#include "Arduino.h"

// ============================================================================
// STUDENT CONFIGURATION
// Replace 0 with your student number (numeric digits only)
// Example: For UP1234567, enter 1234567
// ============================================================================
#define STUDENT_NUMBER 2264585  

// ============================================================================
// 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 = 100;
    sp.C2 = 100;
    sp.C3 = 100;
////////////////////////////// Gets moved below the other three sp.c# for testing
    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 120
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

///////////////////////////////////////////
//Gets unhashed to spawn 100 boxes for testing
    /*while (idx < 100) {
        // Generate random lengths and weights that bounce around the thresholds
        // random(0, 200)/100.0f gives a random float between 0.00 and 2.00
        float rand_L = (sp.L_min - 0.5f) + (random(0, 200) / 100.0f);
        float rand_W = (sp.W_min - 5.0f) + (random(0, 3000) / 100.0f);
        int rand_BC = 2000 + idx; // Dummy barcode

        productArray[idx] = {rand_L, rand_W, rand_BC};
        idx++;
    }*/
///////////////////////////////////////////

    numProducts = idx; // This will now lock in at exactly 100
}
/*!!!!!!!!!!!!!!!!!!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 ===================================*/
// ESP32 Board Library (ESP32 by Espressif) version: V3.3.7
//
// Your controller must:
// 1. Detect products via the obstruction sensor interrupt
// 2. Calculate product length from sensor blocking duration
// 3. Control G2 to divert size-abnormal products to Area 1
// 4. Read weight sensor when product is centered at d1
// 5. Control G3 to divert weight-abnormal products to Area 1
// 6. Read barcode when product is centered at d3
// 7. Control G4 to route products to Conv2 (Area 2) or Conv3 (Area 3)
// 8. Control G1 to prevent area overflow (capacity management)
// 9. Output real-time status and respond to serial commands
//
// Classification rules:
//   - Size abnormal (L < L_min or L > L_max) -> Area 1 via G2
//   - Weight abnormal (W < W_min or W > W_max) -> Area 1 via G3
//   - L <= L_threshold AND W <= W_threshold -> Area 2 via G4 (Conv2)
//   - Otherwise -> Area 3 via G4 (Conv3)
//
// Access parameters via: sp.v1, sp.d0, sp.L_min, sp.T_gate, sp.C1, etc.
//
// Timing hint: after obstruction sensor fall edge, the time for product center
// to reach the weight sensor is approximately:
//   T = (sp.d1 - product_length/2) / sp.v1 * 1000  (in ms, from sensor position)

// ============================================================================
// DATA STRUCTURES
// You may modify or extend these structures as needed for your design.
// ============================================================================
// ============================================================================
// DATA STRUCTURES
// ============================================================================
#define MAX_ACTIVE_BOXES 20

// Timestamp pair captured by the obstruction sensor ISR
typedef struct {
    int64_t riseEdgeUs;   // esp_timer_get_time() at rising edge
    int64_t fallEdgeUs;   // esp_timer_get_time() at falling edge
} product_timestamp_t;

// Message passing ticket for telemetry
typedef struct {
    int target_area;
    float box_len;
    float box_wt;
    int barcode;
} box_result_t;

// Belt tracking state machine structure
typedef struct {
    bool active;
    float length;
    float weight;
    int barcode;
    int64_t entry_time;
    int stage; // 0=Wait G2, 1=Wait Scale, 2=Wait G3, 3=Wait Barcode, 4=Wait G4
} ActiveBox;

int count_A1 = 0, count_A2 = 0, count_A3 = 0;
float sum_L_all = 0.0f, sum_L_A2 = 0.0f, sum_L_A3 = 0.0f;
float sum_W_all = 0.0f, sum_W_A2 = 0.0f, sum_W_A3 = 0.0f;
int total_processed = 0;

ActiveBox belt_tracker[MAX_ACTIVE_BOXES];

// ============================================================================
// GLOBAL VARIABLES
// ============================================================================
static QueueHandle_t g_edgeQueue = NULL;
static QueueHandle_t g_resultsQueue = NULL;

static volatile product_timestamp_t g_currentTimestamp = {0, 0};

volatile bool emergency_halt = false;
volatile int boxes_on_CONV = 0;
const float tolerance = 0.005f;
int64_t g2_close_time = 0;
int64_t g3_close_time = 0;
int cleared_A1 = 0;
int cleared_A2 = 0;
int cleared_A3 = 0;
// ============================================================================
// OBSTRUCTION SENSOR ISR
// ============================================================================
void IRAM_ATTR obstructionSensorInterrupt() {
    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
    if (g_obstructionSensor == true) {
        g_currentTimestamp.riseEdgeUs = esp_timer_get_time();
    } else {
        g_currentTimestamp.fallEdgeUs = esp_timer_get_time();
        xQueueSendFromISR(g_edgeQueue, (void*)&g_currentTimestamp, &xHigherPriorityTaskWoken);
        if (xHigherPriorityTaskWoken) {
            portYIELD_FROM_ISR();
        }
    }
}

// ============================================================================
//  INTAKE GATE MANAGEMENT 
// ============================================================================
// ============================================================================
//  INTAKE GATE MANAGEMENT 
// ============================================================================
void regulate_G1_intake() {
    if (emergency_halt) {
        g_gate1Ctrl = false;
        return;
    }

    // Calculate effective bin counts by subtracting the ones cleared on reset
    int current_A1 = simAreaCount[0] - cleared_A1;
    int current_A2 = simAreaCount[1] - cleared_A2;
    int current_A3 = simAreaCount[2] - cleared_A3;

    int headroom_1 = sp.C1 - current_A1;
    int headroom_2 = sp.C2 - current_A2;
    int headroom_3 = sp.C3 - current_A3;

    int lowest_margin = headroom_1;
    if (headroom_2 < lowest_margin) lowest_margin = headroom_2;
    if (headroom_3 < lowest_margin) lowest_margin = headroom_3;

    g_gate1Ctrl = (boxes_on_CONV < lowest_margin);
}

// ============================================================================
// CORE 0: DISPATCHER TASK (State Machine)
// ============================================================================
void productProcessingTask(void *pvParameters) {
    for (int i = 0; i < MAX_ACTIVE_BOXES; i++) {
        belt_tracker[i].active = false;
    }

    product_timestamp_t ts;
    
    while (true) {
        regulate_G1_intake(); 

        int64_t current_time = esp_timer_get_time();

        // Auto-close diverter gates without blocking task execution
        if (g_gate2Ctrl && current_time >= g2_close_time) g_gate2Ctrl = false;
        if (g_gate3Ctrl && current_time >= g3_close_time) g_gate3Ctrl = false;

        // Check for new incoming boxes
        if (xQueueReceive(g_edgeQueue, &ts, 0) == pdTRUE) {
            boxes_on_CONV++;
            for (int i = 0; i < MAX_ACTIVE_BOXES; i++) {
                if (!belt_tracker[i].active) {
                    belt_tracker[i].active = true;
                    belt_tracker[i].entry_time = ts.riseEdgeUs;
                    belt_tracker[i].length = (float)(ts.fallEdgeUs - ts.riseEdgeUs) * sp.v1 / 1e6f;
                    belt_tracker[i].barcode = 0; 
                    belt_tracker[i].stage = 0;
                    break;
                }
            }
        }

        // Update state for all active boxes on the belt
        for (int i = 0; i < MAX_ACTIVE_BOXES; i++) {
            if (!belt_tracker[i].active) continue; 
            
            ActiveBox *box = &belt_tracker[i];
            
            // STAGE 0: Gate 2 (Size Check)
            if (box->stage == 0) {
                int64_t g2_time = box->entry_time + (int64_t)((sp.d0 / sp.v1) * 1e6f) - (int64_t)(sp.T_gate * 1000);
                if (current_time >= g2_time) {
                    bool bad_size = (box->length < (sp.L_min - tolerance)) || (box->length > (sp.L_max + tolerance));
                    if (bad_size) {
                        g_gate2Ctrl = true; 
                        g2_close_time = current_time + (int64_t)(sp.T_gate * 3000); 
                        
                        box->active = false; 
                        box_result_t res = {1, box->length, 0.0f, 0};
                        xQueueSend(g_resultsQueue, &res, 0);
                    } else {
                        box->stage = 1; 
                    }
                }
            }
            
            // STAGE 1: Weighing Sensor
            else if (box->stage == 1) {
                int64_t scale_time = box->entry_time + (int64_t)(((sp.d1 + (box->length / 2.0f)) / sp.v1) * 1e6f);
                if (current_time >= scale_time) {
                    box->weight = g_weightSensor; 
                    box->stage = 2;               
                }
            }
            
            // STAGE 2: Gate 3 (Weight Check)
            else if (box->stage == 2) {
                int64_t g3_time = box->entry_time + (int64_t)((sp.d2 / sp.v1) * 1e6f) - (int64_t)(sp.T_gate * 1000);
                if (current_time >= g3_time) {
                    bool bad_weight = (box->weight < (sp.W_min - tolerance)) || (box->weight > (sp.W_max + tolerance));
                    if (bad_weight) {
                        g_gate3Ctrl = true; 
                        g3_close_time = current_time + (int64_t)(sp.T_gate * 3000); 

                        box->active = false; 
                        box_result_t res = {1, box->length, box->weight, 0};
                        xQueueSend(g_resultsQueue, &res, 0);
                    } else {
                        box->stage = 3; 
                    }
                }
            }
            
            // STAGE 3: Barcode Scanner
            else if (box->stage == 3) {
                int64_t barcode_time = box->entry_time + (int64_t)(((sp.d3 + (box->length / 2.0f)) / sp.v1) * 1e6f);
                if (current_time >= barcode_time) {
                    box->barcode = g_barcodeReader; 
                    box->stage = 4; 
                }
            }

            // STAGE 4: Gate 4 (Final Routing)
            else if (box->stage == 4) {
                int64_t g4_time = box->entry_time + (int64_t)((sp.d4 / sp.v1) * 1e6f) - (int64_t)(sp.T_gate * 1000);
                if (current_time >= g4_time) {
                    bool goes_to_A2 = (box->length <= (sp.L_threshold + tolerance)) && (box->weight <= (sp.W_threshold + tolerance));
                    
                    int final_dest = goes_to_A2 ? 2 : 3;
                    g_gate4Ctrl = !goes_to_A2; 

                    box->active = false; 
                    box_result_t res = {final_dest, box->length, box->weight, box->barcode};
                    xQueueSend(g_resultsQueue, &res, 0);
                }
            }
        } 

        vTaskDelay(pdMS_TO_TICKS(2));
    }
}

// ============================================================================
// CORE 1: TELEMETRY & COMMAND TASK 
// ============================================================================
void backgroundTask(void *pvParameters) {
    box_result_t incoming_data;
    char console_buffer[1024]; 

    struct FinishedProduct {
        int bc;
        float l;
        float w;
        const char* dest;
    };
    FinishedProduct history[5]; 
    int history_idx = 0;

    for (int i = 0; i < 5; i++) {
        history[i].l = 0.0f;
    }

    while (true) {
        // Process finished boxes from queue
        while (xQueueReceive(g_resultsQueue, &incoming_data, 0) == pdTRUE) {
            total_processed++;
            sum_L_all += incoming_data.box_len;
            sum_W_all += incoming_data.box_wt;

            const char* area_str = "A1";
            if (incoming_data.target_area == 1) {
                count_A1++;
                area_str = "A1";
            } else if (incoming_data.target_area == 2) {
                count_A2++;
                sum_L_A2 += incoming_data.box_len;
                sum_W_A2 += incoming_data.box_wt;
                area_str = "A2";
            } else if (incoming_data.target_area == 3) {
                count_A3++;
                sum_L_A3 += incoming_data.box_len;
                sum_W_A3 += incoming_data.box_wt;
                area_str = "A3";
            }
            
            history[history_idx].bc = incoming_data.barcode;
            history[history_idx].l = incoming_data.box_len;
            history[history_idx].w = incoming_data.box_wt;
            history[history_idx].dest = area_str;
            history_idx = (history_idx + 1) % 5;

            boxes_on_CONV--; 
        }

        // Handle Serial Commands
        if (Serial.available()) {
            String input = Serial.readStringUntil('\n');
            input.trim();
            
            if (input == "emergency") {
                emergency_halt = true;
                regulate_G1_intake(); 
                Serial.println("EMERGENCY: System halted"); 
            } 
            else if (input == "stat") {
                float Lavg = (total_processed > 0) ? (sum_L_all / total_processed) : 0.0f;
                float L2avg = (count_A2 > 0) ? (sum_L_A2 / count_A2) : 0.0f;
                float L3avg = (count_A3 > 0) ? (sum_L_A3 / count_A3) : 0.0f;
                float Wavg = (total_processed > 0) ? (sum_W_all / total_processed) : 0.0f;
                float W2avg = (count_A2 > 0) ? (sum_W_A2 / count_A2) : 0.0f;
                float W3avg = (count_A3 > 0) ? (sum_W_A3 / count_A3) : 0.0f;
                
                snprintf(console_buffer, sizeof(console_buffer), 
                         "sortSTAT: %.2f, %.2f, %.2f, %.2f, %.2f, %.2f", 
                         Lavg, L2avg, L3avg, Wavg, W2avg, W3avg);
                Serial.println(console_buffer);
            }
            else if (input == "reset") {
                emergency_halt = false;
                
                // Clear internal math
                count_A1 = 0; count_A2 = 0; count_A3 = 0;
                sum_L_all = 0.0f; sum_L_A2 = 0.0f; sum_L_A3 = 0.0f;
                sum_W_all = 0.0f; sum_W_A2 = 0.0f; sum_W_A3 = 0.0f;
                total_processed = 0;
                history_idx = 0;
                for (int i = 0; i < 5; i++) history[i].l = 0.0f; 

                //Set offsets instead of deleting the simulator's data
                cleared_A1 = simAreaCount[0];
                cleared_A2 = simAreaCount[1];
                cleared_A3 = simAreaCount[2];

                regulate_G1_intake(); 
            }
        }

        // Real-Time Status Output
        int pos = snprintf(console_buffer, sizeof(console_buffer), 
                           "sortRT: %03d,%03d,%03d", count_A1, count_A2, count_A3);

        for (int i = 0; i < 5; i++) {
            if (history[i].l > 0.1f) { 
                if (history[i].bc == 0) {
                    pos += snprintf(console_buffer + pos, sizeof(console_buffer) - pos,
                                    ",TN0,%.1f,%.1f,%s", 
                                    history[i].l, history[i].w, history[i].dest);
                } else {
                    pos += snprintf(console_buffer + pos, sizeof(console_buffer) - pos,
                                    ",TN%d,%.1f,%.1f,%s", 
                                    history[i].bc, history[i].l, history[i].w, history[i].dest);
                }
            }
        }

        Serial.println(console_buffer);
        vTaskDelay(pdMS_TO_TICKS(1000)); 
    }
}

// ============================================================================
// SETUP
// ============================================================================
void setup() {
    Serial.begin(115200);

    // Initialize Inter-Process Communication (IPC)
    g_edgeQueue = xQueueCreate(15, sizeof(product_timestamp_t));
    if (g_edgeQueue == NULL) {
        Serial.println("FATAL ERROR: Edge Queue failed to init!");
    }

    g_resultsQueue = xQueueCreate(20, sizeof(box_result_t));
    if (g_resultsQueue == NULL) {
        Serial.println("FATAL ERROR: Results Queue failed to init!");
    }

    // Boot FreeRTOS Tasks
    xTaskCreatePinnedToCore(
        productProcessingTask,   
        "Radar_SM",              
        8192,                    
        NULL,                    
        10,                      
        NULL,                    
        0                        
    );

    xTaskCreatePinnedToCore(
        backgroundTask,          
        "Logger_Cmd",            
        4096,                    
        NULL,                    
        1,                       
        NULL,                    
        1                        
    );

    // Start Simulator Engine
    startSimulator();
}

void loop() {
    // Empty — all work is done in FreeRTOS tasks
    vTaskDelete(NULL);
}


/******************************************** 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");
}