#include "Arduino.h"

// ============================================================================
// STUDENT CONFIGURATION
// Replace 0 with your student number (numeric digits only)
// Example: For UP1234567, enter 1234567
// ============================================================================
#define STUDENT_NUMBER 2245544

// ============================================================================
// SYSTEM PARAMETERS - AUTO-GENERATED FROM STUDENT_NUMBER
// DO NOT MODIFY MANUALLY - Computed by generateParameters()
// ============================================================================
struct SystemParams {
  float v1, v2, v3;                  // Conveyor speeds (cm/s)
  float d0, d1, d2, d3, d4;          // Conv1 distances from obstruction sensor (cm)
  float d5, d6;                      // Conv2/Conv3 total lengths (cm)
  float L_min, L_max, L_threshold;   // Length criteria (cm)
  float W_min, W_max, W_threshold;   // Weight criteria (g)
  float T_gate;                      // Gate mechanical response time (ms)
  int C1, C2, C3;                    // Area capacities (products)
  int productInterval;               // Product loading interval (ms)
};

SystemParams sp;

#define DIST_LEAD   10.0f   // Fixed: entry point to obstruction sensor (cm)
#define DEBUG_PIN   12

// ============================================================================
// TYPE DEFINITIONS
// ============================================================================
enum class ProductEventType {
  OBSTRUCTION_SENSOR_RISE,
  OBSTRUCTION_SENSOR_FALL,
  G2_CHECK,                       // Size gate check
  WEIGHT_SENSOR_ENTER_WINDOW,
  WEIGHT_SENSOR_EXIT_WINDOW,
  G3_CHECK,                       // Weight gate check
  BARCODE_SENSOR_ENTER_WINDOW,
  BARCODE_SENSOR_EXIT_WINDOW,
  G4_CHECK,                       // Routing gate check
  ARRIVE_DESTINATION,             // Product reaches final area
  FINISH
};

struct Product {
  float length;       // Product length (cm)
  float weight;       // Product weight (g)
  int   barcodeID;    // Barcode tracking number
};

struct ProductEvent {
  uint64_t         triggerTimeMicros;
  ProductEventType eventType;
  int              gateExpected;       // For gate checks: expected gate state (0 or 1)
  int              destArea;           // For ARRIVE: destination area (0=A1, 1=A2, 2=A3)
};

struct ProductScheduler {
  Product product;
  ProductEvent events[16];
  int totalEvents;
  int currentEventIndex;
  int debugPin;
  hw_timer_t* timerHandle;
};

// Gate error counters: [0]=G2, [1]=G3, [2]=G4
// Check these to verify your gate control is correct (should all be 0)
volatile int errorGateCNT[3] = {0};

// Ground truth area counts (maintained by simulator)
volatile int simAreaCount[3] = {0, 0, 0};  // Area1, Area2, Area3

extern void startSimulator(void);

// ============================================================================
// PARAMETER GENERATION (deterministic from student number)
// ============================================================================
static uint32_t paramHash(uint32_t seed, uint32_t idx) {
  uint32_t v = seed * 2654435761u + idx * 2246822519u;
  v ^= v >> 16;
  v *= 0x45d9f3bu;
  v ^= v >> 16;
  return v;
}

static float paramRangeF(uint32_t seed, uint32_t idx, float lo, float hi) {
  return lo + (float)(paramHash(seed, idx) % 10001u) / 10000.0f * (hi - lo);
}

static int paramRangeI(uint32_t seed, uint32_t idx, int lo, int hi) {
  return lo + (int)(paramHash(seed, idx) % (uint32_t)(hi - lo + 1));
}

void generateParameters(uint32_t sn) {
  if (sn == 0) {
    // Default parameters (no student number set)
    sp.v1 = 100.0f;  sp.v2 = 120.0f;  sp.v3 = 80.0f;
    sp.d0 = 15.0f;   sp.d1 = 25.0f;   sp.d2 = 35.0f;
    sp.d3 = 45.0f;   sp.d4 = 55.0f;
    sp.d5 = 40.0f;   sp.d6 = 40.0f;
    sp.L_min = 4.5f;  sp.L_max = 5.5f;  sp.L_threshold = 5.0f;
    sp.W_min = 90.0f;  sp.W_max = 110.0f;  sp.W_threshold = 100.0f;
    sp.T_gate = 3.0f;
    sp.C1 = 5;  sp.C2 = 10;  sp.C3 = 10;
    sp.productInterval = 500;
    return;
  }

  sp.v1 = paramRangeF(sn, 1, 80.0f, 120.0f);
  sp.v2 = paramRangeF(sn, 2, 100.0f, 150.0f);
  sp.v3 = paramRangeF(sn, 3, 60.0f, 100.0f);

  sp.d0 = paramRangeF(sn, 4, 12.0f, 20.0f);
  sp.d1 = sp.d0 + paramRangeF(sn, 5, 8.0f, 15.0f);
  sp.d2 = sp.d1 + paramRangeF(sn, 6, 8.0f, 15.0f);
  sp.d3 = sp.d2 + paramRangeF(sn, 7, 8.0f, 15.0f);
  sp.d4 = sp.d3 + paramRangeF(sn, 8, 8.0f, 15.0f);
  sp.d5 = paramRangeF(sn, 9, 30.0f, 50.0f);
  sp.d6 = paramRangeF(sn, 10, 30.0f, 50.0f);

  sp.L_min = paramRangeF(sn, 11, 4.0f, 5.0f);
  sp.L_max = sp.L_min + paramRangeF(sn, 12, 0.8f, 1.5f);
  sp.L_threshold = (sp.L_min + sp.L_max) / 2.0f;

  sp.W_min = paramRangeF(sn, 13, 80.0f, 100.0f);
  sp.W_max = sp.W_min + paramRangeF(sn, 14, 15.0f, 30.0f);
  sp.W_threshold = (sp.W_min + sp.W_max) / 2.0f;

  sp.T_gate = paramRangeF(sn, 15, 2.0f, 5.0f);

  sp.C1 = paramRangeI(sn, 16, 3, 8);
  sp.C2 = paramRangeI(sn, 17, 8, 15);
  sp.C3 = paramRangeI(sn, 18, 8, 15);

  sp.productInterval = paramRangeI(sn, 19, 400, 600);
}

void printParameters() {
  Serial.println("========== SmartSort System Parameters ==========");
  Serial.printf("Student Number: %u\n", (unsigned)STUDENT_NUMBER);
  Serial.println("----- Conveyor Speeds -----");
  Serial.printf("  v1 (Conv1): %.1f cm/s\n", sp.v1);
  Serial.printf("  v2 (Conv2): %.1f cm/s\n", sp.v2);
  Serial.printf("  v3 (Conv3): %.1f cm/s\n", sp.v3);
  Serial.println("----- Distances (from obstruction sensor, cm) -----");
  Serial.printf("  d0 (to G2):      %.1f\n", sp.d0);
  Serial.printf("  d1 (to Weight):  %.1f\n", sp.d1);
  Serial.printf("  d2 (to G3):      %.1f\n", sp.d2);
  Serial.printf("  d3 (to Barcode): %.1f\n", sp.d3);
  Serial.printf("  d4 (to G4):      %.1f\n", sp.d4);
  Serial.printf("  d5 (Conv2 len):  %.1f\n", sp.d5);
  Serial.printf("  d6 (Conv3 len):  %.1f\n", sp.d6);
  Serial.println("----- Length Criteria (cm) -----");
  Serial.printf("  L_min=%.2f  L_max=%.2f  L_threshold=%.2f\n", sp.L_min, sp.L_max, sp.L_threshold);
  Serial.println("----- Weight Criteria (g) -----");
  Serial.printf("  W_min=%.2f  W_max=%.2f  W_threshold=%.2f\n", sp.W_min, sp.W_max, sp.W_threshold);
  Serial.println("----- Timing & Capacity -----");
  Serial.printf("  T_gate=%.1f ms  Interval=%d ms\n", sp.T_gate, sp.productInterval);
  Serial.printf("  C1=%d  C2=%d  C3=%d\n", sp.C1, sp.C2, sp.C3);
  Serial.println("=================================================");
}

// ============================================================================
// PRODUCT ARRAY - Generated based on parameters to cover all sorting paths
// Students may modify this array for additional testing
// ============================================================================
#define MAX_TEST_PRODUCTS 20
Product productArray[MAX_TEST_PRODUCTS];
int numProducts = 0;

void generateProductArray() {
  int idx = 0;
  float Lmid = (sp.L_min + sp.L_max) / 2.0f;
  float Wmid = (sp.W_min + sp.W_max) / 2.0f;

  // Category 1: Size abnormal (too short) -> Area 1 via G2
  productArray[idx++] = {sp.L_min - 0.5f, Wmid, 1001};
  productArray[idx++] = {sp.L_min - 1.0f, Wmid + 3.0f, 1002};

  // Category 2: Size abnormal (too long) -> Area 1 via G2
  productArray[idx++] = {sp.L_max + 0.5f, Wmid, 1003};
  productArray[idx++] = {sp.L_max + 0.8f, Wmid - 2.0f, 1004};

  // Category 3: Normal size, weight too light -> Area 1 via G3
  productArray[idx++] = {Lmid, sp.W_min - 5.0f, 1005};
  productArray[idx++] = {sp.L_min + 0.1f, sp.W_min - 3.0f, 1006};

  // Category 4: Normal size, weight too heavy -> Area 1 via G3
  productArray[idx++] = {Lmid, sp.W_max + 5.0f, 1007};
  productArray[idx++] = {sp.L_max - 0.1f, sp.W_max + 3.0f, 1008};

  // Category 5: Normal, small & light -> Area 2 (L<=Lthresh AND W<=Wthresh)
  productArray[idx++] = {sp.L_min + 0.1f, sp.W_min + 1.0f, 1009};
  productArray[idx++] = {sp.L_threshold, sp.W_threshold, 1010};       // Edge case: exactly at threshold
  productArray[idx++] = {sp.L_threshold - 0.1f, sp.W_threshold - 1.0f, 1011};

  // Category 6: Normal, large or heavy -> Area 3
  productArray[idx++] = {sp.L_threshold + 0.1f, sp.W_threshold - 1.0f, 1012};
  productArray[idx++] = {sp.L_min + 0.2f, sp.W_threshold + 1.0f, 1013};
  productArray[idx++] = {sp.L_max - 0.1f, sp.W_max - 1.0f, 1014};
  productArray[idx++] = {sp.L_threshold + 0.2f, sp.W_threshold + 2.0f, 1015};

  // Edge cases
  productArray[idx++] = {sp.L_min, sp.W_min, 1016};    // Exactly at min boundaries -> Area 2
  productArray[idx++] = {sp.L_max, sp.W_max, 1017};    // Exactly at max -> Area 3
  productArray[idx++] = {Lmid, Wmid, 1018};             // Center values -> Area 2

  numProducts = idx;
}

/*!!!!!!!!!!!!!!!!!!ANY CODE ABOVE THIS LINE SHOULD NOT BE MODIFIED BY STUDENTS!!!!!!!!!!!!!!!!!!!*/
/*=========================== INTERFACE BETWEEN SIMULATOR AND STUDENT CODE ============================*/

/*
   g_obstructionSensorPin outputs the physical signal of the obstruction sensor (for oscilloscope).
*/
#define g_obstructionSensorPin    32

/*
   Debug output pins for gate signals (for oscilloscope verification).
   The simulator does NOT read these - they are for your debugging only.
*/
#define gate2DebugPin             33
#define gate3DebugPin             27
#define gate4DebugPin             14

/*
   SHARED VARIABLES - DO NOT RENAME
   The simulator uses these to provide sensor data and check your gate controls.
*/
// ========== Simulator writes, students read ==========
volatile bool   g_obstructionSensor = false;  // Obstruction sensor state
volatile int    g_barcodeReader     = 0;       // Barcode reading (0=invalid/not in window)
volatile float  g_weightSensor      = 0.0f;    // Weight reading (0=invalid/not in window)

// ========== Students write, simulator reads ==========
// G1 (Intake): true=allow products in, false=block entry
volatile bool   g_gate1Ctrl = true;
// G2 (Size divert): false=let pass, true=activate pusher (divert to Area 1)
volatile bool   g_gate2Ctrl = false;
// G3 (Weight divert): false=let pass, true=activate pusher (divert to Area 1)
volatile bool   g_gate3Ctrl = false;
// G4 (Routing): false=route to Conv2/Area2, true=route to Conv3/Area3
volatile bool   g_gate4Ctrl = false;

/*================================= IMPLEMENT YOUR RTOS CODE BELOW ===================================*/
/*  Core Behaviour:
  • Event-driven dual-core RTOS sorting controller
  • Core 0: product tracking, measurement and classification
  • Core 1: gate execution, commands, reporting

  Key Features:
  • Accurate position tracking using time = distance/speed
  • Measurement triggering based on product centre position
  • Gate scheduling with mechanical delay compensation
  • Overlap-safe gate control (no race conditions)
  • Predictive capacity control using arrived + reserved
  • Safe ISR → Queue → Task pipeline
  • Full support for commands: reset, stat, proceed, emergency
  =============================================================================*/
// ============================================================================
// CONSTANTS
// ============================================================================

#define LENGTH_EPS 0.005f
#define WEIGHT_EPS 0.005f

#define GATE_MARGIN_US 4000


// ============================================================================
// TYPES
// ============================================================================

typedef struct {
  int64_t rise;
  int64_t fall;
} edge_t;

typedef struct {
  int tn;
  float L;
  float W;
  int A;
} rec_t;

typedef struct {
  volatile bool *gate;
  int64_t startUs;
  int64_t endUs;
  SemaphoreHandle_t lock;
} gate_cmd_t;


// ============================================================================
// GLOBALS
// ============================================================================

QueueHandle_t edgeQ;
SemaphoreHandle_t g2Lock, g3Lock, g4Lock;
SemaphoreHandle_t stateMutex; // Mutual exclusion wrapper for shared metrics

volatile edge_t curEdge;

volatile int64_t g2End = 0, g3End = 0, g4End = 0;
volatile int64_t g2Latest = 0, g3Latest = 0, g4Latest = 0;

int arrivedA[3] = {0};
int reservedA[3] = {0};

rec_t *hist = NULL;
int histCount = 0;
int histCap = 0;

bool emergency = false;
bool capacityHold = false;
int fullArea = 0;
bool capacityMessageShown = false;

float sumLenAll = 0, sumWeightAll = 0;
int countAll = 0;

float sumLenA2 = 0, sumWeightA2 = 0; int countA2 = 0;
float sumLenA3 = 0, sumWeightA3 = 0; int countA3 = 0;


// ============================================================================
// FORWARD DECLARATIONS
// ============================================================================
void markArrived(int A, float L, float W, int tn);
void updateG1();


// ============================================================================
// TIME
// ============================================================================

int64_t tUs(float d, float v) {
  return (v <= 0) ? 0 : (int64_t)((d / v) * 1000000.0f);
}

void waitUs(int64_t t) {
  while (!emergency) {
    int64_t now = esp_timer_get_time();
    if (now >= t) return;

    int64_t rem = t - now;

    if (rem > 4000)
      vTaskDelay(pdMS_TO_TICKS((rem - 2000) / 1000));
    else
      delayMicroseconds(rem);
  }
}


// ============================================================================
// CLASSIFICATION
// ============================================================================

bool okLen(float L) {
  return (L >= sp.L_min - LENGTH_EPS &&
          L <= sp.L_max + LENGTH_EPS);
}

bool okW(float W) {
  return (W >= sp.W_min - WEIGHT_EPS &&
          W <= sp.W_max + WEIGHT_EPS);
}

bool isA2(float L, float W) {
  return (L <= sp.L_threshold + LENGTH_EPS &&
          W <= sp.W_threshold + LENGTH_EPS);
}


// ============================================================================
// GATE CONTROL
// ============================================================================

SemaphoreHandle_t getLock(volatile bool *g) {
  if (g == &g_gate2Ctrl) return g2Lock;
  if (g == &g_gate3Ctrl) return g3Lock;
  return g4Lock;
}

void gateTask(void *pv) {
  gate_cmd_t *cmd = (gate_cmd_t*)pv;

  xSemaphoreTake(cmd->lock, portMAX_DELAY);

  waitUs(cmd->startUs);
  if (!emergency) *(cmd->gate) = true;

  waitUs(cmd->endUs);
  if (!emergency) *(cmd->gate) = false;

  xSemaphoreGive(cmd->lock);
  vPortFree(cmd);
  vTaskDelete(NULL);
}

void scheduleGate(volatile bool *g,
                  volatile int64_t *gEnd,
                  volatile int64_t *gLatest,
                  int64_t frontUs,
                  float L) {

  if (frontUs < *gLatest) return;
  *gLatest = frontUs;

  int64_t startUs =
    frontUs - (int64_t)(sp.T_gate * 1000.0f) - 6000;

  int64_t endUs =
    frontUs + tUs(L, sp.v1) + GATE_MARGIN_US;

  if (endUs < *gEnd)
    endUs = *gEnd;
  else
    *gEnd = endUs;

  SemaphoreHandle_t lock = getLock(g);

  gate_cmd_t *cmd = (gate_cmd_t*)pvPortMalloc(sizeof(gate_cmd_t));
  if (!cmd) return;

  cmd->gate = g;
  cmd->startUs = startUs;
  cmd->endUs = endUs;
  cmd->lock = lock;

  xTaskCreatePinnedToCore(gateTask, "gate", 2048, cmd, 9, NULL, 1);
}


// ============================================================================
// SENSOR
// ============================================================================

float readW(int64_t t, float L) {
  int64_t w = tUs(L * 0.1f, sp.v1);
  waitUs(t - w);

  while (esp_timer_get_time() <= t + w) {
    if (g_weightSensor > 0) return g_weightSensor;
    delayMicroseconds(300);
  }
  return 0;
}

int readTN(int64_t t, float L) {
  int64_t w = tUs(L * 0.1f, sp.v1);
  waitUs(t - w);

  while (esp_timer_get_time() <= t + w) {
    if (g_barcodeReader) return g_barcodeReader;
    delayMicroseconds(300);
  }
  return 0;
}


// ============================================================================
// CAPACITY ENFORCEMENT
// ============================================================================

void updateG1() {
  int full = 0;

  // Evaluate boundaries safely 
  if ((arrivedA[0] + reservedA[0]) >= (sp.C1)) full = 1;
  else if ((arrivedA[1] + reservedA[1]) >= (sp.C2)) full = 2;
  else if ((arrivedA[2] + reservedA[2]) >= (sp.C3)) full = 3;

  capacityHold = (full != 0);
  fullArea = full;

  if (emergency) {
    g_gate1Ctrl = false;
  } else if (capacityHold) {
    g_gate1Ctrl = false;
  } else {
    g_gate1Ctrl = true;
    capacityMessageShown = false; // Reset warning lock tracking
  }
}


// ============================================================================
// HISTORY (FULL STORAGE)
// ============================================================================

void addHistory(int tn, float L, float W, int A) {

  if (histCount >= histCap) {
    int newCap = (histCap == 0) ? 64 : histCap * 2;
    rec_t *buf = (rec_t*)realloc(hist, newCap * sizeof(rec_t));
    if (!buf) return;

    hist = buf;
    histCap = newCap;
  }

  hist[histCount++] = {tn, L, W, A};
}


// ============================================================================
// PRODUCT TASK
// ============================================================================

void productTask(void *pv) {

  edge_t e = *(edge_t*)pv;
  vPortFree(pv);

  float L = (e.fall - e.rise) * sp.v1 / 1e6f;

  int64_t g2 = e.rise + tUs(sp.d0, sp.v1);
  int64_t g3 = e.rise + tUs(sp.d2, sp.v1);
  int64_t g4 = e.rise + tUs(sp.d4, sp.v1);

  // G2 Target Routing
  if (!okLen(L)) {
    scheduleGate(&g_gate2Ctrl, &g2End, &g2Latest, g2, L);
    
    xSemaphoreTake(stateMutex, portMAX_DELAY);
    reservedA[0]++;
    updateG1(); // Immediate close check
    xSemaphoreGive(stateMutex);

    waitUs(g2 + GATE_MARGIN_US);
    markArrived(1, L, 0, 0);

    vTaskDelete(NULL);
    return;
  }

  // Weight Sensor Window Calculation
  float W = readW(e.fall + tUs(sp.d1 - L / 2, sp.v1), L);

  // G3 Target Routing
  if (!okW(W)) {
    scheduleGate(&g_gate3Ctrl, &g3End, &g3Latest, g3, L);
    
    xSemaphoreTake(stateMutex, portMAX_DELAY);
    reservedA[0]++;
    updateG1(); // Immediate close check
    xSemaphoreGive(stateMutex);

    waitUs(g3 + GATE_MARGIN_US);
    markArrived(1, L, W, 0);

    vTaskDelete(NULL);
    return;
  }

  int tn = readTN(e.fall + tUs(sp.d3 - L / 2, sp.v1), L);

  // Conveyor Branch Routing Paths (Area 2 vs Area 3)
  if (isA2(L, W)) {
    xSemaphoreTake(stateMutex, portMAX_DELAY);
    reservedA[1]++;
    updateG1();
    xSemaphoreGive(stateMutex);

    waitUs(g4 + tUs(sp.d5, sp.v2));
    markArrived(2, L, W, tn);
  } else {
    scheduleGate(&g_gate4Ctrl, &g4End, &g4Latest, g4, L);
    
    xSemaphoreTake(stateMutex, portMAX_DELAY);
    reservedA[2]++;
    updateG1();
    xSemaphoreGive(stateMutex);

    waitUs(g4 + tUs(sp.d6, sp.v3));
    markArrived(3, L, W, tn);
  }

  vTaskDelete(NULL);
}


// ============================================================================
// ARRIVAL
// ============================================================================

void markArrived(int A, float L, float W, int tn) {

  xSemaphoreTake(stateMutex, portMAX_DELAY);

  if (reservedA[A - 1] > 0) reservedA[A - 1]--;
  arrivedA[A - 1]++;

  sumLenAll += L;
  sumWeightAll += W;
  countAll++;

  if (A == 2) {
    sumLenA2 += L;
    sumWeightA2 += W;
    countA2++;
  }
  else if (A == 3) {
    sumLenA3 += L;
    sumWeightA3 += W;
    countA3++;
  }

  addHistory(tn, L, W, A);
  updateG1(); // Evaluate state instantly when objects clear endpoints

  xSemaphoreGive(stateMutex);
}


// ============================================================================
// DISPATCH
// ============================================================================

void dispatcher(void*) {
  edge_t e;

  while (1) {
    if (xQueueReceive(edgeQ, &e, portMAX_DELAY)) {
      edge_t *copy = (edge_t*)pvPortMalloc(sizeof(edge_t));
      if (!copy) continue;

      *copy = e;

      xTaskCreatePinnedToCore(productTask, "p", 4096,
                              copy, 8, NULL, 0);
    }
  }
}


// ============================================================================
// BACKGROUND
// ============================================================================

void background(void*) {
  TickType_t last = xTaskGetTickCount();

  while (1) {
    // Serial Command Parser Hook
    while (Serial.available()) {
      String cmd = Serial.readStringUntil('\n');
      cmd.trim();

      if (cmd == "reset") {
        xSemaphoreTake(stateMutex, portMAX_DELAY);
        memset(arrivedA, 0, sizeof(arrivedA));
        memset(reservedA, 0, sizeof(reservedA));

        if (hist) {
          free(hist);
          hist = NULL;
        }

        histCount = 0;
        histCap = 0;

        capacityHold = false;
        fullArea = 0;
        capacityMessageShown = false;
        emergency = false;

        sumLenAll = sumWeightAll = 0;
        countAll = 0;

        sumLenA2 = sumWeightA2 = 0;
        countA2 = 0;

        sumLenA3 = sumWeightA3 = 0;
        countA3 = 0;

        g_gate1Ctrl = true;
        g_gate2Ctrl = true;
        g_gate3Ctrl = false;
        g_gate4Ctrl = false;
        xSemaphoreGive(stateMutex);
      }

      else if (cmd == "proceed") {
        xSemaphoreTake(stateMutex, portMAX_DELAY);
        if (capacityHold) {
          arrivedA[fullArea - 1] = 0;
          capacityHold = false;
          capacityMessageShown = false;
          updateG1();
        }
        xSemaphoreGive(stateMutex);
      }

      else if (cmd == "stat") {
        xSemaphoreTake(stateMutex, portMAX_DELAY);
        float Lavg = 0, Wavg = 0, L2 = 0, W2 = 0, L3 = 0, W3 = 0;

        if (countAll > 0) {
          Lavg = sumLenAll / countAll;
          Wavg = sumWeightAll / countAll;
        }
        if (countA2 > 0) {
          L2 = sumLenA2 / countA2;
          W2 = sumWeightA2 / countA2;
        }
        if (countA3 > 0) {
          L3 = sumLenA3 / countA3;
          W3 = sumWeightA3 / countA3;
        }
        xSemaphoreGive(stateMutex);

        Serial.printf("sortSTAT: %.2f,%.2f,%.2f,%.2f,%.2f,%.2f\n",
                      Lavg, L2, L3, Wavg, W2, W3);
      }

      else if (cmd == "emergency") {
        emergency = true;
        g_gate1Ctrl = false;
        g_gate2Ctrl = false;
        g_gate3Ctrl = false;
        g_gate4Ctrl = false;
        Serial.println("EMERGENCY: System halted");
      }
    }

    // Output runtime diagnostics safely
    xSemaphoreTake(stateMutex, portMAX_DELAY);
    if (!emergency){
      
    Serial.printf("sortRT: %03d,%03d,%03d",
                  arrivedA[0], arrivedA[1], arrivedA[2]);

    for (int i = 0; i < histCount; i++) {
      rec_t r = hist[i];
      if (r.tn)
        Serial.printf(",TN%d,%.1f,%.1f,A%d", r.tn, r.L, r.W, r.A);
      else
        Serial.printf(",0,%.1f,%.1f,A%d", r.L, r.W, r.A);
    }
    Serial.println();
    }

    // Secondary sync pass + text feedback handling
    updateG1();
    if (capacityHold && !capacityMessageShown) {
      if (fullArea != 0) {
        Serial.printf(
          "Area %d has reached full capacity. Type proceed to continue.\n",
          fullArea
        );
        capacityMessageShown = true;
      }
    }
    xSemaphoreGive(stateMutex);

    vTaskDelayUntil(&last, pdMS_TO_TICKS(1000));
  }
}


// ============================================================================
// ISR FIXED
// ============================================================================

void IRAM_ATTR obstructionSensorInterrupt() {
  BaseType_t woken = pdFALSE;

  if (g_obstructionSensor) {
    curEdge.rise = esp_timer_get_time();
  }
  else {
    curEdge.fall = esp_timer_get_time();

    edge_t copy;
    copy.rise = curEdge.rise;
    copy.fall = curEdge.fall;

    xQueueSendFromISR(edgeQ, &copy, &woken);
  }

  if (woken) portYIELD_FROM_ISR();
}


// ============================================================================
// SETUP
// ============================================================================

void setup() {
  Serial.begin(115200);

  edgeQ = xQueueCreate(10, sizeof(edge_t));
  stateMutex = xSemaphoreCreateMutex();

  g2Lock = xSemaphoreCreateMutex();
  g3Lock = xSemaphoreCreateMutex();
  g4Lock = xSemaphoreCreateMutex();

  g_gate1Ctrl = true;
  g_gate2Ctrl = true;
  g_gate3Ctrl = false;
  g_gate4Ctrl = false;

  xTaskCreatePinnedToCore(dispatcher, "disp", 4096, NULL, 10, NULL, 0);
  xTaskCreatePinnedToCore(background, "bg", 4096, NULL, 2, NULL, 1);

  startSimulator();
}

void loop() {
  vTaskDelay(portMAX_DELAY);
}

/******************************************** END OF STUDENT CODE *****************************************/
/*!!!!!!!!!!!!!!!!!!!!!!!!!!! ANY CODE BELOW THIS LINE SHOULD NOT BE MODIFIED !!!!!!!!!!!!!!!!!!!!!!!!!!!*/
/*================================ START OF SIMULATOR ENGINE ============================================*/

volatile int currentProductIndex = 0;
const int MAX_SCHEDULERS = 4;
ProductScheduler g_schedulers[MAX_SCHEDULERS];

static inline uint64_t distanceToMicros(float distance_cm, float speed_cm_s) {
  double tSec = (double)distance_cm / (double)speed_cm_s;
  return (uint64_t)(tSec * 1e6);
}

void fillProductEvents(ProductScheduler &sch) {
  const Product &p = sch.product;
  sch.totalEvents = 0;
  sch.currentEventIndex = 0;

  auto &events = sch.events;
  int idx = 0;

  uint64_t leadTime = distanceToMicros(DIST_LEAD, sp.v1);

  // Determine product's ground-truth path
  bool sizeOk   = (p.length >= sp.L_min && p.length <= sp.L_max);
  bool weightOk = (p.weight >= sp.W_min && p.weight <= sp.W_max);
  bool isSmallLight = sizeOk && weightOk &&
                      (p.length <= sp.L_threshold) && (p.weight <= sp.W_threshold);

  // Pre-compute destination area index (0=A1, 1=A2, 2=A3)
  int destArea;
  if (!sizeOk) destArea = 0;
  else if (!weightOk) destArea = 0;
  else if (isSmallLight) destArea = 1;
  else destArea = 2;

  // 1. Obstruction sensor: front edge arrives
  events[idx].triggerTimeMicros = leadTime;
  events[idx].eventType = ProductEventType::OBSTRUCTION_SENSOR_RISE;
  events[idx].gateExpected = 0;
  events[idx].destArea = 0;
  idx++;

  // 2. Obstruction sensor: back edge leaves
  uint64_t fallTime = distanceToMicros(p.length, sp.v1);
  events[idx].triggerTimeMicros = leadTime + fallTime;
  events[idx].eventType = ProductEventType::OBSTRUCTION_SENSOR_FALL;
  events[idx].gateExpected = 0;
  events[idx].destArea = 0;
  idx++;

  // 3. G2 check (size gate) - front edge at d0
  // G2: true=divert (size abnormal), expected true if !sizeOk
  uint64_t g2Time = distanceToMicros(sp.d0, sp.v1) + leadTime;
  events[idx].triggerTimeMicros = g2Time;
  events[idx].eventType = ProductEventType::G2_CHECK;
  events[idx].gateExpected = sizeOk ? 0 : 1;
  events[idx].destArea = 0;
  idx++;

  if (!sizeOk) {
    // Product diverted at G2 -> Area 1
    events[idx].triggerTimeMicros = g2Time + 5000;
    events[idx].eventType = ProductEventType::ARRIVE_DESTINATION;
    events[idx].gateExpected = 0;
    events[idx].destArea = 0;
    idx++;

    events[idx].triggerTimeMicros = g2Time + 10000;
    events[idx].eventType = ProductEventType::FINISH;
    events[idx].gateExpected = 0;
    events[idx].destArea = 0;
    idx++;
  } else {
    // 4. Weight sensor window
    uint64_t centerAtWeight = distanceToMicros(sp.d1 + p.length / 2.0f, sp.v1) + leadTime;
    uint64_t halfWindowW = distanceToMicros(p.length * 0.1f, sp.v1);
    events[idx].triggerTimeMicros = centerAtWeight - halfWindowW;
    events[idx].eventType = ProductEventType::WEIGHT_SENSOR_ENTER_WINDOW;
    events[idx].gateExpected = 0;
    events[idx].destArea = 0;
    idx++;

    events[idx].triggerTimeMicros = centerAtWeight + halfWindowW;
    events[idx].eventType = ProductEventType::WEIGHT_SENSOR_EXIT_WINDOW;
    events[idx].gateExpected = 0;
    events[idx].destArea = 0;
    idx++;

    // 5. G3 check (weight gate) - front edge at d2
    // G3: true=divert (weight abnormal), expected true if !weightOk
    uint64_t g3Time = distanceToMicros(sp.d2, sp.v1) + leadTime;
    events[idx].triggerTimeMicros = g3Time;
    events[idx].eventType = ProductEventType::G3_CHECK;
    events[idx].gateExpected = weightOk ? 0 : 1;
    events[idx].destArea = 0;
    idx++;

    if (!weightOk) {
      // Product diverted at G3 -> Area 1
      events[idx].triggerTimeMicros = g3Time + 5000;
      events[idx].eventType = ProductEventType::ARRIVE_DESTINATION;
      events[idx].gateExpected = 0;
      events[idx].destArea = 0;
      idx++;

      events[idx].triggerTimeMicros = g3Time + 10000;
      events[idx].eventType = ProductEventType::FINISH;
      events[idx].gateExpected = 0;
      events[idx].destArea = 0;
      idx++;
    } else {
      // 6. Barcode sensor window
      uint64_t centerAtBarcode = distanceToMicros(sp.d3 + p.length / 2.0f, sp.v1) + leadTime;
      uint64_t halfWindowB = distanceToMicros(p.length * 0.1f, sp.v1);
      events[idx].triggerTimeMicros = centerAtBarcode - halfWindowB;
      events[idx].eventType = ProductEventType::BARCODE_SENSOR_ENTER_WINDOW;
      events[idx].gateExpected = 0;
      events[idx].destArea = 0;
      idx++;

      events[idx].triggerTimeMicros = centerAtBarcode + halfWindowB;
      events[idx].eventType = ProductEventType::BARCODE_SENSOR_EXIT_WINDOW;
      events[idx].gateExpected = 0;
      events[idx].destArea = 0;
      idx++;

      // 7. G4 check (routing gate) - front edge at d4
      // G4: false=Conv2/Area2, true=Conv3/Area3
      uint64_t g4Time = distanceToMicros(sp.d4, sp.v1) + leadTime;
      events[idx].triggerTimeMicros = g4Time;
      events[idx].eventType = ProductEventType::G4_CHECK;
      events[idx].gateExpected = isSmallLight ? 0 : 1;
      events[idx].destArea = 0;
      idx++;

      // 8. Arrive at destination area
      uint64_t arriveTime;
      if (isSmallLight) {
        arriveTime = g4Time + distanceToMicros(sp.d5, sp.v2);
      } else {
        arriveTime = g4Time + distanceToMicros(sp.d6, sp.v3);
      }
      events[idx].triggerTimeMicros = arriveTime;
      events[idx].eventType = ProductEventType::ARRIVE_DESTINATION;
      events[idx].gateExpected = 0;
      events[idx].destArea = destArea;
      idx++;

      events[idx].triggerTimeMicros = arriveTime + 5000;
      events[idx].eventType = ProductEventType::FINISH;
      events[idx].gateExpected = 0;
      events[idx].destArea = 0;
      idx++;
    }
  }

  sch.totalEvents = idx;

  // Sort events by time
  for (int i = 0; i < sch.totalEvents - 1; i++) {
    for (int j = i + 1; j < sch.totalEvents; j++) {
      if (events[i].triggerTimeMicros > events[j].triggerTimeMicros) {
        ProductEvent tmp = events[i];
        events[i] = events[j];
        events[j] = tmp;
      }
    }
  }
}

void printProductEvents(const ProductScheduler &sch) {
  Serial.println("===== Product Event Timeline =====");
  Serial.printf("Length: %.2f cm  Weight: %.2f g  Barcode: %d\n",
                sch.product.length, sch.product.weight, sch.product.barcodeID);

  bool sizeOk = (sch.product.length >= sp.L_min && sch.product.length <= sp.L_max);
  bool weightOk = (sch.product.weight >= sp.W_min && sch.product.weight <= sp.W_max);
  const char* dest = "???";
  if (!sizeOk) dest = "Area1(size)";
  else if (!weightOk) dest = "Area1(weight)";
  else if (sch.product.length <= sp.L_threshold && sch.product.weight <= sp.W_threshold) dest = "Area2";
  else dest = "Area3";
  Serial.printf("Expected destination: %s\n", dest);

  for (int i = 0; i < sch.totalEvents; i++) {
    const ProductEvent &evt = sch.events[i];
    float timeMs = evt.triggerTimeMicros / 1000.0f;
    Serial.printf("  %d: %.3f ms - ", i, timeMs);
    switch (evt.eventType) {
      case ProductEventType::OBSTRUCTION_SENSOR_RISE:   Serial.println("OBSTRUCTION_RISE"); break;
      case ProductEventType::OBSTRUCTION_SENSOR_FALL:   Serial.println("OBSTRUCTION_FALL"); break;
      case ProductEventType::G2_CHECK:                  Serial.println("G2_CHECK (size)"); break;
      case ProductEventType::WEIGHT_SENSOR_ENTER_WINDOW: Serial.println("WEIGHT_ENTER"); break;
      case ProductEventType::WEIGHT_SENSOR_EXIT_WINDOW: Serial.println("WEIGHT_EXIT"); break;
      case ProductEventType::G3_CHECK:                  Serial.println("G3_CHECK (weight)"); break;
      case ProductEventType::BARCODE_SENSOR_ENTER_WINDOW: Serial.println("BARCODE_ENTER"); break;
      case ProductEventType::BARCODE_SENSOR_EXIT_WINDOW: Serial.println("BARCODE_EXIT"); break;
      case ProductEventType::G4_CHECK:                  Serial.println("G4_CHECK (route)"); break;
      case ProductEventType::ARRIVE_DESTINATION:        Serial.println("ARRIVE_DESTINATION"); break;
      case ProductEventType::FINISH:                    Serial.println("FINISH"); break;
      default: Serial.println("UNKNOWN"); break;
    }
  }
  Serial.println("==================================");
}

// Hardware timer ISR - executes product events
void ARDUINO_ISR_ATTR onTimerInterrupt(void* arg) {
  ProductScheduler* sch = (ProductScheduler*)arg;
  hw_timer_t* timer = sch->timerHandle;

  if (!timer) return;

  if (sch->currentEventIndex >= sch->totalEvents) {
    timerEnd(timer);
    sch->timerHandle = nullptr;
    return;
  }

  // Get current event
  ProductEvent evt = sch->events[sch->currentEventIndex];
  sch->currentEventIndex++;

  // Execute event logic (no floating-point comparisons - all pre-computed)
  int evtType = (int)evt.eventType;

  if (evtType == (int)ProductEventType::OBSTRUCTION_SENSOR_RISE) {
    g_obstructionSensor = true;
    digitalWrite(g_obstructionSensorPin, HIGH);
    obstructionSensorInterrupt();
  }
  else if (evtType == (int)ProductEventType::OBSTRUCTION_SENSOR_FALL) {
    g_obstructionSensor = false;
    digitalWrite(g_obstructionSensorPin, LOW);
    obstructionSensorInterrupt();
  }
  else if (evtType == (int)ProductEventType::WEIGHT_SENSOR_ENTER_WINDOW) {
    g_weightSensor = sch->product.weight;
  }
  else if (evtType == (int)ProductEventType::WEIGHT_SENSOR_EXIT_WINDOW) {
    g_weightSensor = 0.0f;
  }
  else if (evtType == (int)ProductEventType::BARCODE_SENSOR_ENTER_WINDOW) {
    g_barcodeReader = sch->product.barcodeID;
  }
  else if (evtType == (int)ProductEventType::BARCODE_SENSOR_EXIT_WINDOW) {
    g_barcodeReader = 0;
  }
  else if (evtType == (int)ProductEventType::G2_CHECK) {
    // G2: true=divert. Pre-computed expected value in gateExpected
    if ((int)g_gate2Ctrl != evt.gateExpected) {
      errorGateCNT[0]++;
    }
  }
  else if (evtType == (int)ProductEventType::G3_CHECK) {
    // G3: true=divert. Pre-computed expected value in gateExpected
    if ((int)g_gate3Ctrl != evt.gateExpected) {
      errorGateCNT[1]++;
    }
  }
  else if (evtType == (int)ProductEventType::G4_CHECK) {
    // G4: false=Conv2, true=Conv3. Pre-computed expected value
    if ((int)g_gate4Ctrl != evt.gateExpected) {
      errorGateCNT[2]++;
    }
  }
  else if (evtType == (int)ProductEventType::ARRIVE_DESTINATION) {
    simAreaCount[evt.destArea]++;
  }
  else if (evtType == (int)ProductEventType::FINISH) {
    digitalWrite(sch->debugPin, LOW);
  }

  // Set up next event or end timer
  if (sch->currentEventIndex < sch->totalEvents) {
    timerAlarm(timer, sch->events[sch->currentEventIndex].triggerTimeMicros, false, 0);
  } else {
    timerEnd(timer);
    sch->timerHandle = nullptr;
  }
}

hw_timer_t* allocateTimerForProduct(ProductScheduler &sch) {
  digitalWrite(sch.debugPin, HIGH);
  fillProductEvents(sch);

  hw_timer_t* timer = timerBegin(1000000);  // 1MHz = 1us resolution
  if (!timer) return nullptr;

  sch.timerHandle = timer;
  timerAttachInterruptArg(timer, &onTimerInterrupt, (void*)&sch);

  if (sch.totalEvents > 0) {
    digitalWrite(sch.debugPin, LOW);
    timerWrite(timer, 0);
    timerAlarm(timer, sch.events[0].triggerTimeMicros, false, 0);
  }
  return timer;
}

// Status reporting task - prints simulator state periodically
void statusReportTask(void *pvParameters) {
  vTaskDelay(2000 / portTICK_PERIOD_MS);  // Initial delay
  while (true) {
    Serial.printf("[SIM] Products loaded: %d/%d | Area counts: A1=%d A2=%d A3=%d | Gate errors: G2=%d G3=%d G4=%d\n",
                  currentProductIndex, numProducts,
                  simAreaCount[0], simAreaCount[1], simAreaCount[2],
                  errorGateCNT[0], errorGateCNT[1], errorGateCNT[2]);

    // Check if all products finished
    if (currentProductIndex >= numProducts) {
      bool allDone = true;
      for (int i = 0; i < MAX_SCHEDULERS; i++) {
        if (g_schedulers[i].timerHandle != nullptr) {
          allDone = false;
          break;
        }
      }
      if (allDone) {
        int totalArrived = simAreaCount[0] + simAreaCount[1] + simAreaCount[2];
        Serial.println("\n=== SIMULATION COMPLETE ===");
        Serial.printf("Total products processed: %d/%d\n", totalArrived, numProducts);
        Serial.printf("Area 1: %d  Area 2: %d  Area 3: %d\n",
                      simAreaCount[0], simAreaCount[1], simAreaCount[2]);
        Serial.printf("Gate errors: G2=%d  G3=%d  G4=%d\n",
                      errorGateCNT[0], errorGateCNT[1], errorGateCNT[2]);
        if (errorGateCNT[0] == 0 && errorGateCNT[1] == 0 && errorGateCNT[2] == 0) {
          Serial.println("Result: ALL GATES CORRECT!");
        } else {
          Serial.println("Result: GATE ERRORS DETECTED - check your control logic");
        }
        Serial.println("===========================\n");
        vTaskDelete(NULL);
        return;
      }
    }
    vTaskDelay(2000 / portTICK_PERIOD_MS);
  }
}

// Product loading task - loads products at fixed intervals, checks G1 gate
void productLoadingTask(void *pvParameters) {
  TickType_t xLastWakeTime = xTaskGetTickCount();

  while (true) {
    if (currentProductIndex < numProducts) {
      // Check G1 intake gate
      if (g_gate1Ctrl) {
        bool schedulerFound = false;
        for (int i = 0; i < MAX_SCHEDULERS; i++) {
          if (g_schedulers[i].timerHandle == nullptr) {
            g_schedulers[i].product = productArray[currentProductIndex];
            g_schedulers[i].debugPin = DEBUG_PIN + currentProductIndex % 3;

            hw_timer_t* t = allocateTimerForProduct(g_schedulers[i]);
            if (!t) {
              Serial.println("ERROR: No hardware timer available!");
            } else {
              currentProductIndex++;
              schedulerFound = true;
            }
            break;
          }
        }
        if (!schedulerFound) {
          // No scheduler available this cycle, will retry next interval
        }
      } else {
        // G1 is closed - product blocked at intake
        // The product remains in the queue, will be loaded when G1 opens
      }
    }
    vTaskDelayUntil(&xLastWakeTime, sp.productInterval / portTICK_PERIOD_MS);
  }
}

void startSimulator(void) {
  // Generate parameters from student number
  generateParameters(STUDENT_NUMBER);
  printParameters();

  // Generate test product array
  generateProductArray();

  Serial.printf("\nGenerated %d test products:\n", numProducts);
  for (int i = 0; i < numProducts; i++) {
    bool sizeOk = (productArray[i].length >= sp.L_min && productArray[i].length <= sp.L_max);
    bool weightOk = (productArray[i].weight >= sp.W_min && productArray[i].weight <= sp.W_max);
    const char* dest;
    if (!sizeOk) dest = "A1(size)";
    else if (!weightOk) dest = "A1(weight)";
    else if (productArray[i].length <= sp.L_threshold && productArray[i].weight <= sp.W_threshold) dest = "A2";
    else dest = "A3";
    Serial.printf("  [%d] L=%.2f W=%.2f BC=%d -> %s\n",
                  i, productArray[i].length, productArray[i].weight, productArray[i].barcodeID, dest);
  }
  Serial.println();

  // Setup GPIO pins
  pinMode(g_obstructionSensorPin, OUTPUT);
  pinMode(DEBUG_PIN, OUTPUT);
  pinMode(DEBUG_PIN + 1, OUTPUT);
  pinMode(DEBUG_PIN + 2, OUTPUT);
  digitalWrite(DEBUG_PIN, LOW);
  digitalWrite(DEBUG_PIN + 1, LOW);
  digitalWrite(DEBUG_PIN + 2, LOW);

  // Initialize sensor outputs
  g_obstructionSensor = false;
  g_barcodeReader = 0;
  g_weightSensor = 0.0f;

  // Initialize gate controls to default
  g_gate1Ctrl = true;
  g_gate2Ctrl = false;
  g_gate3Ctrl = false;
  g_gate4Ctrl = false;

  // Reset counters
  currentProductIndex = 0;
  for (int i = 0; i < MAX_SCHEDULERS; i++) {
    g_schedulers[i].timerHandle = nullptr;
  }
  for (int i = 0; i < 3; i++) {
    errorGateCNT[i] = 0;
    simAreaCount[i] = 0;
  }

  // Create product loading task (highest priority)
  xTaskCreate(
    productLoadingTask,
    "ProductLoader",
    2048,
    NULL,
    configMAX_PRIORITIES - 1,
    NULL
  );

  // Create status reporting task
  xTaskCreate(
    statusReportTask,
    "StatusReport",
    2048,
    NULL,
    1,
    NULL
  );

  Serial.println("=== SmartSort Simulator Started ===\n");
}