#include <iostream>
#include <cstring>
#include <cstdlib>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <pthread.h>
#include <sys/ioctl.h>
#include <sys/time.h>
#include <sys/select.h>
#include <errno.h>
#include <signal.h>
#include <chrono>
#include <arpa/inet.h>
#include <string>
#include <vector>

#include "Star_sensorHS.h"

/* ------------------ 全局变量 ------------------ */
// 全局设备管理
Star_Device nano_stars[MAX_STAR_NUM_PER_TYPE] = {0};
Star_Device pico_stars[MAX_STAR_NUM_PER_TYPE] = {0};
uint8_t nano_star_count = 0;
uint8_t pico_star_count = 0;

// 全局UTC时间变量
static uint8_t UTC_TIME_SET[5] = {0};

// 电星模数据结构体
static CMD_ESD_S CMD_ESD_S_DATA = {0};

// 互斥锁
static pthread_mutex_t cache_mutex = PTHREAD_MUTEX_INITIALIZER;

// 发布配置
static int star_pub_interval_ms = 500;

// FastDDS回调函数
static CommandCallbackFunc command_callback_func = nullptr;
static TelemetryCallbackFunc telemetry_callback_func = nullptr;

/* ------------------ 工具函数 ------------------ */
static int checksum_verify(const uint8_t *data, int len) {
    if (len <= 1 || data == NULL) return SAT_ERR_DATA;
    uint8_t checksum = 0;
    for (int i = 0; i < len - 1; ++i) checksum += data[i];
    if (checksum == data[len - 1]) return SAT_ERR_OK;
    fprintf(stderr, "[ERROR] Checksum error: calculated=0x%02X, received=0x%02X\n", checksum, data[len - 1]);
    return SAT_ERR_CHECKSUM;
}

/* ------------------ 串口初始化 ------------------ */
int star_uart_init(star_type_t type, uint8_t num, const char *dev, int baudrate) {
    if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE) {
        fprintf(stderr, "[ERROR] Invalid star type=%d or num=%d\n", type, num);
        return SAT_ERR_DATA;
    }
    
    uint8_t idx = num - 1;
    Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx];

    // 如果已经打开，先关闭
    if (star->fd > 0) {
        close(star->fd);
        star->fd = -1;
    }

    // 打开串口
    star->fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
    if (star->fd < 0) {
        perror("[ERROR] Open star serial failed");
        return SAT_ERR_SERIAL;
    }

    // 配置串口参数
    struct termios options;
    if (tcgetattr(star->fd, &options) < 0) {
        perror("[ERROR] Get serial attributes failed");
        close(star->fd);
        star->fd = -1;
        return SAT_ERR_SERIAL;
    }
    
    // 设置波特率
    speed_t baud = B115200;
    switch (baudrate) {
        case 9600: baud = B9600; break;
        case 19200: baud = B19200; break;
        case 38400: baud = B38400; break;
        case 57600: baud = B57600; break;
        case 115200: baud = B115200; break;
        case 230400: baud = B230400; break;
        case 460800: baud = B460800; break;
        case 921600: baud = B921600; break;
        default: baud = B115200;
    }
    cfsetispeed(&options, baud);
    cfsetospeed(&options, baud);
    
    // 8位数据位，无奇偶校验，1位停止位
    options.c_cflag &= ~PARENB;
    options.c_cflag &= ~CSTOPB;
    options.c_cflag &= ~CSIZE;
    options.c_cflag |= CS8;
    
    // 启用接收
    options.c_cflag |= CREAD | CLOCAL;
    
    // 禁用软件流控
    options.c_iflag &= ~(IXON | IXOFF | IXANY);
    
    // 原始模式
    options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
    options.c_oflag &= ~OPOST;
    
    // 设置超时
    options.c_cc[VMIN] = 0;
    options.c_cc[VTIME] = 10; // 1秒超时
    
    if (tcsetattr(star->fd, TCSANOW, &options) < 0) {
        perror("[ERROR] Set serial attributes failed");
        close(star->fd);
        star->fd = -1;
        return SAT_ERR_SERIAL;
    }

    // 刷新缓冲区
    tcflush(star->fd, TCIOFLUSH);

    // 初始化设备信息
    star->dev = dev;
    star->baudrate = baudrate;
    star->on_off_status = 1;
    
    printf("[OK] %s STAR%d UART init: dev=%s, baud=%d, fd=%d\n",
           type == STAR_TYPE_NANO ? "NANO" : "PICO", num, dev, baudrate, star->fd);
    
    return SAT_ERR_OK;
}

/* ------------------ 发送星敏命令 ------------------ */
int send_star_cmd(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, uint8_t param) {
    if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE) return SAT_ERR_DATA;
    
    uint8_t idx = num - 1;
    Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx];
    if (star->fd < 0) {
        fprintf(stderr, "[ERROR] Serial not open for %s STAR%d\n",
                type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
        return SAT_ERR_SERIAL;
    }

    uint8_t send_cmd[260] = {0};
    int cmd_len = 5;
    uint8_t i = 0;

    switch (cmd) {
        case CMD_MCT_OST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0X00; send_cmd[4] = 0X14;
            break;
        case CMD_MCT_ESI:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0X03; send_cmd[4] = 0X17;
            break;
        case CMD_SAT:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA3;
            memcpy(send_cmd + 2, UTC_TIME_SET, 5);
            send_cmd[7] = 0;
            for (i = 0; i < 7; i++) send_cmd[7] += send_cmd[i];
            cmd_len = 8;
            break;
        case CMD_WM_NORM:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0X01; send_cmd[3] = 0X01; send_cmd[4] = 0X1A;
            break;
        case CMD_WM_ALSKY:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0X02; send_cmd[3] = 0X02; send_cmd[4] = 0X1C;
            break;
        case CMD_WM_TST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0X04; send_cmd[3] = 0X04; send_cmd[4] = 0X20;
            break;
        case CMD_WM_DLD:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0X08; send_cmd[3] = 0X08; send_cmd[4] = 0X28;
            break;
        case CMD_WM_IDLE:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0XF0; send_cmd[3] = 0XF0; send_cmd[4] = 0XF8;
            break;
        case CMD_WM_HK:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0X0A; send_cmd[3] = 0X0A; send_cmd[4] = 0X2C;
            break;
        case CMD_WM_RST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA4; send_cmd[2] = 0XFF; send_cmd[3] = 0XFF; send_cmd[4] = 0X16;
            break;
        case CMD_SEN_EXPO:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA9; send_cmd[2] = 0X60; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_SEN_AGAIN:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA9; send_cmd[2] = 0X30; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_SEN_DGAIN:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA9; send_cmd[2] = 0X90; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_ADE:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X03; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_SSE:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X05; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_TKR:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X06; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_ADN:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X09; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0A; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST_IMG_0:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0F; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST_IMG_1:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X1F; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST_IMG_2:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X2F; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST_IMG_3:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X3F; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_OFST_IMG_4:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X4F; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_WIN:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0E; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_PAR_RST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XAC; send_cmd[2] = 0X0B; send_cmd[3] = param;
            send_cmd[4] = 0;
            for (i = 0; i < 4; i++) send_cmd[4] += send_cmd[i];
            break;
        case CMD_ESD:
        {
            CMD_ESD_S_DATA.FRAME_HEAD = htons(0x7456);
            CMD_ESD_S_DATA.FRAME_ID = htons(0x0001);
            memcpy(CMD_ESD_S_DATA.UTC, UTC_TIME_SET, 5);
            CMD_ESD_S_DATA.STAR_NUM_S[0] = 1;
            memset(&CMD_ESD_S_DATA.SS_SCP_X, 0, sizeof(CMD_ESD_S) - 8);
            
            uint8_t crc = 0;
            uint8_t *data_ptr = (uint8_t *)&CMD_ESD_S_DATA;
            for (uint32_t i = 0; i < sizeof(CMD_ESD_S) - 1; i++) {
                crc += data_ptr[i];
            }
            CMD_ESD_S_DATA.SUM_CRC = crc;

            if (write(star->fd, &CMD_ESD_S_DATA, sizeof(CMD_ESD_S)) != sizeof(CMD_ESD_S)) {
                perror("[ERROR] Send ESD cmd failed");
                star->send_cmd_cnt++;
                return SAT_ERR_SEND_CMD;
            }
            star->send_cmd_cnt = 0;
            return SAT_ERR_OK;
        }
        case CMD_MCT_FLT_ON:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0x05; send_cmd[4] = 0x19;
            break;
        case CMD_MCT_FLT_OFF:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0x07; send_cmd[4] = 0x1B;
            break;
        case CMD_MCT_PPS_ON:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0x0A; send_cmd[4] = 0x1E;
            break;
        case CMD_MCT_PPS_OFF:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0x0C; send_cmd[4] = 0x20;
            break;
        case CMD_MCT_PPS_CNT_RST:
            send_cmd[0] = 0X74; send_cmd[1] = 0XA0; send_cmd[2] = 0X00; send_cmd[3] = 0x0E; send_cmd[4] = 0x22;
            break;
        case CMD_TLM_1:
            if (type != STAR_TYPE_NANO) return SAT_ERR_DATA;
            send_cmd[0] = 0X74; send_cmd[1] = 0XA1; send_cmd[2] = 0X00; send_cmd[3] = 0x00; send_cmd[4] = 0x15;
            break;
        case CMD_TLM_2:
            if (type != STAR_TYPE_PICO) return SAT_ERR_DATA;
            send_cmd[0] = 0X74; send_cmd[1] = 0XA1; send_cmd[2] = 0X00; send_cmd[3] = 0x05; send_cmd[4] = 0x1A;
            break;
        default:
            fprintf(stderr, "[ERROR] Unsupported cmd=%d for %s STAR%d\n", cmd,
                    type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
            return SAT_ERR_DATA;
    }

    if (write(star->fd, send_cmd, cmd_len) != cmd_len) {
        perror("[ERROR] Send star cmd failed");
        star->send_cmd_cnt++;
        return SAT_ERR_SEND_CMD;
    }

    star->send_cmd_cnt = 0;
    return SAT_ERR_OK;
}

/* ------------------ 数据解析纳型星敏 ------------------ */
static int parse_nano_quaternion(const uint8_t *buf, STAR_INFO *info) {
    if (!buf || !info) return SAT_ERR_DATA;
    
    int32_t raw_q0 = (int32_t)((buf[4] << 24) | (buf[5] << 16) | (buf[6] << 8) | buf[7]);
    int32_t raw_q1 = (int32_t)((buf[8] << 24) | (buf[9] << 16) | (buf[10] << 8) | buf[11]);
    int32_t raw_q2 = (int32_t)((buf[12] << 24) | (buf[13] << 16) | (buf[14] << 8) | buf[15]);
    int32_t raw_q3 = (int32_t)((buf[16] << 24) | (buf[17] << 16) | (buf[18] << 8) | buf[19]);
    
    info->q0 = (float)raw_q0 / 2147483647.5f;
    info->q1 = (float)raw_q1 / 2147483647.5f;
    info->q2 = (float)raw_q2 / 2147483647.5f;
    info->q3 = (float)raw_q3 / 2147483647.5f;

    int16_t raw_omega_x = (int16_t)((buf[45] << 8) | buf[46]);
    int16_t raw_omega_y = (int16_t)((buf[47] << 8) | buf[48]);
    int16_t raw_omega_z = (int16_t)((buf[49] << 8) | buf[50]);
    
    info->wx = (float)raw_omega_x * 2e-13f;
    info->wy = (float)raw_omega_y * 2e-13f;
    info->wz = (float)raw_omega_z * 2e-13f;

    info->bitpara_state.ext = buf[20];
    info->star_num_d = buf[35];

    return SAT_ERR_OK;
}

/* ------------------ 数据解析皮型星敏 ------------------ */
static int parse_pico_quaternion(const uint8_t *buf, STAR_INFO *info) {
    if (!buf || !info) return SAT_ERR_DATA;
    
    int32_t raw_q1 = (int32_t)((buf[7] << 24) | (buf[6] << 16) | (buf[5] << 8) | buf[4]);
    int32_t raw_q2 = (int32_t)((buf[11] << 24) | (buf[10] << 16) | (buf[9] << 8) | buf[8]);
    int32_t raw_q3 = (int32_t)((buf[15] << 24) | (buf[14] << 16) | (buf[13] << 8) | buf[12]);
    int32_t raw_q0 = (int32_t)((buf[19] << 24) | (buf[18] << 16) | (buf[17] << 8) | buf[16]);
    
    info->q0 = (float)raw_q0 / 2147483647.0f;
    info->q1 = (float)raw_q1 / 2147483647.0f;
    info->q2 = (float)raw_q2 / 2147483647.0f;
    info->q3 = (float)raw_q3 / 2147483647.0f;

    info->star_num_d = (buf[34] >> 1) & 0x7F;

    info->bitpara_state.str_state1_data1 = buf[31] & 0x0F;
    info->bitpara_state.str_state1_data2 = (buf[31] >> 4) & 0x03;
    info->bitpara_state.str_state1_data3 = (buf[32] >> 6) & 0x03;

    info->wx = 0.0f;
    info->wy = 0.0f;
    info->wz = 0.0f;

    return SAT_ERR_OK;
}

/* ------------------ 读取单个星敏数据 ------------------ */
int read_single_star_data(star_type_t type, uint8_t num, enum SENSOR_Cmder cmd, STAR_INFO *info) {
    if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE || !info) {
        return SAT_ERR_DATA;
    }
    
    uint8_t idx = num - 1;
    Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx];
    if (star->fd < 0) {
        fprintf(stderr, "[ERROR] Serial not open for %s STAR%d\n",
                type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
        return SAT_ERR_SERIAL;
    }

    int expected_bin_len = 0;
    if (cmd == CMD_TLM_1 && type == STAR_TYPE_NANO) {
        expected_bin_len = 64;
    } else if (cmd == CMD_TLM_2 && type == STAR_TYPE_PICO) {
        expected_bin_len = 256;
    } else {
        fprintf(stderr, "[ERROR] Unknown frame length for cmd=%d, type=%d\n", cmd, type);
        return SAT_ERR_DATA;
    }

    const int MAX_RETRY = 10;
    uint8_t buf[MAX_BUF_SIZE] = {0};

    for (int retry = 0; retry < MAX_RETRY; ++retry) {
        // 清空串口缓冲区
        tcflush(star->fd, TCIOFLUSH);
        memset(buf, 0, sizeof(buf));
        int total_read = 0;

        // 发送命令
        int send_ret = send_star_cmd(type, num, cmd, 0);
        if (send_ret != SAT_ERR_OK) {
            fprintf(stderr, "[ERROR] Retry %d: send cmd failed\n", retry);
            star_rpc_update_error(type, num, SAT_ERR_SEND_CMD);
            continue;
        }

        // 设置超时
        struct timeval start_time, current_time;
        gettimeofday(&start_time, NULL);
        const long TOTAL_TIMEOUT_MS = 1000;

        // 读取数据
        while (total_read < expected_bin_len && total_read < MAX_BUF_SIZE) {
            gettimeofday(&current_time, NULL);
            long elapsed_ms = (current_time.tv_sec - start_time.tv_sec) * 1000 +
                              (current_time.tv_usec - start_time.tv_usec) / 1000;
            if (elapsed_ms > TOTAL_TIMEOUT_MS) {
                fprintf(stderr, "[ERROR] Timeout: read %d/%d bytes\n", total_read, expected_bin_len);
                star->send_cmd_cnt++;
                star_rpc_update_error(type, num, SAT_ERR_TIMEOUT);
                break;
            }

            // 使用select等待数据
            struct timeval timeout = {0, 100000};
            fd_set readfds;
            FD_ZERO(&readfds);
            FD_SET(star->fd, &readfds);
            
            int ret = select(star->fd + 1, &readfds, NULL, NULL, &timeout);
            if (ret < 0) {
                perror("[ERROR] Select failed");
                return SAT_ERR_SELECT;
            } else if (ret == 0) {
                continue;  // 超时，继续等待
            }

            // 读取数据
            if (FD_ISSET(star->fd, &readfds)) {
                int bytes = read(star->fd, buf + total_read, expected_bin_len - total_read);
                if (bytes > 0) {
                    total_read += bytes;
                } else if (bytes == 0) {
                    usleep(10000);  // 没有数据，等待10ms
                } else {
                    perror("[ERROR] Read star data failed");
                    return SAT_ERR_SERIAL;
                }
            }
        }

        // 检查是否超时过多
        if (star->send_cmd_cnt >= 10) {
            fprintf(stderr, "[ERROR] Too many timeouts, resetting %s STAR%d UART\n",
                    type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
            star_uart_init(type, num, star->dev, star->baudrate);
            star->uart_reset_cnt++;
            star->send_cmd_cnt = 0;
            continue;
        }

        // 检查数据长度
        if (total_read < expected_bin_len) {
            fprintf(stderr, "[ERROR] Frame too short: %d/%d bytes\n", total_read, expected_bin_len);
            star->length_err_cnt++;
            star_rpc_update_error(type, num, SAT_ERR_LEN);
            continue;
        }

        // 检查帧头
        int header_valid = 0;
        if (type == STAR_TYPE_NANO && cmd == CMD_TLM_1) {
            header_valid = (buf[0] == 0x8A && buf[1] == 0xA1);
        } else if (type == STAR_TYPE_PICO && cmd == CMD_TLM_2) {
            header_valid = (buf[0] == 0xEB && buf[1] == 0x50 && buf[2] == 0x22);
        }
        if (!header_valid) {
            fprintf(stderr, "[ERROR] Invalid frame header for %s STAR%d\n",
                    type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
            star->header_err_cnt++;
            star_rpc_update_error(type, num, SAT_ERR_HEADER);
            continue;
        }

        // 检查校验和
        if (checksum_verify(buf, expected_bin_len) != SAT_ERR_OK) {
            star->check_err_cnt++;
            star_rpc_update_error(type, num, SAT_ERR_CHECKSUM);
            continue;
        }

        // 解析数据
        int parse_ret = SAT_ERR_DATA;
        if (type == STAR_TYPE_NANO) {
            parse_ret = parse_nano_quaternion(buf, info);
        } else if (type == STAR_TYPE_PICO) {
            parse_ret = parse_pico_quaternion(buf, info);
        }
        
        if (parse_ret == SAT_ERR_OK) {
            return SAT_ERR_OK;
        } else {
            fprintf(stderr, "[ERROR] Parse data failed for %s STAR%d\n",
                    type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
            star_rpc_update_error(type, num, SAT_ERR_DATA);
            continue;
        }
    }

    fprintf(stderr, "[ERROR] Read failed after %d retries for %s STAR%d\n",
            MAX_RETRY, type == STAR_TYPE_NANO ? "NANO" : "PICO", num);
    star_uart_init(type, num, star->dev, star->baudrate);
    star->uart_reset_cnt++;
    star_rpc_update_error(type, num, SAT_ERR_UNKNOWN);
    return SAT_ERR_UNKNOWN;
}

/* ------------------ 构建数据帧 ------------------ */
static void build_star_data_frame(star_type_t type, uint8_t num, const STAR_INFO *info, StarDataFrame *frame) {
    if (!frame || !info) return;
    
    memset(frame, 0, sizeof(StarDataFrame));
    
    // 填充帧头
    frame->header.frame_type = 0;  // 数据帧
    frame->header.star_type = type;
    frame->header.star_num = num;
    frame->header.cmd = CMD_TLM_1;  // 默认遥测包1
    frame->header.param = 0;
    frame->header.data_len = sizeof(StarDataFrame) - sizeof(StarFrameHeader);
    
    struct timeval tv;
    gettimeofday(&tv, NULL);
    frame->header.timestamp = tv.tv_sec;
    frame->header.timestamp_us = tv.tv_usec;
    
    // 填充数据
    frame->q0 = info->q0;
    frame->q1 = info->q1;
    frame->q2 = info->q2;
    frame->q3 = info->q3;
    frame->wx = info->wx;
    frame->wy = info->wy;
    frame->wz = info->wz;
    frame->star_num_d = info->star_num_d;
    frame->on_off_status = (type == STAR_TYPE_NANO) ? nano_stars[num-1].on_off_status : pico_stars[num-1].on_off_status;
    frame->error_flags = 0;
}

/* ------------------ 构建错误帧 ------------------ */
static void build_star_error_frame(star_type_t type, uint8_t num, int err_code, StarErrorFrame *frame) {
    if (!frame) return;
    
    memset(frame, 0, sizeof(StarErrorFrame));
    
    // 填充帧头
    frame->header.frame_type = 2;  // 错误帧
    frame->header.star_type = type;
    frame->header.star_num = num;
    frame->header.cmd = 0;
    frame->header.param = 0;
    frame->header.data_len = sizeof(StarErrorFrame) - sizeof(StarFrameHeader);
    
    struct timeval tv;
    gettimeofday(&tv, NULL);
    frame->header.timestamp = tv.tv_sec;
    frame->header.timestamp_us = tv.tv_usec;
    
    // 填充错误信息
    Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[num-1] : &pico_stars[num-1];
    frame->header_err_cnt = star->header_err_cnt;
    frame->check_err_cnt = star->check_err_cnt;
    frame->length_err_cnt = star->length_err_cnt;
    frame->uart_reset_cnt = star->uart_reset_cnt;
    frame->error_code = err_code;
}

/* ------------------ FastDDS硬件服务化初始化 ------------------ */
int Star_sensorHS_init(int argc, const char* name) {
    
    // 设置默认回调函数
    if (command_callback_func == nullptr) {
        
        command_callback_func = command_callback;
        std::cout << "[INFO] Using internal command callback" << std::endl;
    }
    
    if (telemetry_callback_func == nullptr) {
        
        telemetry_callback_func = telemetry_callback;
        std::cout << "[INFO] Using internal telemetry callback" << std::endl;
    }
    
    return 0;
}

/* ------------------ FastDDS硬件服务化清理 ------------------ */
void Star_sensorHS_cleanup(void) {
    std::cout << "[INFO] Star_sensorHS cleaning up..." << std::endl;
    
    // 重置回调函数
    command_callback_func = nullptr;
    telemetry_callback_func = nullptr;
    
    std::cout << "[OK] Star_sensorHS cleaned up" << std::endl;
}

/* ------------------ 发布遥测数据 ------------------ */
void Star_sensorHS_telemetry_Pub(uint8_t *data, const std::string& dest, uint16_t len) {
    if (data == nullptr || len == 0) {
        std::cerr << "[ERROR] Invalid telemetry data" << std::endl;
        return;
    }
    
    // 打印调试信息（实际项目中应通过FastDDS发布）
    std::cout << "[DEBUG] Telemetry publish to " << dest << ", length=" << len << " bytes" << std::endl;
    
    // TODO: 实现FastDDS数据发布逻辑
    // 实际实现：
    // 1. 创建数据样本
    // 2. 填充数据
    // 3. 发布数据
}

/* ------------------ 设置命令回调 ------------------ */
void Star_sensorHS_set_command_callback(CommandCallbackFunc callback) {
    command_callback_func = callback;
    std::cout << "[INFO] Command callback set" << std::endl;
}

/* ------------------ 设置遥测回调 ------------------ */
void Star_sensorHS_set_telemetry_callback(TelemetryCallbackFunc callback) {
    telemetry_callback_func = callback;
    std::cout << "[INFO] Telemetry callback set" << std::endl;
}

/* ------------------ 命令帧处理回调 ------------------ */
void command_callback(std::string src, std::string dest, std::string type,
                      std::string reserve1, std::string reserve2,
                      std::vector<uint8_t>& data) {
    std::cout << "[INFO] Command received from " << src << " to " << dest << std::endl;
    
    if (data.size() < sizeof(StarCmdFrame)) {
        std::cerr << "[ERROR] Invalid command frame size: " << data.size() << std::endl;
        return;
    }
    
    StarCmdFrame *cmd_frame = (StarCmdFrame *)data.data();
    
    // 解析命令
    star_type_t star_type = (star_type_t)cmd_frame->header.star_type;
    uint8_t star_num = cmd_frame->header.star_num;
    enum SENSOR_Cmder cmd = (enum SENSOR_Cmder)cmd_frame->header.cmd;
    uint8_t param = cmd_frame->header.param;
    
    std::cout << "[INFO] Cmd: star_type=" << (star_type == STAR_TYPE_NANO ? "NANO" : "PICO")
              << ", num=" << (int)star_num << ", cmd=" << cmd << ", param=" << (int)param << std::endl;
    
    // 执行命令
    int result = send_star_cmd(star_type, star_num, cmd, param);
    if (result != SAT_ERR_OK) {
        std::cerr << "[ERROR] Send command failed: " << star_strerror(result) << std::endl;
    }
}

/* ------------------ 遥测帧处理回调 ------------------ */
void telemetry_callback(std::string src, std::string dest, std::string type,
                        std::string reserve1, std::string reserve2,
                        std::vector<uint8_t>& data) {
    std::cout << "[INFO] Telemetry request received from " << src << " to " << dest << std::endl;
    
    if (data.size() < sizeof(StarCmdFrame)) {
        std::cerr << "[ERROR] Invalid telemetry frame size: " << data.size() << std::endl;
        return;
    }
    
    StarCmdFrame *cmd_frame = (StarCmdFrame *)data.data();
    
    // 解析请求
    star_type_t star_type = (star_type_t)cmd_frame->header.star_type;
    uint8_t star_num = cmd_frame->header.star_num;
    enum SENSOR_Cmder cmd = (enum SENSOR_Cmder)cmd_frame->header.cmd;
    
    // 读取数据
    STAR_INFO info = {0};
    int result = read_single_star_data(star_type, star_num, cmd, &info);
    
    // 构建响应帧
    uint8_t response_buf[sizeof(StarDataFrame) + sizeof(StarErrorFrame)];
    uint16_t response_len = 0;
    
    if (result == SAT_ERR_OK) {
        StarDataFrame data_frame;
        build_star_data_frame(star_type, star_num, &info, &data_frame);
        memcpy(response_buf, &data_frame, sizeof(StarDataFrame));
        response_len = sizeof(StarDataFrame);
    } else {
        StarErrorFrame error_frame;
        build_star_error_frame(star_type, star_num, result, &error_frame);
        memcpy(response_buf, &error_frame, sizeof(StarErrorFrame));
        response_len = sizeof(StarErrorFrame);
    }
    
    // 通过FastDDS发布响应
    Star_sensorHS_telemetry_Pub(response_buf, dest, response_len);
}

/* ------------------ 错误信息更新 ------------------ */
void star_rpc_update_error(star_type_t type, uint8_t num, int err_code) {
    if (type >= STAR_TYPE_MAX || num == 0 || num > MAX_STAR_NUM_PER_TYPE) return;
    
    uint8_t idx = num - 1;
    Star_Device *star = (type == STAR_TYPE_NANO) ? &nano_stars[idx] : &pico_stars[idx];
    
    // 构建错误帧并发布
    StarErrorFrame error_frame;
    build_star_error_frame(type, num, err_code, &error_frame);
    
    // 通过FastDDS发布错误帧
    Star_sensorHS_telemetry_Pub((uint8_t *)&error_frame, "GNC_Service", sizeof(StarErrorFrame));
}

/* ------------------ 发布线程 ------------------ */
void *star_publish_thread(void *arg) {
    (void)arg;
    STAR_INFO info = {0};
    
    printf("[INFO] Star publish thread started, interval=%d ms\n", star_pub_interval_ms);

    while (1) {
        pthread_mutex_lock(&cache_mutex);
        
        // 遍历所有纳型星敏
        for (uint8_t num = 1; num <= nano_star_count; num++) {
            uint8_t idx = num - 1;
            Star_Device *star = &nano_stars[idx];
            if (star->fd < 0) continue;

            int rc = read_single_star_data(STAR_TYPE_NANO, num, CMD_TLM_1, &info);
            if (rc == SAT_ERR_OK) {
                StarDataFrame data_frame;
                build_star_data_frame(STAR_TYPE_NANO, num, &info, &data_frame);
                Star_sensorHS_telemetry_Pub((uint8_t *)&data_frame, "Star_sensor_Hardware_Service", sizeof(StarDataFrame));
            } else {
                star_rpc_update_error(STAR_TYPE_NANO, num, rc);
            }
        }
        
        // 遍历所有皮型星敏
        for (uint8_t num = 1; num <= pico_star_count; num++) {
            uint8_t idx = num - 1;
            Star_Device *star = &pico_stars[idx];
            if (star->fd < 0) continue;

            int rc = read_single_star_data(STAR_TYPE_PICO, num, CMD_TLM_2, &info);
            if (rc == SAT_ERR_OK) {
                StarDataFrame data_frame;
                build_star_data_frame(STAR_TYPE_PICO, num, &info, &data_frame);
                Star_sensorHS_telemetry_Pub((uint8_t *)&data_frame, "Star_sensor_Hardware_Service", sizeof(StarDataFrame));
            } else {
                star_rpc_update_error(STAR_TYPE_PICO, num, rc);
            }
        }
        
        pthread_mutex_unlock(&cache_mutex);
        
        // 按配置间隔休眠
        usleep(star_pub_interval_ms * 1000);
    }
    return NULL;
}

/* ------------------ 星敏设备初始化 ------------------ */
int star_devices_init(void) {
    // 初始化纳型星敏
    char *nano_devs = getenv("STAR_NANO_DEVS");
    if (nano_devs) {
        char *token = strtok(nano_devs, ",");
        while (token && nano_star_count < MAX_STAR_NUM_PER_TYPE) {
            char dev[32];
            int baud;
            if (sscanf(token, "%[^:]:%d", dev, &baud) == 2) {
                if (star_uart_init(STAR_TYPE_NANO, nano_star_count + 1, dev, baud) == SAT_ERR_OK) {
                    nano_star_count++;
                }
            }
            token = strtok(NULL, ",");
        }
    } else {
        // 默认配置
        if (star_uart_init(STAR_TYPE_NANO, 1, "/dev/ttyS0", 115200) == SAT_ERR_OK) {
            nano_star_count = 1;
        }
    }

    // 初始化皮型星敏
    char *pico_devs = getenv("STAR_PICO_DEVS");
    if (pico_devs) {
        char *token = strtok(pico_devs, ",");
        while (token && pico_star_count < MAX_STAR_NUM_PER_TYPE) {
            char dev[32];
            int baud;
            if (sscanf(token, "%[^:]:%d", dev, &baud) == 2) {
                if (star_uart_init(STAR_TYPE_PICO, pico_star_count + 1, dev, baud) == SAT_ERR_OK) {
                    pico_star_count++;
                }
            }
            token = strtok(NULL, ",");
        }
    } else {
        // 默认配置
        if (star_uart_init(STAR_TYPE_PICO, 1, "/dev/ttyS1", 115200) == SAT_ERR_OK) {
            pico_star_count = 1;
        }
    }

    printf("[INFO] Initialized %d nano stars, %d pico stars\n", nano_star_count, pico_star_count);
    return (nano_star_count + pico_star_count) > 0 ? 0 : -1;
}