using System;
using System.Collections.Generic;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;

namespace DeviceLib
{ 
    /// <summary>
    /// 外部调用的接口放在此文件中
    /// </summary>
    public partial class ACServerManager
    {
        public static bool IsShowMsg = false ;
        private static int SleepMSendons = 20;
        private static int ReviceOutTimeMS = 100;
        private static  Dictionary<string, Dictionary<string, int>> ComAddrValue = new Dictionary<string, Dictionary<string, int>>();
        private static  string mapObj = "";
        public delegate void LogDelegate(InfoType type, string msg);
        public static  event LogDelegate LogEvent;

        public static void Log(InfoType type, string msg)
        {
            LogEvent?.Invoke(type, msg);
        }
     
       /// <summary>
       /// 打开端口
       /// </summary>
       /// <param name="portName">端口号</param>
       /// <param name="ACBaudRate">波特率</param>
       /// <returns></returns>
        public static bool OpenPort(string portName,int  ACBaudRate)
        {
            if (serialBeanMap.ContainsKey(portName))
            {
                return true;
            }
            //int ACBaudRate = ConfigAppSettings.GetIntValue(Setting_Init.ACBaudRate);
            if (ACBaudRate <= 0)
            {
                ACBaudRate = 9600;
            }
            AcSerialBean bean = new AcSerialBean(portName, ACBaudRate, Parity.Even, 8, StopBits.One);
            bool result = bean.openPort();
            if (!result)
            {
                Log(InfoType.Info,"打开串口【" + portName + "】【" + ACBaudRate + "】失败");
                return false;
            }
            Log(InfoType.Info,"打开串口【" + portName + "】【" + ACBaudRate + "】成功");
            //bean.DataReceived += DataReceived;

            if (serialBeanMap.ContainsKey(portName))
            {
                serialBeanMap.Remove(portName);
            }
            serialBeanMap.Add(portName, bean);

            return true;
        }
        /// <summary>
        /// 关闭端口
        /// </summary>
        /// <param name="portName">端口号</param>
        public static void ColsePort(string portName)
        {
            AcSerialBean bean = GetSerialBean(portName);
            if (bean == null)
            {
                Log(InfoType.Info,"串口【" + portName + "】未打开，不需要关闭");
                return;
            }
            //清理缓存
            bean.clearInBuffer();
            bean.clearOutBuffer();
            bean.closePort();

            if (serialBeanMap.ContainsKey(portName))
            {
                serialBeanMap.Remove(portName);
            }
            Log(InfoType.Info,"ACServerManager 关闭串口【" + portName + "】 ");
        }
        /// <summary>
        /// 关闭所有端口
        /// </summary>
        public static void CloseAllPort()
        {
            List<string> kes = new List<string>(serialBeanMap.Keys);
            foreach (string key in kes)
            {
                ColsePort(key);
            }
        }
              
     
        /// <summary>
        /// 是否成功打开伺服
        /// </summary> 
        public static bool ServerOnStatus(string portName, int slvAddr)
        {
            if (!serialBeanMap.ContainsKey(portName))
            {
                return false ;
            }
            PreReadCoilAddr = ACCMDManager.ServerOn_Addr;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_ReadCoil, PreReadCoilAddr, "0000", 1);
            //SendData(portName,dataArray); 
            byte[] reviceData = SendCommand(portName, dataArray, ReviceOutTimeMS, 6);
            int result= GetCoilData(portName, reviceData, PreReadCoilAddr);
            //TODO
            return result>=1;
        }
        /// <summary>
        /// 是否原点返回完成
        /// </summary> 
        public static bool IsHomeMoveEnd(string portName, int slvAddr)
        {
            int status = GetHomeEndStatus(portName, slvAddr);
            bool isOk = ACServerManager.GetBusyStatus(portName, slvAddr).Equals(0);
            if (status >= 1&&isOk)
            {
                return true;
            } return false;
        }
        public static void InitSlvAddr(string portName, int slvAddr)
        {
            InitSlvAddr(portName, slvAddr, 100, 30, 30 );
            //InitSlvAddr(portName, slvAddr, 100, 30, 30, 100, 50, 30);
        }
        //把数字转换为四位的字符串
        public static string SpeedToStr(int speed,int length)
        {
            string str = String.Format("{0:X}", speed);
            return str.PadLeft(length, '0');
        }
        /// <summary>
        /// 伺服初始化
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="targetSpeed">目标速度</param>
        /// <param name="addSpeed">加速度</param>
        /// <param name="delSpeed">减速带</param>
        public static void InitSlvAddr(string portName, int slvAddr,int targetSpeed,int addSpeed,int delSpeed )
        //public static void InitSlvAddr(string portName, int slvAddr,int targetSpeed,int addSpeed,int delSpeed,int homeHighSpeed,int homeLowSpeed,int homeAddSpeed)
        {
            Log(InfoType.Info,"开始初始化伺服【" + portName + "】【" + slvAddr + "】");
            //写入block
            int sleep = 50;
            string slvAddrStr = string.Format(strFromat, slvAddr);
            ////block0=原点返回，正方向
            //string str0 = slvAddrStr + "104800 000408 00000420 00000000 ffff";
            //SendStrAndSleep(portName, str0, sleep);
            ////block1=原点返回，反方向
            //string str1 = slvAddrStr + "104804 000408 04000420 00000000 ffff";
            //SendStrAndSleep(portName, str1, sleep);
            ////block2=绝对位置运动
            //string str2 = slvAddrStr + "104808 000408 10000211EC78FFFF ffff";
            //SendStrAndSleep(portName, str2, sleep);
            ////block3=相对位置运动
            //string str3 = slvAddrStr + "10480C 000408 10000111EC78FFFF ffff";
            //SendStrAndSleep(portName, str3, sleep);
            ////block4=正方向匀速运动
            //string str4 = slvAddrStr + "104810 000408 10000311 00000000 ffff";
            //SendStrAndSleep(portName, str4, sleep);
            ////block5=反方向匀速运动
            //string str5 = slvAddrStr + "104814 000408 14000311 00000000 ffff";
            //SendStrAndSleep(portName, str5, sleep);
            ////block6=减速停止
            //string str6 = slvAddrStr + "104818 000408 00000500 00000000 ffff";
            //SendStrAndSleep(portName, str6, sleep);

            ////block7=紧急停止 
            //string str7 = slvAddrStr + "10481c 000408 00000510 00000000 ffff";
            //SendStrAndSleep(portName, str7, sleep);

            //0106460001009D12
            //速度 V1 =100
            string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
            SendStrAndSleep(portName, v1, sleep);
            //加速度 A1 =30
            string a1 = slvAddrStr + "064611  " + SpeedToStr(addSpeed, 4) + "  ffff";
            SendStrAndSleep(portName, a1, sleep);
            //减速度 D1=30
            string d1 = slvAddrStr + "064621   " + SpeedToStr(delSpeed, 4) + "  ffff";
            SendStrAndSleep(portName, d1, sleep);

            ////原点返回高速 homeHighSpeed=100
            //SendStrAndSleep(portName, slvAddrStr + "06 4637 " + SpeedToStr(homeHighSpeed, 4) + " ffff", sleep);
            ////原点返回抵速 homeLowSpeed=50
            //SendStrAndSleep(portName, slvAddrStr + "06 4638 " + SpeedToStr(homeLowSpeed, 4) + " ffff", sleep);
            ////原点返回加速度=30
            //SendStrAndSleep(portName, slvAddrStr + "06 4639 " + SpeedToStr(homeAddSpeed, 4) + " ffff", sleep);
            //UpdateEEPROM(portName, slvAddr);
        }
        private static void UpdateEEPROM(string portName, int slvAddr)
        {
            string addr = ACCMDManager.EEPROM_Param_Addr;
            string data = "6173"; 
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, addr, data, length);
            SendData(portName, dataArray, 5);
        }
        /// <summary>
        /// 伺服ON
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        public static void ServoOn(string portName, int slvAddr)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "FF00";
            //byte cmd = 0x05;

            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName, dataArray);
        }
        /// <summary>
        /// 伺服Off
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        public static void ServoOff(string portName, int slvAddr)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "0000";
            //byte cmd = 0x05; 
            int length = 2;
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteCoil, addr, data, length);
            SendData(portName, dataArray);
        }
        /// <summary>
        /// 相对运动
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="position">相对位置</param>
        /// <param name="targetSpeed">目标速度</param>
        public static void RelMove(string portName, int slvAddr, int position,int targetSpeed)
        {  
            //先更新速度 
            string slvAddrStr = string.Format(strFromat, slvAddr); 
            string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
            SendStrAndSleep(portName, v1,SleepMSendons);
             
            RelMove(portName, slvAddr, position);
        }
        private static void RelMove(string portName, int slvAddr, int position)
        {
            //int position = Convert.ToInt32(txtPosition.Text);
            byte[] positionData = AcSerialBean.StringToByte(position.ToString("X8"));
            byte[] data = AcSerialBean.StringToByte("0110480C 000408 10000111EC78FFFF ffff");
            data[0] = (byte)slvAddr;
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(portName, data);
            System.Threading.Thread.Sleep(SleepMSendons); 
            UpdateBlock(portName, slvAddr, ACCMDManager.Block_RelMove); 
            OpenAndCloseSTB(portName, slvAddr);
        }
        /// <summary>
        /// 原点返回
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="speed">速度</param>
        /// <param name="mustMove">原点返回前是否必须要相对走2000</param>
        public static void HomeMove(string portName, int slvAddr, int speed,bool mustMove=false)
        {
            try
            {
                //先判断是否在原点，如果已经在原点，先向正方向走2000
                int homeSingle = GetHomeSingle(portName, slvAddr);
                if (homeSingle.Equals(1)||mustMove)
                {
                    int isHomeEnd = GetHomeEndStatus(portName, slvAddr);
                    if (isHomeEnd.Equals(1))
                    {
                        int value = 2000; 
                        Log(InfoType.Info,"轴【" + portName +"_"+slvAddr +"】"+ mustMove + "  HomeMove，需要先相对走" + value);
                        RelMove(portName, slvAddr, value);
                        bool isStop = false;
                        for (int i = 0; i <= 10; i++)
                        {
                            Thread.Sleep(200);
                            if (GetBusyStatus(portName, slvAddr).Equals(0))
                            {
                                isStop = true;
                                Log(InfoType.Info,"轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已结束");
                                break;
                            }
                        }
                        if (!isStop)
                        {
                            Log(InfoType.Info,"轴【" + portName + "_" + slvAddr + "】 相对走" + value + "已等待2分钟，直接停止");
                            SuddenStop(portName, slvAddr);
                        }
                    }
                    else
                    {
                        int volSpeed =Math.Abs( speed / 5);
                        int time = 1500;
                        Log(InfoType.Info,"轴【" + portName + "_" + slvAddr + "】" + mustMove + "  HomeMove，先匀速向上走" + time+"，速度["+ volSpeed + "]" );
                  
                        //需要匀速向上走
                        ACServerManager.SpeedMove(portName, slvAddr, volSpeed);
                        Thread.Sleep(time);
                        Log(InfoType.Info,"轴【" + portName + "_" + slvAddr + "】匀速 已等待" + time + "，直接停止");
                        SuddenStop(portName, slvAddr);
                        Thread.Sleep(SleepMSendons);
                    }
                }
            }catch(Exception ex)
            {
                Log(InfoType.Error,"轴【" + portName + "_" + slvAddr + "】原点返回前验证是否在原点出错：" +ex.ToString());
            }
            //默认负方向原点返回
            UpdateBlock(portName, slvAddr, ACCMDManager.Block_HomeMove1);
            Thread.Sleep(SleepMSendons);
            OpenAndCloseSTB(portName, slvAddr);
        }
        private static void SetSpeed(string portName, int slvAddr, int speed)
        {
            speed = Math.Abs(speed);
            int preSpeed = GetAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr);
            if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(speed)))
            {
                string v1 = slvAddr + "064601  " + ACServerManager.SpeedToStr(speed, 4) + "  ffff";
                Log(InfoType.Debug,"轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】");
                Thread.Sleep(SleepMSendons);
                for (int i = 1; i <= 3; i++)
                {
                    bool result = SendStrAndSleep(portName, v1, SleepMSendons);
                    if (result)
                    {
                        break;
                    }
                    else
                    {
                        Log(InfoType.Error,"轴【" + portName + "_" + slvAddr + "】更新速度为【" + speed + "】，发送数据【" + v1 + "】,第【" + i + "】次失败");
                        Thread.Sleep(SleepMSendons);
                    }
                }
                UpdateAddrValue(portName, slvAddr, ACCMDManager.Speed_Addr, speed);
                Thread.Sleep(SleepMSendons);
            }
        }
        /// <summary>
        /// 匀速运动
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="speed">速度</param>
        public static void SpeedMove(string portName, int slvAddr, int speed)
        {
            SetSpeed(portName, slvAddr, speed); 
            if (speed > 0)
            { 
                UpdateBlock(portName, slvAddr, ACCMDManager.Block_VolMove0);
            }
            else
            { 
                UpdateBlock(portName, slvAddr, ACCMDManager.Block_VolMove1);
            }
            //Thread.Sleep(SleepMSendons);
            OpenAndCloseSTB(portName, slvAddr);
        }
        /// <summary>
        /// 当前是否在指定的位置
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="PPosition">位置</param>
        /// <param name="canError">误差值</param>
        /// <returns></returns>
        public static bool isInPosition(string portName, int slvAddr, int PPosition,int canError)
        {
            int outCount = ACServerManager.GetActualtPosition(portName, slvAddr);
            int errorCount = Math.Abs(outCount - PPosition);
            if (errorCount <= canError)
            {
                return true;
            }
            else
            {
                return false;
            }
        }
        /// <summary>
        /// 绝对运动
        /// </summary>
        /// <param name="portName">端口号</param>
        /// <param name="slvAddr">伺服地址</param>
        /// <param name="targetPosition">目标位置</param>
        /// <param name="targetSpeed">目标速度</param>
        public static void AbsMove(string portName, int slvAddr, int targetPosition, int targetSpeed)
        {
            //先更新速度 
            string slvAddrStr = string.Format(strFromat, slvAddr);

            int preSpeed = GetAddrValue(portName,slvAddr, ACCMDManager.Speed_Addr);
            if ((preSpeed.Equals(-1)) || (!preSpeed.Equals(targetSpeed)))
            {
                //速度 V1 =100
                string v1 = slvAddrStr + "064601  " + SpeedToStr(targetSpeed, 4) + "  ffff";
                SendStrAndSleep(portName, v1, SleepMSendons);
                UpdateAddrValue(portName,slvAddr, ACCMDManager.Speed_Addr, targetSpeed);
            }
            //绝对运动
            AbsMove(portName, slvAddr, targetPosition);
        }
        private static void AbsMove(string portName, int slvAddr, int position)
        {
            //int position = Convert.ToInt32(txtPosition.Text, 10);
            byte[] positionData = AcSerialBean.StringToByte(position.ToString("X8"));
            byte[] data = AcSerialBean.StringToByte("01104808 000408 10000211 EC78FFFF ffff");
            data[0] = (byte)slvAddr;
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(portName, data);
            Thread.Sleep(SleepMSendons);
            UpdateBlock(portName, slvAddr, ACCMDManager.Block_AbsMove);
            //data = ACCMDManager.GetWriteData(slvAddr, ACCMDManager.CMD_WriteRegisters, ACCMDManager.BlockNo, ACCMDManager.Block_AbsMove, 2);
            //SendData(portName, data);
            //Thread.Sleep(SleepMSendons);
            OpenAndCloseSTB(portName, slvAddr);
        }
    }
}