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 Int32 nCardNo = 0;          // 默认要打开的卡号
        private static UInt64 nCardHandle = 0;     // 卡句柄
        private static  bool CardIsOk = false;

        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">设备配置文件</param>
        /// <param name="systemConfigPath">系统配置文件</param>
        /// <param name="logName">日志名称</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);
            HCErrorCode.LoadConfig();
        }

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


        #region 板卡操作，初始化，关闭，急停

        private static bool IsInScanECAT = false;
        private static  System.Timers.Timer scanEcatTimer = null;
        private static DateTime startTime = DateTime.Now;

        public static  string CardMsg = "板卡还未初始化";
        /// <summary>
        /// 初始化板卡
        /// </summary>
        /// <param name="blockFlag">是否阻塞，1=阻塞，0=不阻塞</param>
        /// <returns>true=成功</returns>
        public static bool OpenCard(int  blockFlag=0)
        {
            try
            {
                if (CardIsOk)
                {
                    return true;
                }
                if (IsInScanECAT)
                {
                    return false;
                }
                if (scanEcatTimer == null)
                {
                    scanEcatTimer = new System.Timers.Timer();
                    scanEcatTimer.AutoReset = true;
                    scanEcatTimer.Interval = 500;
                    scanEcatTimer.Elapsed += ScanEcatTimer_Elapsed;
                    scanEcatTimer.Enabled = false;
                } 
                if (!File.Exists(DeviceConfigPath))
                {
                    HCLogUtil.error("InitCard FAIL，DeviceConfigPath 【" + DeviceConfigPath + "】not exists");
                    return false;
                }
                if (!File.Exists(SystemConfigPath))
                {
                    HCLogUtil.error("InitCard FAIL， SystemConfigPath【" + SystemConfigPath + "】not exists");
                    return false;
                }

                startTime = DateTime.Now;
                //【1】获取卡
                Int32 nCardNum = 0;
                UInt32 ret = ImcApi.IMC_GetCardsNum(ref nCardNum);
                if (ret != 0)
                {
                    ShowErrorLog(" GetCardsNum FAIL, ",ret);
                    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, ",ret);
                    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, " + ",请检查是否有" + DeviceConfigPath + "文件", ret );
                    return false;
                }
                else
                {
                    ShowLog("DownLoadDeviceConfig OK");
                }

                //【4】启动主站

                ShowLog("Begin ScanCardECAT... ...IsInScanECAT=true");
                IsInScanECAT = true;
                uint masterStatus = 0;
                ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref masterStatus);
                if (ret != 0)
                {
                    ShowErrorLog(" GetECATMasterSts FAIL, ",ret);
                    return false;
                }
                else
                {
                    if (masterStatus != ImcApi.EC_MASTER_OP)
                    {
                        //                        [2020 - 12 - 03 16:32:37,124][1]INFO HCH[0][0] GetCardsNum = 1, 将默认打开第0号卡
                        //  [2020 - 12 - 03 16:32:37, 126][1]INFO HCH[0][479296224] OpenCardHandle OK
                        //     [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] DownLoadDeviceConfig OK
                        //       [2020 - 12 - 03 16:32:37,537][1]INFO HCH[0][479296224] Begin ScanCardECAT... ...
                        //[2020 - 12 - 03 16:33:02,925][1]INFO HCH[0][479296224] ScanCardECAT OK
                        //  [2020 - 12 - 03 16:33:03,107][1]INFO HCH[0][479296224] DownLoadSystemConfig OK
                        //    [2020 - 12 - 03 16:33:03,111][1]INFO HCH[0][479296224] Axis[22]，DI[592]，DO[528]

                        ret = ImcApi.IMC_ScanCardECAT(nCardHandle, blockFlag);
                        if (ret != 0)
                        {
                            ShowErrorLog(" ScanCardECAT FAIL, ",ret);
                            return false;
                        }
                    }
                }
                if (blockFlag == 1)// 默认阻塞式启动EtherCAT
                {
                    ShowLog("ScanCardECAT OK");
                    //【5】下载系统参数
                    if (!LoadSystemConfig())
                    {
                        IsInScanECAT = false;
                        return false;
                    }

                    //【6】扫描卡内资源，初始化ComboBox 
                    return GetCardResource();
                }
                else
                {
                    CardMsg = "ECAT总线扫描和配置中................";
                    scanEcatTimer.Enabled = true; 
                    ShowLog("start scanEcatTimer ...............");
                    return false;
                }
            }
            catch (Exception ex)
            {
                ShowErrorLog(ex.ToString());
            }
            return false;
        }

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

        private static bool GetCardResource()
        {
            IsInScanECAT = false;
            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
            uint ret = ImcApi.IMC_GetCardResource(nCardHandle, ref tResource);
            if (ret != 0)
            {
                ShowErrorLog(" GetCardResource FAIL, ",ret);
                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);
                    }
                }
                CardMsg = "板卡初始化完成";
                CardIsOk = true;
                TimeSpan span = DateTime.Now - startTime;
                ShowLog("OpenCard end ," + Convert.ToDateTime(span.ToString()).ToString("HH:mm:ss"));
                return true;
            }
        }

        private static void ScanEcatTimer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            uint pStatus = 0;
            uint ret = ImcApi.IMC_GetECATMasterSts(nCardHandle, ref pStatus);

            if (ret != 0)
            {
                ShowErrorLog("  GetECATMasterSts FAIL, ",ret  );
            }
            else if (pStatus.Equals(6))
            {
                scanEcatTimer.Stop();
                ShowLog("  GetECATMasterSts OK, pStatus= " + pStatus + " ");

                ShowLog("ScanCardECAT OK");
                //【5】下载系统参数
                if (!LoadSystemConfig())
                {
                    IsInScanECAT = false;
                    return;
                }
                //【6】扫描卡内资源，初始化ComboBox 
                GetCardResource();
                return;
            }
            else
            {
                ShowLog("  GetECATMasterSts OK, pStatus= " + pStatus + " ");
            }
            //判断是否超时
            TimeSpan span = DateTime.Now - startTime;
            if (span.TotalMinutes > 2)
            {
                CardMsg = "ECAT总线连接失败，超时未进入OP模式";
                ShowErrorLog(CardMsg + "，停止主站状态查询");
                IsInScanECAT = false;
                scanEcatTimer.Stop();
            }

        }
         



        /// <summary>
        /// 关闭板卡
        /// </summary>
        /// <returns></returns>
        public static bool CloseCard()
        {
            UInt32 ret = ImcApi.IMC_CloseCard(nCardHandle);
            if (ret != 0)
            {
                ShowErrorLog("CloseCard FAIL, ",ret);
                return false;
            }
            else
            {
                CardIsOk = false;
                ShowLog("CloseCard OK");
                //return true;
            }
            ret = ImcApi.IMC_CloseCardHandle(nCardHandle);
            if (ret != 0)
            {
                ShowErrorLog("CloseCardHandle FAIL, ",ret);
                return false;
            }
            else
            {
                CardIsOk = false;
                ShowLog("CloseCardHandle OK");
                return true;
            } 
        }
        /// <summary>
        /// 板卡是否已经初始化OK
        /// </summary>
        /// <param name="isShowLog">未初始化完成时是否打印日志</param>
        /// <returns>true=OK</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;
            }
        }
 
        /// <summary>
        /// 紧急停止
        /// </summary>
        /// <returns></returns>
        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, ",ret);
                return false;
            }
            else
            {
                ShowLog("EmgStop OK");
                return true;
            }
        }
        /// <summary>
        /// 取消急停
        /// </summary>
        /// <returns></returns>
        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, ",ret);
                return false;
            }
            else
            {
                ShowLog("CancelEmg OK");
                return true;
            }
        }

        #endregion
      
        #region IO控制

        /// <summary>
        /// 按位设置DO的值
        /// </summary>
        /// <param name="bitNo">DO索引，从0开始</param>
        /// <param name="bitValue">DO值</param>
        /// <returns></returns>
        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, ",ret);
                return false;
            } 
            return true;
        }
        /// <summary>
        /// 按位获取DO的值
        /// </summary>
        /// <param name="bitNo">DO索引，从0开始</param>
        /// <returns></returns>
        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, ",ret);

                return 0;
            } 
            return bitValue;

        }
        /// <summary>
        /// 按位获取DI的值
        /// </summary>
        /// <param name="bitNo">DI索引，从0开始</param>
        /// <returns></returns>
        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, ",ret);
                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, ",ret);
                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, ",ret);
                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, ",ret);
                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


        #region AD/DA控制
        /// <summary>
        /// 模拟量IO值获取 获取EtherCAT 第 adNo号的ad值
        /// </summary>
        /// <param name="adNo">ad的通道：0~配置个数</param>
        /// <returns>获取AD的输入值</returns>
        public static short GetAdVal(short adNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            Int16 adVal = 0;
            UInt32 ret = ImcApi.IMC_GetEcatAdVal(nCardHandle, adNo, ref adVal);
            if (ret != 0)
            {
                ShowErrorLog(" adNo[" + adNo + "] IMC_GetEcatAdVal FAIL, ",ret);
                return 0;
            }
            return adVal;
        }
        /// <summary>
        /// 获取EtherCAT 第 adNo号的状态
        /// </summary>
        /// <param name="adNo">ad的通道：0~配置个数</param>
        /// <returns>获取AD的状态值</returns>
        public static short GetAdSts(short adNo)
        {
            if (!CardInitOk())
            {
                return 0;
            }
            Int16 adSts = 0;
            UInt32 ret = ImcApi.IMC_GetEcatAdSts(nCardHandle, adNo, ref adSts);
            if (ret != 0)
            {
                ShowErrorLog(" adNo[" + adNo + "] IMC_GetEcatAdSts FAIL, ",ret);
                return 0;
            }
            return adSts;
        }
        public static AdStsInfo GetAdStsInfo(short sts)
        {
            //【3】更新界面显示
            AdStsInfo stsInfo = new AdStsInfo();
            stsInfo.VoltageSts = ((sts & 0x01) == 0x01) ? 1 : 0;   //负载电压故障
            stsInfo.ConnectSts = ((sts & 0x02) == 0x02) ? 1 : 0;   //模拟芯片连接错误
            stsInfo.NoSts = ((sts & 0x04) == 0x04) ? 1 : 0;   //通道故障
            stsInfo.Overflow = ((sts & 0x08) == 0x08) ? 1 : 0;   //通道上溢
            stsInfo.Underflow = ((sts & 0x10) == 0x10) ? 1 : 0;   //通道下溢
            stsInfo.PEL = ((sts & 0x20) == 0x20) ? 1 : 0;   //通道超上限
            stsInfo.NEL = ((sts & 0x40) == 0x40) ? 1 : 0;//通道超下限
            stsInfo.OffLine = ((sts & 0x80) == 0x80) ? 1 : 0;//通道断线

            return stsInfo;
        }
        #endregion

        private static void ShowErrorLog(string msg,UInt32 ret=0)
        {
            if (ret > 0)
            {
                CardMsg = BoardName() +msg+ HCErrorCode.GetCodeMsg(ret);
            }
            else
            {
                CardMsg = BoardName() + msg;
            }
            Console.WriteLine(CardMsg);
            HCLogUtil.error(CardMsg);
        }

        private static void ShowLog(string msg )
        { 
            Console.WriteLine(BoardName() + msg);
            HCLogUtil.info(BoardName() + msg);
        }
        private static void DebugLog(string msg, UInt32 ret = 0)
        {
            if (ret != 0)
            { 
                msg += " ,ret=" + ret;
            }
            Console.WriteLine(BoardName() + msg);
            HCLogUtil.debug(BoardName() + msg);
        }
    }
    public class AdStsInfo
    {
        /// <summary>
        /// Bit0 ,负载电压故障，0：接入外部电源，1：未接入外部电源
        /// </summary>
        public int VoltageSts= -1;
        /// <summary>
        /// Bit1 ,模拟芯片连接错误，0：数字版与模拟板通讯正常，1：数字版与模拟板通讯错误
        /// </summary>
        public int ConnectSts = -1;
        /// <summary>
        /// Bit2:通道故障
        /// </summary>
        public int NoSts = -1;
        /// <summary>
        /// Bit3:通道上溢
        /// </summary>
        public int Overflow = -1;
        /// <summary>
        /// Bit4:通道下溢
        /// </summary>
        public int Underflow = -1;
        /// <summary>
        /// Bit5:通道超上限
        /// </summary>
        public int PEL = -1;
        /// <summary>
        /// Bit6:通道超下限
        /// </summary>
        public int NEL = -1;
        /// <summary>
        /// Bit7:通道断线
        /// </summary>
        public int OffLine = -1;
       
       
        public string ToStr()
        {
            return "VoltageSts=" + VoltageSts + ",ConnectSts=" + ConnectSts + ",NoSts=" + NoSts + ",Overflow=" + Overflow + ",Underflow=" + Underflow
                + ",PEL=" + PEL + ",NEL=" + NEL + ",OffLine=" + OffLine;
        }
    }
    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;
        /// <summary>
        /// 总线轴标志
        /// </summary>
        public int ECAT = -1;
        public string ToStr()
        {
            return "ALM=" + ALM + ",WARN=" + WARN + ",EMG=" + EMG + ",ServoOn=" + ServoOn + ",BUSY=" + BUSY + ",INP=" + INP + ",PEL=" + PEL + ",ORG=" + ORG + ",NEL=" + NEL+ ",ECAT=" + ECAT;
        }
    }

}