStateConnect;
    }
    else if (status == kStatusTimeout) {
        devices[handle].device_state = kDeviceStateConnect;
    }
}

static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
    // 停止采样时的回调处理
}

/** Query the firmware version of Livox LiDAR. */
static void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse* ack, void* data) {
    if (status != kStatusSuccess) {
        printf("Device Query Informations Failed %d\n", status);
    }
    if (ack) {
        printf("firm ver: %d.%d.%d.%d\n",
            ack->firmware_version[0],
            ack->firmware_version[1],
            ack->firmware_version[2],
            ack->firmware_version[3]);
    }
}

static void LidarConnect(const DeviceInfo* info) {
    uint8_t handle = info->handle;
    QueryDeviceInformation(handle, OnDeviceInformation, NULL);
    if (devices[handle].device_state == kDeviceStateDisconnect) {
        devices[handle].device_state = kDeviceStateConnect;
        devices[handle].info = *info;
    }
}

static void LidarDisConnect(const DeviceInfo* info) {
    uint8_t handle = info->handle;
    devices[handle].device_state = kDeviceStateDisconnect;
}

static void LidarStateChange(const DeviceInfo* info) {
    uint8_t handle = info->handle;
    devices[handle].info = *info;
}

static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type) {
    if (info == NULL) {
        return;
    }

    uint8_t handle = info->handle;
    if (handle >= kMaxLidarCount) {
        return;
    }
    if (type == kEventConnect) {
        LidarConnect(info);
        printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code);
    }
    else if (type == kEventDisconnect) {
        LidarDisConnect(info);
        printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code);
    }
    else if (type == kEventStateChange) {
        LidarStateChange(info);
        printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code);
    }
    printf("Device Working State %d\n", devices[handle].info.state);
    if (devices[handle].device_state == kDeviceStateConnect) {
        if (devices[handle].info.state == kLidarStateInit) {
            printf("Device State Change Progress %u\n", devices[handle].info.status.progress);
        }
        else {
            printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code);
        }
        printf("Device feature %d\n", devices[handle].info.feature);
        SetErrorMessageCallback(handle, OnLidarErrorStatusCallback);
        if (devices[handle].info.state == kLidarStateNormal) {
            LidarStartSampling(handle, OnSampleCallback, NULL);
            devices[handle].device_state = kDeviceStateSampling;
        }
    }
    //if (python_device_change_callback) {
    //    python_device_change_callback(info, type);
    //}
}

static void OnDeviceBroadcast(const BroadcastDeviceInfo* info) {
    //if (python_device_broadcast_callback) {
    //    python_device_broadcast_callback(info);
    //}
    printf("connect to device %d \n", info->broadcast_code);
    connect(info->broadcast_code);
}

CLidarHelper* CLidarHelper::Get()
{
    if (CLidarHelper::m_instance == nullptr) {
        CLidarHelper::m_instance = new CLidarHelper();
        // 待优化
    }
    return CLidarHelper::m_instance;
}

CLidarHelper::CLidarHelper()
{

}

CLidarHelper::~CLidarHelper()
{

}

int CLidarHelper::Init(void* pfunGetdate)
{
    pfuncGetLidarData = (FuncGetLidarData)pfunGetdate;

    bool succ = init_sdk();
    if (!succ)
        return LIDAR_INIT_SDK_FAILED;
    succ = start_discovery();
    if (!succ)
        return LIDAR_START_DISCOVERY_FAILD;

	return LIDAR_OK;
}

int CLidarHelper::Start(int epx_time)
{
    int ret = start_sampling(0);
    if (ret != 0)
    {
        printf("start_sampling error is %d \n", ret);
        return LIDAR_START_SAMPLING_FAILD;
    }
        
	return LIDAR_OK;
}

int CLidarHelper::Stop()
{
    int ret = stop_sampling(0);
    if (ret != 0)
    {
        printf("stop_sampling error is %d \n", ret);
        return LIDAR_STOP_SAMPLING_FAILD;
    }
    return LIDAR_OK;
}

int CLidarHelper::Cap()
{
    return LIDAR_OK;
}

} // extern "C" 
#else
#include "LidarHelper.h"
CLidarHelper* CLidarHelper::m_instance;
#endif //_WIN32