#!/bin/bash

# FreeRTOS环境设置脚本
# 用于设置CodeDetect项目中的FreeRTOS验证环境

set -e

# 颜色定义
RED='\033[0;31m'
GREEN='\033[0;32m'
YELLOW='\033[1;33m'
BLUE='\033[0;34m'
NC='\033[0m' # No Color

# 配置变量
FREERTOS_VERSION="10.4.6"
FREERTOS_SOURCE_URL="https://github.com/FreeRTOS/FreeRTOS-Kernel/archive/refs/tags/V${FREERTOS_VERSION}.tar.gz"
INSTALL_DIR="/opt/freertos"
CODEDETECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
FREERTOS_CONFIG_DIR="${CODEDETECT_DIR}/config/freertos"

# 日志函数
log_info() {
    echo -e "${BLUE}[INFO]${NC} $1"
}

log_success() {
    echo -e "${GREEN}[SUCCESS]${NC} $1"
}

log_warning() {
    echo -e "${YELLOW}[WARNING]${NC} $1"
}

log_error() {
    echo -e "${RED}[ERROR]${NC} $1"
}

# 检查依赖
check_dependencies() {
    log_info "检查系统依赖..."

    local deps=("wget" "tar" "gcc" "make" "cmake" "python3" "pip3")
    local missing_deps=()

    for dep in "${deps[@]}"; do
        if ! command -v "$dep" &> /dev/null; then
            missing_deps+=("$dep")
        fi
    done

    if [ ${#missing_deps[@]} -gt 0 ]; then
        log_error "缺少以下依赖: ${missing_deps[*]}"
        log_info "请安装缺少的依赖:"
        echo "  Ubuntu/Debian: sudo apt-get install ${missing_deps[*]}"
        echo "  CentOS/RHEL: sudo yum install ${missing_deps[*]}"
        exit 1
    fi

    log_success "所有依赖已安装"
}

# 创建目录结构
create_directory_structure() {
    log_info "创建目录结构..."

    # 创建主安装目录
    sudo mkdir -p "$INSTALL_DIR"
    sudo chown "$USER:$USER" "$INSTALL_DIR"

    # 创建FreeRTOS子目录
    mkdir -p "$INSTALL_DIR/src"
    mkdir -p "$INSTALL_DIR/include"
    mkdir -p "$INSTALL_DIR/config"
    mkdir -p "$INSTALL_DIR/examples"

    # 创建CodeDetect配置目录
    mkdir -p "$FREERTOS_CONFIG_DIR"

    log_success "目录结构创建完成"
}

# 下载FreeRTOS源码
download_freertos() {
    log_info "下载FreeRTOS源码 (版本: $FREERTOS_VERSION)..."

    cd "$INSTALL_DIR/src"

    if [ ! -f "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz" ]; then
        wget "$FREERTOS_SOURCE_URL" -O "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz"
    fi

    # 解压源码
    if [ ! -d "FreeRTOS-Kernel-${FREERTOS_VERSION}" ]; then
        tar -xzf "FreeRTOS-Kernel-${FREERTOS_VERSION}.tar.gz"
    fi

    # 创建符号链接
    ln -sf "FreeRTOS-Kernel-${FREERTOS_VERSION}" "freertos-kernel"

    log_success "FreeRTOS源码下载完成"
}

# 安装FreeRTOS头文件
install_headers() {
    log_info "安装FreeRTOS头文件..."

    local kernel_dir="$INSTALL_DIR/src/freertos-kernel"

    # 复制核心头文件
    cp -r "$kernel_dir/include" "$INSTALL_DIR/"

    # 复制便携层头文件（选择x86_64作为示例）
    cp -r "$kernel_dir/portable/GCC/Linux" "$INSTALL_DIR/portable/"

    # 创建include目录的符号链接
    ln -sf "$INSTALL_DIR/include" "$INSTALL_DIR/freertos"

    log_success "FreeRTOS头文件安装完成"
}

# 创建配置文件
create_config_files() {
    log_info "创建FreeRTOS配置文件..."

    # 创建基础FreeRTOSConfig.h
    cat > "$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h" << 'EOF'
#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/* 包含标准头文件 */
#include <stdint.h>
#include <stdlib.h>

/* 基础配置 */
#define configUSE_PREEMPTION                    1
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
#define configUSE_TICKLESS_IDLE                 0
#define configCPU_CLOCK_HZ                      ( ( uint32_t ) 16000000 )
#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
#define configMAX_PRIORITIES                    ( 5 )
#define configMINIMAL_STACK_SIZE                ( ( uint16_t ) 128 )
#define configMAX_TASK_NAME_LEN                ( 16 )
#define configUSE_16_BIT_TICKS                 0
#define configIDLE_SHOULD_YIELD                 1
#define configUSE_TASK_NOTIFICATIONS            1
#define configUSE_MUTEXES                       1
#define configUSE_RECURSIVE_MUTEXES             1
#define configUSE_COUNTING_SEMAPHORES           1
#define configQUEUE_REGISTRY_SIZE               10
#define configUSE_QUEUE_SETS                    0
#define configUSE_TIME_SLICING                  1
#define configUSE_NEWLIB_REENTRANT              0
#define configENABLE_BACKWARD_COMPATIBILITY      0
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS  5

/* 内存分配相关 */
#define configSUPPORT_STATIC_ALLOCATION         1
#define configSUPPORT_DYNAMIC_ALLOCATION        1
#define configTOTAL_HEAP_SIZE                   ( ( size_t ) 40960 )
#define configAPPLICATION_ALLOCATED_HEAP        0

/* 钩子函数相关 */
#define configUSE_IDLE_HOOK                     0
#define configUSE_TICK_HOOK                     0
#define configCHECK_FOR_STACK_OVERFLOW          2
#define configUSE_MALLOC_FAILED_HOOK            1
#define configUSE_DAEMON_TASK_STARTUP_HOOK      0

/* 运行时统计相关 */
#define configGENERATE_RUN_TIME_STATS           0
#define configUSE_TRACE_FACILITY                0
#define configUSE_STATS_FORMATTING_FUNCTIONS    0

/* 协程相关 */
#define configUSE_CO_ROUTINES                   0
#define configMAX_CO_ROUTINE_PRIORITIES         ( 2 )

/* 软件定时器相关 */
#define configUSE_TIMERS                        1
#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
#define configTIMER_QUEUE_LENGTH                10
#define configTIMER_TASK_STACK_DEPTH            ( configMINIMAL_STACK_SIZE * 2 )

/* 中断配置 */
#define configKERNEL_INTERRUPT_PRIORITY         0
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    0
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY  0

/* 定义和断言 */
#define configASSERT( x ) if ((x) == 0) {taskDISABLE_INTERRUPTS(); for( ;; );}

/* 可选函数定义 */
#define INCLUDE_vTaskPrioritySet                1
#define INCLUDE_uxTaskPriorityGet               1
#define INCLUDE_vTaskDelete                     1
#define INCLUDE_vTaskCleanUpResources           0
#define INCLUDE_vTaskSuspend                    1
#define INCLUDE_vTaskDelayUntil                 1
#define INCLUDE_vTaskDelay                      1
#define INCLUDE_xTaskGetSchedulerState          1
#define INCLUDE_xTimerPendFunctionCall          1
#define INCLUDE_xQueueGetMutexHolder            1
#define INCLUDE_uxTaskGetStackHighWaterMark     1
#define INCLUDE_eTaskGetState                   1
#define INCLUDE_xTaskAbortDelay                 1
#define INCLUDE_xTaskGetHandle                  1

/* 映射函数到Linux环境 */
#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
#define portGET_RUN_TIME_COUNTER_VALUE()        0

/* 针对CBMC验证的特定配置 */
#ifdef CBMC_VERIFICATION
#define configASSERT( x ) if ((x) == 0) { __CPROVER_assert(0, "FreeRTOS config assertion failed"); }
#endif

#endif /* FREERTOS_CONFIG_H */
EOF

    # 创建测试专用配置
    cat > "$FREERTOS_CONFIG_DIR/FreeRTOSConfig_Test.h" << 'EOF'
#ifndef FREERTOS_CONFIG_TEST_H
#define FREERTOS_CONFIG_TEST_H

#include "FreeRTOSConfig.h"

/* 测试环境特定配置 */
#define configTOTAL_HEAP_SIZE                   ( ( size_t ) 8192 )
#define configMINIMAL_STACK_SIZE                ( ( uint16_t ) 64 )
#define configMAX_PRIORITIES                    ( 3 )
#define configTICK_RATE_HZ                      ( ( TickType_t ) 100 )

/* CBMC验证优化 */
#ifdef CBMC_VERIFICATION
#define configMAX_TASK_NAME_LEN                 ( 8 )
#define configQUEUE_REGISTRY_SIZE               3
#define configTIMER_QUEUE_LENGTH                3
#endif

#endif /* FREERTOS_CONFIG_TEST_H */
EOF

    # 创建CodeDetect集成配置
    cat > "$FREERTOS_CONFIG_DIR/codedetect_freertos.yaml" << EOF
# FreeRTOS配置文件 - CodeDetect集成
freertos:
  version: "$FREERTOS_VERSION"
  install_path: "$INSTALL_DIR"
  include_paths:
    - "$INSTALL_DIR/include"
    - "$INSTALL_DIR/portable/GCC/Linux"
  config_files:
    - "$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
    - "$FREERTOS_CONFIG_DIR/FreeRTOSConfig_Test.h"

  # 验证参数
  verification:
    max_tasks: 10
    max_queues: 5
    max_semaphores: 5
    max_timers: 3
    heap_size: 8192
    stack_size: 1024

  # CBMC配置
  cbmc:
    include_paths:
      - "$INSTALL_DIR/include"
      - "$INSTALL_DIR/portable/GCC/Linux"
    defines:
      - "CBMC_VERIFICATION"
    unwind_set:
      task: 5
      queue: 3
      timer: 2
    options:
      - "--bounds-check"
      - "--pointer-check"
      - "--memory-leak-check"
      - "--div-by-zero-check"
      - "--float-div-by-zero-check"

  # 编译配置
  compilation:
    c_flags: "-std=c99 -Wall -Wextra -I$INSTALL_DIR/include"
    ld_flags: "-lpthread -lrt"

  # 示例配置
  examples:
    task_verification:
      source: "examples/freertos/task_verification_example.c"
      config: "FreeRTOSConfig.h"

    queue_verification:
      source: "examples/freertos/queue_verification_example.c"
      config: "FreeRTOSConfig.h"
EOF

    log_success "配置文件创建完成"
}

# 创建示例构建脚本
create_build_scripts() {
    log_info "创建构建脚本..."

    # 创建主构建脚本
    cat > "$INSTALL_DIR/build_freertos.sh" << 'EOF'
#!/bin/bash

# FreeRTOS构建脚本

set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
FREERTOS_DIR="$SCRIPT_DIR/src/freertos-kernel"
PORTABLE_DIR="$SCRIPT_DIR/portable/GCC/Linux"

# 编译参数
CC="gcc"
CFLAGS="-std=c99 -Wall -Wextra -I$SCRIPT_DIR/include"
LDFLAGS="-lpthread -lrt"

# 创建构建目录
BUILD_DIR="$SCRIPT_DIR/build"
mkdir -p "$BUILD_DIR"

# 编译FreeRTOS核心
echo "编译FreeRTOS核心..."
$CC $CFLAGS -c \
    "$FREERTOS_DIR/tasks.c" \
    "$FREERTOS_DIR/queue.c" \
    "$FREERTOS_DIR/timers.c" \
    "$FREERTOS_DIR/event_groups.c" \
    "$FREERTOS_DIR/list.c" \
    "$PORTABLE_DIR/port.c" \
    "$PORTABLE_DIR/../memory.c" \
    -o "$BUILD_DIR/freertos.o"

# 创建静态库
echo "创建静态库..."
ar rcs "$BUILD_DIR/libfreertos.a" "$BUILD_DIR/freertos.o"

echo "FreeRTOS构建完成: $BUILD_DIR/libfreertos.a"
EOF

    # 创建测试构建脚本
    cat > "$INSTALL_DIR/test_example.sh" << 'EOF'
#!/bin/bash

# FreeRTOS示例测试脚本

set -e

SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
BUILD_DIR="$SCRIPT_DIR/build"
CODEDETECT_DIR="$(cd "$SCRIPT_DIR/../.." && pwd)"

# 编译测试示例
echo "编译FreeRTOS测试示例..."
gcc -std=c99 -Wall -Wextra \
    -I"$SCRIPT_DIR/include" \
    -L"$BUILD_DIR" \
    "$CODEDETECT_DIR/examples/freertos/task_verification_example.c" \
    -lfreertos -lpthread -lrt \
    -o "$BUILD_DIR/task_test"

gcc -std=c99 -Wall -Wextra \
    -I"$SCRIPT_DIR/include" \
    -L"$BUILD_DIR" \
    "$CODEDETECT_DIR/examples/freertos/queue_verification_example.c" \
    -lfreertos -lpthread -lrt \
    -o "$BUILD_DIR/queue_test"

echo "示例编译完成:"
echo "  任务测试: $BUILD_DIR/task_test"
echo "  队列测试: $BUILD_DIR/queue_test"
EOF

    # 使脚本可执行
    chmod +x "$INSTALL_DIR/build_freertos.sh"
    chmod +x "$INSTALL_DIR/test_example.sh"

    log_success "构建脚本创建完成"
}

# 创建验证测试
create_verification_tests() {
    log_info "创建验证测试..."

    local test_dir="$INSTALL_DIR/tests"
    mkdir -p "$test_dir"

    # 创建基础验证测试
    cat > "$test_dir/test_freertos_basic.c" << 'EOF'
#include "FreeRTOS.h"
#include "task.h"
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>

void vTestTask(void *pvParameters) {
    int counter = 0;
    for (int i = 0; i < 10; i++) {
        counter++;
        vTaskDelay(pdMS_TO_TICKS(100));
    }
    printf("Test task completed: %d\n", counter);
    vTaskDelete(NULL);
}

int main() {
    printf("Starting FreeRTOS basic test...\n");

    xTaskCreate(vTestTask, "Test", 128, NULL, 1, NULL);
    vTaskStartScheduler();

    return 0;
}
EOF

    # 创建CBMC验证规范
    cat > "$test_dir/cbmc_task_test.c" << 'EOF'
#include "FreeRTOS.h"
#include "task.h"
#include <assert.h>

void test_task_creation() {
    TaskHandle_t xTaskHandle = NULL;

    // 测试任务创建
    BaseType_t xResult = xTaskCreate(
        (TaskFunction_t)0,  // 简化的任务函数
        "TestTask",
        configMINIMAL_STACK_SIZE,
        NULL,
        1,
        &xTaskHandle
    );

    __CPROVER_assert(xResult == pdPASS, "Task creation should succeed");
    __CPROVER_assert(xTaskHandle != NULL, "Task handle should not be NULL");
}

void test_task_parameters() {
    // 测试任务参数边界
    UBaseType_t uxPriority = configMAX_PRIORITIES - 1;
    uint16_t usStackDepth = configMINIMAL_STACK_SIZE;

    __CPROVER_assert(uxPriority < configMAX_PRIORITIES, "Priority should be valid");
    __CPROVER_assert(usStackDepth >= configMINIMAL_STACK_SIZE, "Stack depth should be sufficient");
}

int main() {
    test_task_creation();
    test_task_parameters();
    return 0;
}
EOF

    log_success "验证测试创建完成"
}

# 设置环境变量
setup_environment() {
    log_info "设置环境变量..."

    local bashrc_file="$HOME/.bashrc"
    local profile_file="$HOME/.profile"

    # 检查是否已经设置
    if ! grep -q "FREERTOS_HOME" "$bashrc_file" 2>/dev/null; then
        cat >> "$bashrc_file" << EOF

# FreeRTOS环境变量
export FREERTOS_HOME="$INSTALL_DIR"
export FREERTOS_INCLUDE="$INSTALL_DIR/include"
export PATH="\$PATH:\$FREERTOS_HOME"
EOF
        log_success "环境变量已添加到 ~/.bashrc"
    else
        log_warning "环境变量已存在"
    fi

    # 创建当前会话的环境变量
    export FREERTOS_HOME="$INSTALL_DIR"
    export FREERTOS_INCLUDE="$INSTALL_DIR/include"
    export PATH="$PATH:$FREERTOS_HOME"

    log_success "环境变量设置完成"
}

# 验证安装
verify_installation() {
    log_info "验证FreeRTOS安装..."

    # 检查目录结构
    local required_dirs=(
        "$INSTALL_DIR/include"
        "$INSTALL_DIR/src/freertos-kernel"
        "$INSTALL_DIR/portable"
        "$FREERTOS_CONFIG_DIR"
    )

    for dir in "${required_dirs[@]}"; do
        if [ ! -d "$dir" ]; then
            log_error "目录不存在: $dir"
            exit 1
        fi
    done

    # 检查关键文件
    local required_files=(
        "$INSTALL_DIR/include/FreeRTOS.h"
        "$INSTALL_DIR/include/task.h"
        "$FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
        "$INSTALL_DIR/build_freertos.sh"
    )

    for file in "${required_files[@]}"; do
        if [ ! -f "$file" ]; then
            log_error "文件不存在: $file"
            exit 1
        fi
    done

    # 测试编译
    cd "$INSTALL_DIR"
    if ! ./build_freertos.sh; then
        log_error "FreeRTOS编译失败"
        exit 1
    fi

    log_success "FreeRTOS安装验证完成"
}

# 显示使用说明
show_usage_info() {
    echo ""
    echo "======================================="
    echo "FreeRTOS环境设置完成"
    echo "======================================="
    echo ""
    echo "环境变量:"
    echo "  FREERTOS_HOME: $INSTALL_DIR"
    echo "  FREERTOS_INCLUDE: $INSTALL_DIR/include"
    echo ""
    echo "重要文件:"
    echo "  配置文件: $FREERTOS_CONFIG_DIR/FreeRTOSConfig.h"
    echo "  构建脚本: $INSTALL_DIR/build_freertos.sh"
    echo "  测试脚本: $INSTALL_DIR/test_example.sh"
    echo ""
    echo "下一步操作:"
    echo "  1. 重新启动终端或运行: source ~/.bashrc"
    echo "  2. 编译FreeRTOS: cd $INSTALL_DIR && ./build_freertos.sh"
    echo "  3. 运行测试示例: cd $INSTALL_DIR && ./test_example.sh"
    echo "  4. 在CodeDetect中验证FreeRTOS代码"
    echo ""
    echo "CodeDetect集成:"
    echo "  配置文件: $FREERTOS_CONFIG_DIR/codedetect_freertos.yaml"
    echo "  示例代码: $CODEDETECT_DIR/examples/freertos/"
    echo ""
}

# 主函数
main() {
    echo "======================================="
    echo "FreeRTOS环境设置脚本"
    echo "======================================="
    echo ""

    # 检查是否已安装
    if [ -f "$INSTALL_DIR/include/FreeRTOS.h" ]; then
        log_warning "FreeRTOS已安装"
        read -p "是否重新安装? (y/N): " -n 1 -r
        echo
        if [[ ! $REPLY =~ ^[Yy]$ ]]; then
            log_info "安装已取消"
            exit 0
        fi
    fi

    # 执行安装步骤
    check_dependencies
    create_directory_structure
    download_freertos
    install_headers
    create_config_files
    create_build_scripts
    create_verification_tests
    setup_environment
    verify_installation
    show_usage_info

    log_success "FreeRTOS环境设置完成"
}

# 脚本入口点
if [[ "${BASH_SOURCE[0]}" == "${0}" ]]; then
    main "$@"
fi