using log4net;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace HuichuanLibrary
{
    public partial class HCBoardManager
    {
        //private static UInt32 ret = 0;             // 用于接收API返回值
        private static Int32 nCardNo = 0;          // 默认要打开的卡号
        private static UInt64 nCardHandle = 0;     // 卡句柄
        private static  bool CardIsOk = false;
        //private static Int16 nTempAxNo = 0;
        public static List<int> AxisList = new List<int>();
        public static  ImcApi.TRsouresNum tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源
        private static string DeviceConfigPath = "";
        private static string SystemConfigPath = "";
        /// <summary>
        /// 初始化配置信息，初始化板卡之前，先初始化配置
        /// </summary>
        /// <param name="deviceConfigPath"></param>
        /// <param name="systemConfigPath"></param>
        /// <param name="logName"></param>
        public static void InitConfig(string deviceConfigPath="",string systemConfigPath="", string logName = "RollingLogFileAppender")
        {
            if (deviceConfigPath.Equals(""))
            {
                DeviceConfigPath = ".\\device_config.xml";
            }
            else
            {
                DeviceConfigPath = deviceConfigPath;
            }
            if (systemConfigPath.Equals(""))
            {
                SystemConfigPath = ".\\system_config.xml";
            }
            else
            {
                SystemConfigPath = systemConfigPath;
            }
            HCLogUtil.LOGGER = LogManager.GetLogger(logName);
        }

        private static  string BoardName()
        {
            return " HCH[" + nCardNo + "][" + nCardHandle + "] ";
        }
    

        #region 板卡操作，初始化，关闭，急停
        /// <summary>
        /// 初始化板卡
        /// </summary>
        /// <returns></returns>
        public static bool InitCard()
        {
            try
            {
                if (CardIsOk)
                { 
                    return true;
                }

                if (!File.Exists(DeviceConfigPath))
                {
                    HCLogUtil.error("InitCard FAIL， 【" + DeviceConfigPath + "】not exists");
                    return false;
                }
                if (!File.Exists(SystemConfigPath))
                {
                    HCLogUtil.error("InitCard FAIL， 【" + SystemConfigPath + "】not exists");
                    return false;
                }


                //【1】获取卡
                Int32 nCardNum = 0;
                UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
                if (ret != 0)
                {
                    ShowErrorLog(" GetCardsNum FAIL, ErrorCode=0x" + ret.ToString("x8"));
                    return false;
                }
                else
                {
                    if (nCardNum <= 0)
                    {
                        ShowErrorLog(" Not Find Card");
                        return false;
                    }
                    else
                    {
                        ShowLog("GetCardsNum = "+nCardNum+", 将默认打开第0号卡");
                    }
                }

                //【2】打开卡句柄
                ret = ImcApi.IMC_OpenCardHandle(nCardNo, ref nCardHandle);
                if (ret != 0)
                {
                    ShowErrorLog(" OpenCardHandle FAIL, ErrorCode=0x" + ret.ToString("x8"));
                    return false;
                }
                else
                {
                    ShowLog("OpenCardHandle OK");
                }

                //【3】下载设备参数
                ret = ImcApi.IMC_DownLoadDeviceConfig(nCardHandle, DeviceConfigPath);
                if (ret != 0)
                {
                    ShowErrorLog(" DownLoadDeviceConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + DeviceConfigPath + "文件");
                    return false;
                }
                else
                {
                    ShowLog("DownLoadDeviceConfig OK");
                }

                //【4】启动主站
                ShowLog("Begin ScanCardECAT... ...");

                uint masterStatus = 0;
                ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
                if (ret != 0)
                {
                    ShowErrorLog(" GetECATMasterSts FAIL, ErrorCode=0x" + ret.ToString("x8"));
                    return false;
                }
                else
                {
                    if (masterStatus != ImcApi.EC_MASTER_OP)
                    {
                        ret = ImcApi.IMC_ScanCardECAT(nCardHandle, 1);      //默认阻塞式启动EtherCAT
                        if (ret != 0)
                        {
                            ShowErrorLog(" ScanCardECAT FAIL, ErrorCode=0x" + ret.ToString("x8"));
                            return false;
                        }
                    }
                }
                ShowLog("ScanCardECAT OK");

                //【5】下载系统参数
                ret = ImcApi.IMC_DownLoadSystemConfig(nCardHandle, SystemConfigPath);
                if (ret != 0)
                {
                    ShowErrorLog(" DownLoadSystemConfig FAIL, ErrorCode=0x" + ret.ToString("x8") + ",请检查是否有" + SystemConfigPath + "文件");
                    return false;
                }
                else
                {
                    ShowLog("DownLoadSystemConfig OK");
                }

                tResource = new ImcApi.TRsouresNum();//实例化板卡外设硬件资源

                //【6】扫描卡内资源，初始化ComboBox
                ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
                if (ret != 0)
                {
                    ShowErrorLog(" GetCardResource FAIL, ErrorCode=0x" + ret.ToString("x8"));
                    return false;
                }
                else
                {
                    ShowLog("Axis [" + tResource.axNum + "]，DI [" + tResource.diNum + "]，DO [" + tResource.doNum + "]");
                    //轴
                    AxisList = new List<int>();
                    if (tResource.axNum > 0)
                    {
                        for (int i = 0; i < tResource.axNum; i++)
                        {
                            AxisList.Add(i);
                        }
                    }
                    CardIsOk = true;

                    return true;
                    //IO
                }
            }
            catch (Exception ex)
            {
                ShowErrorLog(ex.ToString());
            }
            return false;
        }
        /// <summary>
        /// 关闭板卡
        /// </summary>
        /// <returns></returns>
        public static bool CloseCard()
        {
            UInt32 ret = ImcApi.IMC_CloseCard(nCardHandle);
            if (ret != 0)
            {
                ShowErrorLog("CloseCard FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return false;
            }
            else
            {
                CardIsOk = false;
                ShowLog("CloseCard OK");
                return true;
            }
        }
        /// <summary>
        /// 板卡是否已经初始化OK
        /// </summary>
        /// <param name="isShowLog"></param>
        /// <returns></returns>
        public static bool CardInitOk(bool isShowLog = false)
        {
            if (CardIsOk)
            {
                return true;
            }
            else
            {
                if (isShowLog)
                {
                    ShowErrorLog(" 板卡未初始化完成");
                }
                return false;
            }
        }
 

        public static bool EmgStop()
        {
            if (!CardInitOk())
            {
                return false ;
            }
            //取反标志为0时触发急停
            UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 0);
            if (ret != 0)
            {
                ShowErrorLog(" EmgStop FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return false;
            }
            else
            {
                ShowLog("EmgStop OK");
                return true;
            }
        }

        public static bool CancelEmg()
        {
            if (!CardInitOk())
            {
                return false;
            }
            //取反标志为1时取消急停
            UInt32 ret = ImcApi.IMC_SetEmgTrigLevelInv(nCardHandle, 1);
            if (ret != 0)
            {
                ShowErrorLog(" CancelEmg FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return false;
            }
            else
            {
                ShowLog("CancelEmg OK");
                return true;
            }
        }

        #endregion
      
        #region IO控制


        public static bool SetBitDO(short bitNo, short bitValue)
        {
            if (!CardInitOk())
            {
                return false;
            }
            //安装点位写Do
            UInt32 ret = ImcApi.IMC_SetEcatDoBit(nCardHandle, bitNo, bitValue);
            if (ret != 0)
            {
                ShowErrorLog(" bitNo["+bitNo+"]bitValue["+bitValue+ "] IMC_SetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return false;
            } 
            return true;
        }

        public static short GetBitDO(short bitNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            short bitValue = 0;
            UInt32 ret = ImcApi.IMC_GetEcatDoBit(nCardHandle, bitNo, ref bitValue);
            if (ret != 0)
            {
                ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDoBit FAIL, ErrorCode=0x" + ret.ToString("x8"));

                return 0;
            } 
            return bitValue;

        }

        public static short GetBitDI(short bitNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            short bitValue = 0;
            UInt32 ret = ImcApi.IMC_GetEcatDiBit(nCardHandle, bitNo, ref bitValue);
            if (ret != 0)
            {
                ShowErrorLog(" bitNo[" + bitNo + "] IMC_GetEcatDiBit, ErrorCode=0x" + ret.ToString("x8"));
                return 0;
            } 
            return bitValue;
        }

        public static bool SetGroupDO(short groupNo, short groupValue)
        {
            if (!CardInitOk())
            {
                return false ;
            }
            UInt32 ret = ImcApi.IMC_SetEcatGrpDo(nCardHandle, groupNo, groupValue);
            if (ret != 0)
            {
                ShowErrorLog(" groupNo[" + groupNo + "] IMC_SetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return false;
            } 
            return true;
        }

        public static short GetGroupDO(short groupNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            Int16 groupValue = 0;
            UInt32 ret = ImcApi.IMC_GetEcatGrpDo(nCardHandle, groupNo, ref groupValue);
            if (ret != 0)
            {
                ShowErrorLog(" groupNo[" + groupNo + "] IMC_GetEcatGrpDo FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return 0;
            } 
            return groupValue;
        }

        public static short GetGroupDI(short groupNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            Int16 groupValue = 0;
            UInt32 ret = ImcApi.IMC_GetEcatGrpDi(nCardHandle, groupNo, ref groupValue);
            if (ret != 0)
            {
                ShowErrorLog(" groupNo[" + groupNo + "]  IMC_GetEcatGrpDi FAIL, ErrorCode=0x" + ret.ToString("x8"));
                return 0;
            } 
            return groupValue;
        }

        public static bool CloseAllDO()
        {
            if (!CardInitOk())
            {
                return false;
            }

            int groupCount = tResource.doNum / 8;
            for (short i = 0; i < groupCount; i++)
            {
                SetGroupDO(i, 0);
            }

            return true;
        }

        public static List<short> GetIOValue(short groupValue )
        {
            List<short> groupList = new List<short>();
            string value = Convert.ToString(groupValue, 2).PadLeft(8, '0');
            for (int i = 0; i < 8; i++)
            {
                string v = value.Substring(i, 1);
                //groupIOList[i].Text = "DO_" + i;
                if (v.Equals("1"))
                {
                    groupList.Insert(0,1);
                }
                else
                {
                    groupList.Insert(0, 0);
                }
            }
            return groupList;
        }

        #endregion

        private static void ShowErrorLog(string msg)
        {
            Console.WriteLine(BoardName() + msg);
            HCLogUtil.error(BoardName() + msg);
        }

        private static void ShowLog(string msg)
        {
            Console.WriteLine(BoardName() + msg);
            HCLogUtil.info(BoardName() + msg);
        }
    }
    public class AxisSts
    {
        /// <summary>
        /// 轴报警信号
        /// </summary>
        public int ALM = -1;
        /// <summary>
        /// 轴警告信号
        /// </summary>
        public int WARN = -1;
        /// <summary>
        /// 轴急停信号
        /// </summary>
        public int EMG = -1;
        /// <summary>
        /// 轴伺服使能信号
        /// </summary>
        public int ServoOn = -1;
        /// <summary>
        /// 轴忙碌状态
        /// </summary>
        public int BUSY = -1;
        /// <summary>
        /// 轴到位信号
        /// </summary>
        public int INP = -1;
        /// <summary>
        /// 正限位信号
        /// </summary>
        public int PEL = -1;
        /// <summary>
        /// 原点信号
        /// </summary>
        public int ORG = -1;
        /// <summary>
        /// 负限位信号
        /// </summary>
        public int NEL = -1; 

        public string ToStr()
        {
            return "ALM=" + ALM + ";WARN=" + WARN + "EMG=" + EMG + "ServoOn=" + ServoOn + "BUSY=" + BUSY + "INP=" + INP + "PEL=" + PEL + "ORG=" + ORG + ";NEL="+ NEL;
        }
    }

}