#include "JZsdkLib.h"
#include "BaseConfig.h"
#include <pthread.h>

#include "JZsdk_Hal.h"
#include "Megaphone/Megaphone.h"
#include "AudioDeal/AudioDeal.h"
#include "Gimbal/Gimbal.h"
#include "JZsdk_haldata_deal/JZsdk_data_transmisson.h"
#include "DeviceInfo/DeviceInfo.h"

#include "SearchLight/SearchLight.h"
#include "WarnLight/WarnLight.h"

#include "IRCUT/ircut.h"
#include "Hal_Send/HalSend.h"
#include "SideLaser/SideLaser.h"

#include "UI_control/Psdk_ui_value_menu.h"
#include "UI_control/UI_control.h"

static int LeftDeviceId = 0; //t40专用分别左右id，用于判断是不是强激光
static int RightDeviceId = 0;
static int DeviceType = 0; //两边装的设备类型

static T_JZsdkReturnCode JZ_T40_Synchronize(void);

static int T40_SubConnectFlag = JZ_FLAGCODE_OFF;

void *JZ_T40_SubConnectTask(void *arg)
{
    static int LeftGimbalConnectFlag = JZ_FLAGCODE_OFF;
    static int RightGimbalConnectFlag = JZ_FLAGCODE_OFF;

    static int LeftDeviceConnectFlag = JZ_FLAGCODE_OFF;
    
    static int RightDeviceConnectFlag = JZ_FLAGCODE_OFF;
    

    static int DelayTime = 0;   //最多尝试连接设备30s

    T_JZsdkHalHandle* HalHandle = JZsdk_Platform_GetHalHandle();
    if (HalHandle == NULL)
    {
        JZSDK_LOG_ERROR("无法正常获取hal权柄");
        return;
    }

    T_JZsdk_HalInfo HalInfo = { 0 };

    while ( 
        (RightGimbalConnectFlag == JZ_FLAGCODE_OFF || 
        LeftGimbalConnectFlag == JZ_FLAGCODE_OFF || 
        RightDeviceConnectFlag == JZ_FLAGCODE_OFF || 
        LeftDeviceConnectFlag == JZ_FLAGCODE_OFF ) &&
        DelayTime <= 20000)
    {
        HalHandle->GetHalInfo(&HalInfo);

        for (int i = 0; i < HalInfo.UartNum; i++)
        {
            if (HalInfo.UartInfo[i].Base.PortId == UART_DEV_2)
            {
                for (int j = 0; j < HalInfo.UartInfo[i].Base.HalStatus.SubNum; j++)
                {
                    if (HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c11)
                    {
                        LeftGimbalConnectFlag = JZ_FLAGCODE_ON;
                        continue;
                    }

                    if (HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c12)
                    {
                        RightGimbalConnectFlag = JZ_FLAGCODE_ON;
                        continue;
                    }

                    if (HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c21 ||
                        HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c31)
                    {
                        LeftDeviceId = HalInfo.UartInfo[i].Base.HalStatus.SubId[j];
                        LeftDeviceConnectFlag = JZ_FLAGCODE_ON;
                        continue;
                    }

                    if (HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c22 ||
                        HalInfo.UartInfo[i].Base.HalStatus.SubId[j] == 0x1c32)
                    {
                        RightDeviceId = HalInfo.UartInfo[i].Base.HalStatus.SubId[j];
                        RightDeviceConnectFlag = JZ_FLAGCODE_ON;
                        continue;
                    }
                }

                break;
            }
        }

        //左云台未连接
        if (LeftGimbalConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向左云台发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x11);
            delayMs(500);
            DelayTime+=500;
        }

        //右云台未连接
        if (RightGimbalConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向右云台发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x12);
            delayMs(500);
            DelayTime+=500;
        }
        
        //左探照灯未连接
        if (LeftDeviceConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向左探照灯发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x21);
            delayMs(250);
            DelayTime+=250;
        }

        //右探照灯未连接
        if (RightDeviceConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向右探照灯发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x22);
            delayMs(250);
            DelayTime+=250;
        }

        //左激光未连接
        if (LeftDeviceConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向左探照灯发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x31);

            delayMs(250);
            DelayTime += 250;
        }

        //右激光未连接
        if (RightDeviceConnectFlag == JZ_FLAGCODE_OFF)
        {
            //向左探照灯发送连接指令
            HalSend_type1Send_ConnectFrame(UART_DEV_2, 0x32);

            delayMs(250);
            DelayTime += 250;
        }
    }

    if (LeftGimbalConnectFlag != JZ_FLAGCODE_ON)
    {
        JZSDK_LOG_ERROR("LeftGimbalConnectFlag is OFF");
    }

    if (RightGimbalConnectFlag != JZ_FLAGCODE_ON)
    {
        JZSDK_LOG_ERROR("RightGimbalConnectFlag is OFF");
    }

    if (LeftDeviceConnectFlag != JZ_FLAGCODE_ON)
    {
        JZSDK_LOG_ERROR("LeftDeviceConnectFlag is OFF");
    }
    else
    {
        //要一下版本号，家人们
        HalSend_type1Send_QueryDeviceType(UART_DEV_2, LeftDeviceId);

        delayMs(10);
    }

    if (RightDeviceConnectFlag != JZ_FLAGCODE_ON)
    {
        JZSDK_LOG_ERROR("RightDeviceConnectFlag is OFF");
    }
    else
    {
        //要一下版本号，家人们
        HalSend_type1Send_QueryDeviceType(UART_DEV_2, RightDeviceId);

        delayMs(10);
    }

    T40_SubConnectFlag = JZ_FLAGCODE_ON;   


    //监测飞机信号，设定为对应的功率值
    JZsdk_PlaneInfo g_PlaneInfo;
    JZsdk_PlaneInfo_Get(&g_PlaneInfo);

    JZSDK_LOG_INFO("Get Plane Info planetype:%d", g_PlaneInfo.PlaneType);

    if (g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M4E
        || g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M4T
        || g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M3E
        || g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M3T
        )
    {
        //如果是t40s功率降到90%，t40不用
        if (DEVICE_VERSION == JZ_T40S)
        {
            HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00);

            SearchLight_SetExtrenLimit(90);
        }
        else
        {
            HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00);
        }

        //如果有侧面激光，改成17v
        if (DeviceType == 4)
        {
            char rgb[3] = { 0x3c, 0x4d, 0x37 };
            HalSend_type1Send_SetLaserPowerLimit(UART_DEV_2, 0x31, 0x01, rgb, 3);

            delayMs(10);

            JZSDK_LOG_INFO("查询激光功率");

            //查询激光的功率
            HalSend_type1Send_CheckLaserAttribute(UART_DEV_2, 0x31, 0x05);
        }
    }
    else if (g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M4TD || g_PlaneInfo.PlaneType == E_JZ_SPECIAL_PLANE_INFO_DJI_M4D)
    {
        //如果是t40s功率降到95%，t40不用
        if (DEVICE_VERSION == JZ_T40S)
        {
            HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00);

            SearchLight_SetExtrenLimit(95);
        }
        else
        {
            HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00);
        }

        //如果有侧面激光，把侧面激光的功率改成24v
        if (DeviceType == 4)
        {
            char rgb[3] = { 0x25, 0x2a, 0x22 };
            HalSend_type1Send_SetLaserPowerLimit(UART_DEV_2, 0x31, 0x01, rgb, 3);

            delayMs(10);

            JZSDK_LOG_INFO("查询激光功率");

            //查询激光的功率
            HalSend_type1Send_CheckLaserAttribute(UART_DEV_2, 0x31, 0x05);
        }
    }
    else
    {
        HalSend_type1Send_SearchLight_SetLumenPowerLimit(UART_DEV_2, 0x00, 0x64, 0x20, 0x00);


        //如果有侧面激光，把侧面激光的功率改成24v
        if (DeviceType == 4)
        {
            char rgb[3] = { 0x25, 0x2a, 0x22 };
            HalSend_type1Send_SetLaserPowerLimit(UART_DEV_2, 0x31, 0x01, rgb, 3);

            delayMs(10);

            JZSDK_LOG_INFO("查询激光功率");

            //查询激光的功率
            HalSend_type1Send_CheckLaserAttribute(UART_DEV_2, 0x31, 0x05);
        }
    }

    //开启同步
    JZ_T40_Synchronize();

    JZSDK_LOG_INFO("T40 SubDevice Connect Success");
}

/*****************************
 * 
 *  
 *  子设备连接
 *  两个探照灯，两个云台
 * 
 * ***************************/
static T_JZsdkReturnCode JZ_T40_SubDevice_Init(void)
{
    T_JZsdkOsalHandler *osalHandle = JZsdk_Platform_GetOsalHandler();
    if (osalHandle == NULL)
    {
        JZSDK_LOG_ERROR("osalHandle is NULL");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    T_JZTaskHandle JZ_T40_SubTaskHandle;
    
    osalHandle->TaskCreate("T40_SubDevice_Init", JZ_T40_SubConnectTask, 2048, NULL, &JZ_T40_SubTaskHandle);

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

T_JZsdkReturnCode JZ_T40_Ircut_Init()
{
    //引脚初始化
    IrcutInfo ircut_info;
    ircut_info.type = JZ_IRC_TYPE_LINUX_V3S;

    ircut_info.Amplifiter_Pin.Enable = JZ_FLAGCODE_ON;
    ircut_info.Amplifiter_Pin.Port = JZ_IRC_PORT_PG;
    ircut_info.Amplifiter_Pin.index = 5;
    ircut_info.Amplifiter_Pin.Group = 0;
    ircut_info.Amplifiter_Pin.mode = JZ_IRC_PIN_MODE_OUT;

    Ircut_Init(ircut_info);
}

void *JZ_T40_CheckLightTemperatureTask(void *arg)
{
    //等候子设备连接成功
    while (T40_SubConnectFlag == JZ_FLAGCODE_OFF)
    {
        delayMs(100);
    }

    while (1)
    {

        //检查左灯温度
        if (LeftDeviceId == 0x1c31)
        {
            HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_2, 0x31);
        }
        else
        {
            HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_2, 0x21);
        }
        
        
        delayMs(10);

        //检查右灯温度
        if (RightDeviceId == 0x1c32)
        {
            HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_2, 0x32);
        }
        else
        {
            HalSend_type1Send_CheckStatus_SearchLight_Temperture(UART_DEV_2, 0x22);
        }

        delayMs(1000/10);
    }
}

static T_JZsdkReturnCode JZ_T40_CheckLightTemperature(void)
{
    T_JZsdkOsalHandler *osalHandle = JZsdk_Platform_GetOsalHandler();
    if (osalHandle == NULL)
    {
        JZSDK_LOG_ERROR("osalHandle is NULL");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    T_JZTaskHandle JZ_T40_CheckLightTemperatureTaskHandle;
    osalHandle->TaskCreate("T40_CheckLightTemperature", JZ_T40_CheckLightTemperatureTask, 2048, NULL, &JZ_T40_CheckLightTemperatureTaskHandle);

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

/********************
 * 
 * 
 *  T40 基础参数设置
 * 
 * 
 * ****************/
static T_JZsdkReturnCode JZ_T40_BaseParamSet(void)
{
    //设置探照灯亮度

    //设置探照灯模式

    //设置激光模式

    //设置激光开关

    //设置警灯颜色

    //设置警灯模式

    //设置云台角度

    //设置喊话器音量
    


    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

void* JZ_T40_SynchronizeTask(void* arg)
{
    while (1)
    {
        //发送同步帧
        HalSend_type1Send_SynchronizeMissionTime(UART_DEV_2, 0x20);

        delayMs(1000);
    }
}

static T_JZsdkReturnCode JZ_T40_Synchronize(void)
{
    T_JZsdkOsalHandler* osalHandle = JZsdk_Platform_GetOsalHandler();
    if (osalHandle == NULL)
    {
        JZSDK_LOG_ERROR("osalHandle is NULL");
        return JZ_ERROR_SYSTEM_MODULE_CODE_FAILURE;
    }

    T_JZTaskHandle JZ_T40_SynchronizeHandle;
    osalHandle->TaskCreate("JZ_T40_SynchronizeHandle", JZ_T40_SynchronizeTask, 2048, NULL, &JZ_T40_SynchronizeHandle);

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}


static T_JZsdkReturnCode JZ_T40_DeviceType_Init()
{
    //初始化硬件版本类型
    DeviceTypeInfo_Init(2);
    JZsdk_DeviceTypeInfo DeviceTypeInfo = { 0 };
    DeviceTypeInfo_GetInfo(&DeviceTypeInfo);

    JZSDK_LOG_INFO("当前t40/t40s :1:%x %x %x %x 2:%x %x %x %x", 
        DeviceTypeInfo.VersionInfo[0].MajorVersion,
        DeviceTypeInfo.VersionInfo[0].MinorVersion,
        DeviceTypeInfo.VersionInfo[0].ModifyVersion,
        DeviceTypeInfo.VersionInfo[0].DebugVersion,
        DeviceTypeInfo.VersionInfo[1].MajorVersion,
        DeviceTypeInfo.VersionInfo[1].MinorVersion,
        DeviceTypeInfo.VersionInfo[1].ModifyVersion,
        DeviceTypeInfo.VersionInfo[1].DebugVersion);

    T_JZsdkVersionInfo VersionInfo = {0};
    if ((DeviceTypeInfo.VersionInfo[0].MajorVersion == DeviceTypeInfo.VersionInfo[1].MajorVersion)
        && (DeviceTypeInfo.VersionInfo[0].MinorVersion == DeviceTypeInfo.VersionInfo[1].MajorVersion)
        && (DeviceTypeInfo.VersionInfo[0].ModifyVersion == DeviceTypeInfo.VersionInfo[1].ModifyVersion)
        && (DeviceTypeInfo.VersionInfo[0].DebugVersion == DeviceTypeInfo.VersionInfo[1].DebugVersion))
    {
        memcpy(&VersionInfo, &DeviceTypeInfo.VersionInfo[0], sizeof(T_JZsdkVersionInfo));
    }
    //说明，目前装不同设备只有 强激光+无激光3色警灯
    else if(
        (DeviceTypeInfo.VersionInfo[0].MajorVersion == 0x00 || DeviceTypeInfo.VersionInfo[1].MajorVersion == 0x00)
        && (DeviceTypeInfo.VersionInfo[0].MinorVersion == 0x00 || DeviceTypeInfo.VersionInfo[1].MinorVersion == 0x00)
        && (DeviceTypeInfo.VersionInfo[0].ModifyVersion == 0x00 || DeviceTypeInfo.VersionInfo[1].ModifyVersion == 0x00)
        && (DeviceTypeInfo.VersionInfo[0].DebugVersion == 0x03 || DeviceTypeInfo.VersionInfo[1].DebugVersion == 0x03))
    {
        VersionInfo.MajorVersion = 0;
        VersionInfo.MinorVersion = 0;
        VersionInfo.ModifyVersion = 0;
        VersionInfo.DebugVersion = 4;
    }

    //设置控件目录
    T_JZsdkUicontrol t_UI_control = {0};

    

    //最初出货版本
    if (VersionInfo.MajorVersion == 0 &&
        VersionInfo.MinorVersion == 0 &&
        VersionInfo.ModifyVersion == 0 &&
        VersionInfo.DebugVersion == 0)
    {
        JZSDK_LOG_INFO("最初版本的T40/T40S");

        DeviceType = 0;
        memcpy(t_UI_control.UI_Json.BaseDir, "default", strlen("default"));
        memcpy(t_UI_control.UI_Json.DebugDir,"debug", strlen("debug"));

#if DEVICE_VERSION == JZ_T40S
        //向4g发送版本信息
        char DeviceTypeVersion[] = {0,0,0,0};
        HalSend_type1Send_DeviceTypeVersion(UART_4G, 0x00, DeviceTypeVersion);
#endif
    }

    //带激光版本
    if (VersionInfo.MajorVersion == 0 &&
        VersionInfo.MinorVersion == 0 &&
        VersionInfo.ModifyVersion == 0 &&
        VersionInfo.DebugVersion == 0x01)
    {
        JZSDK_LOG_INFO("激光版本");

        DeviceType = 1;
        memcpy(t_UI_control.UI_Json.BaseDir, "withlaser", strlen("withlaser"));
        memcpy(t_UI_control.UI_Json.DebugDir,"debug", strlen("debug"));

#if DEVICE_VERSION == JZ_T40S  
        //向4g发送版本信息
        char DeviceTypeVersion[] = {0,0,0,1};
        HalSend_type1Send_DeviceTypeVersion(UART_4G, 0x00, DeviceTypeVersion);
#endif
    }

    //无激光带黄绿
    if (VersionInfo.MajorVersion == 0 &&
        VersionInfo.MinorVersion == 0 &&
        VersionInfo.ModifyVersion == 0 &&
        VersionInfo.DebugVersion == 0x02)
    {
        JZSDK_LOG_INFO("警灯版本");

        DeviceType = 2;
        memcpy(t_UI_control.UI_Json.BaseDir, "onlywarn", strlen("onlywarn"));
        memcpy(t_UI_control.UI_Json.DebugDir,"debug", strlen("debug"));

#if DEVICE_VERSION == JZ_T40S
        //向4g发送版本信息
        char DeviceTypeVersion[] = {0,0,0,2};
        HalSend_type1Send_DeviceTypeVersion(UART_4G, 0x00, DeviceTypeVersion);
#endif
    }

    //强激光 另外一边没接
    if (VersionInfo.MajorVersion == 0 &&
        VersionInfo.MinorVersion == 0 &&
        VersionInfo.ModifyVersion == 0 &&
        VersionInfo.DebugVersion == 0x03)
    {
        JZSDK_LOG_INFO("强激光 另外一边没接");

        DeviceType = 4;
        memcpy(t_UI_control.UI_Json.BaseDir, "powerLaser", strlen("powerLaser"));
        memcpy(t_UI_control.UI_Json.DebugDir, "debug", strlen("debug"));

#if DEVICE_VERSION == JZ_T40S
        //向4g发送版本信息
        char DeviceTypeVersion[] = { 0,0,0,4 };
        HalSend_type1Send_DeviceTypeVersion(UART_4G, 0x00, DeviceTypeVersion);
#endif
    }

    //强激光+红绿蓝警灯
    if (VersionInfo.MajorVersion == 0 &&
        VersionInfo.MinorVersion == 0 &&
        VersionInfo.ModifyVersion == 0 &&
        VersionInfo.DebugVersion == 0x04)
    {
        JZSDK_LOG_INFO("强激光版本");

        DeviceType = 4;
        memcpy(t_UI_control.UI_Json.BaseDir, "powerLaser", strlen("powerLaser"));
        memcpy(t_UI_control.UI_Json.DebugDir, "debug", strlen("debug"));

#if DEVICE_VERSION == JZ_T40S
        //向4g发送版本信息
        char DeviceTypeVersion[] = { 0,0,0,4 };
        HalSend_type1Send_DeviceTypeVersion(UART_4G, 0x00, DeviceTypeVersion);
#endif
    }

    //设置设备类型
    JZsdk_SetDeviceType(DeviceType, VersionInfo);

    //设置UI控件
    t_UI_control.UI_Json.HaveSetFlag = JZ_FLAGCODE_ON;
    UI_control_Init(t_UI_control);

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}



T_JZsdkReturnCode JZ_T40_init_JZ(int mode)
{
    //引脚初始化
    JZ_T40_Ircut_Init();

    if (mode == APP_ATTENTION)
    {
        return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
    }

    //初始化设备类型
    JZ_T40_DeviceType_Init();

    if (mode == APP_UART)
    {
        T_JZsdk_UartInfo UartInfo = {
            .Base.PortId = UART_DEV_1,
            .DevicePath = UART_DEV1_NUM,
            .Baudrate = UART_DEV1_BITRATE,
            .Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_SUB,
        };

        //串口设备1初始化
        JZsdk_HalUartInit(&UartInfo);
    }

    if (mode == APP_PSDK)
    {
        //外接传输模块，用于与飞机的数据通信
        JZsdk_data_transmisson_Receive_Init();
    }

    //串口设备2初始化
    T_JZsdk_UartInfo Uart2Info = {
        .Base.PortId = UART_DEV_2,
        .DevicePath = UART_DEV2_NUM,
        .Baudrate = UART_DEV2_BITRATE,
        .Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_MAIN,
    };
    JZsdk_HalUartInit(&Uart2Info);


#if DEVICE_VERSION == JZ_T40S

    //4G初始化
    T_JZsdk_UartInfo Uart4GInfo = {
        .Base.PortId = UART_4G,
        .DevicePath = COMM_4G_UART_NUM,
        .Baudrate = COMM_4G_UART_BITRATE,
        .Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_SUB,
    };
    JZsdk_HalUartInit(&Uart4GInfo);

#endif

    //子设备连接
    JZ_T40_SubDevice_Init();

#if DEVICE_VERSION == JZ_T40S

    //音频库初始化
    AudioDeal_Init();

    //喊话器初始化
    Megaphone_Init();

#endif

    //云台初始化
    Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT);

    //探照灯初始化
    T_JzSearchLightInfo SearchLightInfo = {
        .Attribute.Frequency = 100,
        .Attribute.Mode = E_JZ_SEARCHLIGHTMODE_OFF,
        .Attribute.LeftBrightness = 30,
        .Attribute.RightBrightness = 30,
        .Attribute.LeftTemperature = 0,
        .Attribute.RightTemperature = 0,

        .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT,
        .Device = UART_DEV_2,
        .FrameSequence = 0x20,
    };
    SearchLight_Init(SearchLightInfo);

    //设置爆闪频率
    HalSend_type1Send_Set_SearchLightFrequency(UART_DEV_2, 50, 0x20);

    //警灯初始化
    T_JzWarnLightInfo WarnLightInfo = {
        .Attribute.Color1 = E_JZ_WARNLIGHT_COLOR_RED,
        .Attribute.Color2 = E_JZ_WARNLIGHT_COLOR_BLUE,
        .Attribute.mode = E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_FAST_FALSHING,
        .Attribute.status = JZ_FLAGCODE_OFF,

        .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT,
        .Device = UART_DEV_2,
        .FrameSequence = 0x20,
        .mode_version = 0,
    };

    //警灯模块初始化
    WarnLight_Init(WarnLightInfo);

    //激光初始化
    T_JzSideLaserInfo LaserInfo = {
        .attribute.Frequency = 1,
        .attribute.mode = SIDE_LASER_GREEN_ADD_RED_TOGETHER_FLICKER,
        .attribute.status = JZ_FLAGCODE_OFF,
        .attribute.Uimode = JZ_FLAGCODE_OFF,
        .PowerAttribute.color = 0,
        .PowerAttribute.lumen = 0,
        .PowerAttribute.flag = JZ_FLAGCODE_ON,

        .PowerAttribute.LaserTemp.SafeMinLumen = 0,
        .PowerAttribute.LaserTemp.frequency = 5,
        .PowerAttribute.LaserTemp.hysteresis = 1,
        .PowerAttribute.LaserTemp.maxtemp = 50,
        .PowerAttribute.LaserTemp.mintemp = 40,
        .PowerAttribute.LaserTemp.TargetLumen = 0,
        .PowerAttribute.FrameSequence = 0x31,

        .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT,
        .Device = UART_DEV_2,
        .FrameSequence = 0x20,
    };

    if (JZsdk_GetDeviceType() != 4)
    {
        LaserInfo.PowerAttribute.flag = JZ_FLAGCODE_OFF;
    }

    SideLaser_Init(LaserInfo);

    //温度检测
    JZ_T40_CheckLightTemperature();

    //基础参数设置
    JZ_T40_BaseParamSet();

    JZSDK_LOG_INFO("T40 Init Success");

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}

T_JZsdkReturnCode JZ_T40_init_DT(int mode)
{
    //引脚初始化
    JZ_T40_Ircut_Init();

    if (mode == APP_ATTENTION)
    {
        return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
    }

    //初始化设备类型
    JZ_T40_DeviceType_Init();

    if (mode == APP_UART)
    {
        //串口设备1初始化
        T_JZsdk_UartInfo UartInfo = {
            .Base.PortId = UART_DEV_1,
            .DevicePath = UART_DEV1_NUM,
            .Baudrate = UART_DEV1_BITRATE,
            .Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_SUB,
        };
        JZsdk_HalUartInit(&UartInfo);
    }

    //串口设备2初始化
    T_JZsdk_UartInfo Uart2Info = {
        .Base.PortId = UART_DEV_2,
        .DevicePath = UART_DEV2_NUM,
        .Baudrate = UART_DEV2_BITRATE,
        .Base.HalStatus.ConnectType = PORT_CONNECT_TYPE_AS_MAIN,
    };
    JZsdk_HalUartInit(&Uart2Info);

    //子设备连接
    JZ_T40_SubDevice_Init();

    //音频库初始化
    AudioDeal_Init();

    //喊话器初始化
    Megaphone_Init();

    //云台初始化
    Gimbal_Init(JZ_MODULE_CONTROL_WAY_INDEPENDENT);

    //探照灯初始化
    T_JzSearchLightInfo SearchLightInfo = {
        .Attribute.Frequency = 100,
        .Attribute.Mode = E_JZ_SEARCHLIGHTMODE_OFF,
        .Attribute.LeftBrightness = 30,
        .Attribute.RightBrightness = 30,
        .Attribute.LeftTemperature = 0,
        .Attribute.RightTemperature = 0,

        .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT,
        .Device = UART_DEV_2,
        .FrameSequence = 0x20,
    };
    SearchLight_Init(SearchLightInfo);

    //设置爆闪频率
    HalSend_type1Send_Set_SearchLightFrequency(UART_DEV_2, 50, 0x20);

    //警灯初始化
    T_JzWarnLightInfo WarnLightInfo = {
        .Attribute.Color1 = E_JZ_WARNLIGHT_COLOR_RED,
        .Attribute.Color2 = E_JZ_WARNLIGHT_COLOR_BLUE,
        .Attribute.mode = E_JZ_WARNLIGHT_MODE_SIMULTANEOUS_FAST_FALSHING,
        .Attribute.status = JZ_FLAGCODE_OFF,

        .ControlMode = JZ_MODULE_CONTROL_WAY_INDEPENDENT,
        .Device = UART_DEV_2,
        .FrameSequence = 0x20,
        .mode_version = 0,
    };

    //警灯模块初始化
    WarnLight_Init(WarnLightInfo);

    //温度检测
    JZ_T40_CheckLightTemperature();

    //基础参数设置
    JZ_T40_BaseParamSet();

    JZSDK_LOG_INFO("DT T40S Init Success");

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;

}

/****************************
 * 
 *  T40 初始化
 *  
 *  mode psdk为psdk模式 uart为串口模式
 * 
 * ****************************/
T_JZsdkReturnCode JZ_T40_init(int mode)
{   

#if SPECIAL_VERSION == SPECIAL_DAOTONG
    
    JZ_T40_init_DT(mode);

#else

    JZ_T40_init_JZ(mode);

#endif

    return JZ_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}