/**
 * 北斗通信创意开发系统
 * 课程：向指定平台/终端发送汉字案例
 * 作者：北京华云智联科技有限公司
 * 时间：2023-3-6
 * 备注：ESP32新版本
 * 功能说明：
 *    调用发送接口，配置成汉字模式，发送“北斗”两个汉字
 * 依赖库：
 *    无
 */

#include <Arduino.h>
#include <math.h> // 用于round()和modf()
#include "bdrd_esp32.h" // 包含北斗短报文库

// --- 常量定义 ---
const unsigned long SEND_INTERVAL_MS = 2 * 60 * 1000; // 发送间隔2分钟
char TARGET_PLATFORM_ID[] = "15950077";  // 转为字符串类型，与库匹配
const char MESSAGE_TYPE = '2'; // 使用代码类型，对应库中的type='2'

// 巡查区域定义
const double MIN_LON = 114.120000;
const double MAX_LON = 114.124000;
const double MIN_LAT = 40.120000;
const double MAX_LAT = 40.124000;
const double MIN_ALT = 300.0;
const double MAX_ALT = 500.0;

// --- 全局变量 ---
unsigned long lastSendTime = 0;
unsigned long flightDurationSec = 0;
double currentLatitude = 0.0;
double currentLongitude = 0.0;
double currentAltitude = 0.0;
int batteryPercentage = 100;

// --- 函数声明 ---
bool generate_monitoring_message(double latitude, double longitude, double altitude, 
                              unsigned long flight_duration_sec, int battery_percent, 
                              char* buffer, size_t bufferSize);
double randomDouble(double minVal, double maxVal);

void setup() {
  Serial.begin(115200); // 调试串口
  Serial2.begin(115200); // 北斗模块串口，与库匹配
  
  randomSeed(analogRead(A0));

  Serial.println("--- 无人机监控程序（北斗短报文）启动 ---");
  Serial.print("数据发送频率: ");
  Serial.print(SEND_INTERVAL_MS / 1000);
  Serial.println(" 秒/次");
  Serial.println("巡查区域:");
  Serial.print("  经度: "); Serial.print(MIN_LON, 6); Serial.print("° - "); Serial.println(MAX_LON, 6);
  Serial.print("  纬度: "); Serial.print(MIN_LAT, 6); Serial.print("° - "); Serial.println(MAX_LAT, 6);
  Serial.print("  海拔: "); Serial.print(MIN_ALT, 2); Serial.print("m - "); Serial.println(MAX_ALT, 2);
  Serial.println("---------------------------------");

  // 初始化变量
  lastSendTime = 0;
  flightDurationSec = 0;
  batteryPercentage = 100;
  
  // 延迟1秒，让北斗模块准备就绪
  delay(1000);
}

void loop() {
  unsigned long currentTime = millis();

  if (currentTime - lastSendTime >= SEND_INTERVAL_MS) {
    lastSendTime = currentTime;

    // 1. 生成随机监控数据
    currentLatitude = randomDouble(MIN_LAT, MAX_LAT);
    currentLongitude = randomDouble(MIN_LON, MAX_LON);
    currentAltitude = randomDouble(MIN_ALT, MAX_ALT);
    batteryPercentage -= 1;
    if (batteryPercentage < 0) {
      batteryPercentage = 0;
    }

    Serial.println("当前状态:");
    Serial.print("  经度: "); Serial.println(currentLongitude, 6);
    Serial.print("  纬度: "); Serial.println(currentLatitude, 6);
    Serial.print("  海拔: "); Serial.print(currentAltitude, 2); Serial.println(" m");
    Serial.print("  飞行时长: "); Serial.print(flightDurationSec); Serial.println(" 秒");
    Serial.print("  剩余电量: "); Serial.print(batteryPercentage); Serial.println(" %");

    // 2. 生成监控信息字符串
    char messageBuffer[40];
    bool success = generate_monitoring_message(
        currentLatitude,
        currentLongitude,
        currentAltitude,
        flightDurationSec,
        batteryPercentage,
        messageBuffer,
        sizeof(messageBuffer)
    );

    // 3. 使用北斗模块发送信息
    if (success) {
      Serial.print("生成协议字符串: ");
      Serial.println(messageBuffer);
      
      // 调用北斗短报文库发送信息
      int result = sendSMS(TARGET_PLATFORM_ID, MESSAGE_TYPE, messageBuffer);
      
      // 显示发送结果
      if (result == 0) {
        Serial.println("北斗短报文发送成功！");
      } else {
        Serial.print("北斗短报文发送失败，错误码: ");
        Serial.println(result);
        showError(result); // 显示详细错误信息
      }
    } else {
      Serial.println("错误：未能生成有效的监控信息字符串");
    }

    // 4. 更新飞行时长
    flightDurationSec += (SEND_INTERVAL_MS / 1000);
    Serial.println("----------------------");

    if (batteryPercentage <= 0) {
      Serial.println("电量耗尽，任务结束");
      while(1) {
        delay(1000);
      }
    }
  }
}

double randomDouble(double minVal, double maxVal) {
  double scale = (double)random(0, 1000001) / 1000000.0;
  return minVal + scale * (maxVal - minVal);
}

bool generate_monitoring_message(double latitude, double longitude, double altitude, 
                              unsigned long flight_duration_sec, int battery_percent, 
                              char* buffer, size_t bufferSize) {
  if (!(latitude >= 0.0 && latitude <= 90.0)) {
    Serial.print("错误：纬度 "); Serial.print(latitude, 6); Serial.println(" 超出范围");
    return false;
  }
  if (!(longitude >= 0.0 && longitude <= 180.0)) {
    Serial.print("错误：经度 "); Serial.print(longitude, 6); Serial.println(" 超出范围");
    return false;
  }
  if (!(altitude >= (300.0 - 0.001) && altitude <= (500.0 + 0.001))) {
    Serial.print("错误：海拔 "); Serial.print(altitude, 2); Serial.println(" 超出范围");
    return false;
  }
  if (!(battery_percent >= 0 && battery_percent <= 100)) {
    Serial.print("错误：电量 "); Serial.print(battery_percent); Serial.println(" 超出范围");
    return false;
  }

  double lat_int_part, lat_frac_part;
  double lon_int_part, lon_frac_part;
  double alt_int_part, alt_frac_part;

  lat_frac_part = modf(latitude, &lat_int_part);
  lon_frac_part = modf(longitude, &lon_int_part);
  alt_frac_part = modf(altitude, &alt_int_part);

  long lat_frac_scaled = lround(lat_frac_part * 1000000.0);
  long lon_frac_scaled = lround(lon_frac_part * 1000000.0);
  long alt_frac_scaled = lround(alt_frac_part * 100.0);

  if (lat_frac_scaled < 0) lat_frac_scaled = 0;
  if (lat_frac_scaled > 999999) lat_frac_scaled = 999999;
  if (lon_frac_scaled < 0) lon_frac_scaled = 0;
  if (lon_frac_scaled > 999999) lon_frac_scaled = 999999;
  if (alt_frac_scaled < 0) alt_frac_scaled = 0;
  if (alt_frac_scaled > 99) alt_frac_scaled = 99;

  int n = snprintf(buffer, bufferSize,
                 "%02d%06ld%03d%06ld%03d%02ld%06lu%03d",
                 (int)lat_int_part,
                 lat_frac_scaled,
                 (int)lon_int_part,
                 lon_frac_scaled,
                 (int)alt_int_part,
                 alt_frac_scaled,
                 flight_duration_sec,
                 battery_percent);

  if (n < 0 || (unsigned int)n >= bufferSize) {
    Serial.println("错误：缓冲区不足");
    return false;
  }

  return true;
}