#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <signal.h>
#include <termios.h>
#include <curl/curl.h>
#include <iostream>
#include <fstream>
#include <cstring>
#include <vector>
#include <iomanip>
#include <sys/types.h>
#include <sys/stat.h>
#include <iostream>
#include <string>
#include <sstream>
#include <opencv2/opencv.hpp>
#include <mutex>

#define SERIAL_PORT "/dev/ttyS0"
#define BAUD_RATE B115200
#define ALARM_TEMPERATURE 45
static int serialPort;
float temperature_img[24][32];
unsigned char buffer[1544];
std::mutex mtx;

//输入进入ota的命令
void put_start_char(){
    unsigned char start_data[] = {0xa5,0x35,0x01,0xdb};
    write(serialPort, start_data, sizeof(start_data));
}

void createTemperatureImage(float temperature_img[24][32]) {
    // 将浮点数数组转换为 OpenCV 的 Mat 对象
    cv::Mat temperature_mat(24, 32, CV_32FC1, temperature_img);

    // 将浮点数图像归一化到 0 到 255 范围内
    cv::normalize(temperature_mat, temperature_mat, 0, 255, cv::NORM_MINMAX);

    cv::Mat temperature_uint8;
    temperature_mat.convertTo(temperature_uint8, CV_8U);

    // 创建目标大小的 Mat 对象
    cv::Mat img_1920(1080, 1440, CV_32FC1);

    // 将原始图像拉伸到目标大小
    cv::resize(temperature_uint8, img_1920, img_1920.size(), 0, 0, cv::INTER_LINEAR);

    // 使用伪彩色映射创建图像
    cv::Mat temperature_color;
    // applyColorMap(temperature_uint8, temperature_color, cv::COLORMAP_JET);
    applyColorMap(img_1920, temperature_color, cv::COLORMAP_JET);

    // 将结果保存
    cv::imwrite("temperature_image.jpg", temperature_color);
}

void *read_serial_thread(void *args)
{
    ssize_t bytesRead;
    serialPort = open(SERIAL_PORT, O_RDWR | O_NOCTTY | O_NDELAY);
    if (serialPort == -1) {
        printf("Failed to open serial port: %s\n", SERIAL_PORT);
        return 0;
    }

    struct termios tty;
    memset(&tty, 0, sizeof(tty));
    if (tcgetattr(serialPort, &tty) != 0) {
        printf("Failed to get serial port attributes\n");
        close(serialPort);
        return 0;
    }
    cfsetospeed(&tty, BAUD_RATE);
    cfsetispeed(&tty, BAUD_RATE);
    tty.c_cflag = (tty.c_cflag & ~CSIZE) | CS8;
    tty.c_cflag &= ~(PARENB | PARODD);
    tty.c_cflag &= ~CSTOPB;
    tty.c_cflag |= CREAD | CLOCAL;
    tty.c_iflag = IGNPAR;
    tty.c_oflag = 0;
    tty.c_lflag = 0;
    if (tcsetattr(serialPort, TCSANOW, &tty) != 0) {
        printf("Failed to set serial port attributes\n");
        close(serialPort);
        return 0;
    }
    
    while(1){
        mtx.lock();
        bytesRead = read(serialPort, buffer, sizeof(buffer));
        mtx.unlock();
        if (bytesRead>0) {
            if((buffer[0]== 0x5a)&&(buffer[1]==0x5a)) {
                printf("readed\n");
            }else{
                printf("read failed\n");
            }
        }else{
            // printf("empty to read\n");
        }
    }
}

int main() {
    pthread_t read_serial;
    pthread_create(&read_serial, NULL, read_serial_thread, NULL);
    auto last_time = std::chrono::high_resolution_clock::now();
    unsigned char copyBuffer[1544];

   while(1){
		int time2run = 0;
		auto current_time = std::chrono::high_resolution_clock::now();
        auto elapsed_time = std::chrono::duration_cast<std::chrono::milliseconds>(current_time - last_time);// 计算距离开始时间的时间差
    
        if (elapsed_time.count() - 3000 > 0) {
            last_time = current_time;
            time2run = 1;
        }
        if(time2run) {
            mtx.lock();
            memcpy(copyBuffer, buffer, sizeof(buffer));
            mtx.unlock();
            //计算温度
            double temperature;
            int Col,Row;
            int j = 0;
            for (int i = 4; i < 1540; i += 2) {
                temperature = (buffer[i+1]*256+buffer[i])/100.0;
                Col = 31-(j)%32;
                Row = (j)/32;
                // printf("[%d,%d] %.2f ", Row, Col, temperature);
                // printf("[%d,%d]", Row, Col);
                temperature_img[Row][Col] = temperature;
                j++;
            }
            //按视觉顺序存入数组
            for(int i=0; i<24; i++){
                for(j=0; j<32; j++){
                    if(temperature_img[i][j]>ALARM_TEMPERATURE)
                        printf("[%.1f] ", temperature_img[i][j]);
                    else
                        printf("%.1f  ",  temperature_img[i][j]);
                }
                printf("\n");
            } 
            createTemperatureImage(temperature_img);
        }   
    }     
    return 0;
}