using System;
using System.Drawing;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ENIG;
using ENIGProtocol;

namespace Test_ACS
{
    public partial class MainForm : Form
    {
        private SerialPort serialPort;
        private EEProtocol protocol;
        private byte selectedAGV = 11; // 기본값: AGV1 (11)
        private AppSettings settings;

        public MainForm()
        {
            InitializeComponent();
            InitializeProtocol();
            LoadPortList();
        }



        private void InitializeProtocol()
        {
            protocol = new EEProtocol();
            protocol.OnDataReceived += Protocol_OnDataReceived;
            protocol.OnMessage += Protocol_OnMessage;

            serialPort = new SerialPort();
            serialPort.ReadTimeout = 2000;
            serialPort.WriteTimeout = 1000;
            serialPort.DataReceived += SerialPort_DataReceived;
        }

        private void SerialPort_DataReceived(object sender, SerialDataReceivedEventArgs e)
        {
            var buffer = new byte[serialPort.BytesToRead];
            serialPort.Read(buffer, 0, buffer.Length);
            protocol.ProcessReceivedData(buffer);
        }

        private void Protocol_OnDataReceived(object sender, EEProtocol.DataEventArgs e)
        {
            var hexstrRaw = string.Join(" ", e.ReceivedPacket.RawData.Select(b => b.ToString("X2")));
            var hexstr = string.Join(" ", e.ReceivedPacket.Data.Select(b => b.ToString("X2")));
            var cmd = e.ReceivedPacket.Command.ToString("X2");
            var id = e.ReceivedPacket.ID.ToString("X2");
            AddLog($"RX: {hexstrRaw}\nID:{id}, CMD:{cmd}, DATA:{hexstr}", LogType.RX);

            // AGV 상태 수신 처리 (cmd = 3)
            var device = e.ReceivedPacket.ID;
            var command = (ENIGProtocol.AGVCommandEH)e.ReceivedPacket.Command;

            switch (command)
            {
                case AGVCommandEH.Status:
                    UpdateAGVStatus(e.ReceivedPacket.Data);
                    break;
                case AGVCommandEH.Error:
                    var errorcode = (AGVErrorCode)e.ReceivedPacket.Data[0];
                    var errorMessage = System.Text.Encoding.UTF8.GetString(e.ReceivedPacket.Data, 1, e.ReceivedPacket.Data.Length - 1);
                    AddLog($"Error Received : {errorcode} ID:{e.ReceivedPacket.ID} MSG:{errorMessage}", LogType.Info);
                    break;
                default:
                    AddLog($"unknown command:{command}", LogType.Error);
                    break;
            }
        }

        private void Protocol_OnMessage(object sender, EEProtocol.MessageEventArgs e)
        {
            AddLog(e.Message, e.IsError ? LogType.Error : LogType.Info);
        }

        private void LoadPortList()
        {
            cmbPort.Items.Clear();
            foreach (var port in SerialPort.GetPortNames())
            {
                cmbPort.Items.Add(port);
            }

            // 마지막 설정 불러오기
            LoadSettings();
        }

        private void LoadSettings()
        {
            try
            {
                // 설정 파일 로드
                settings = AppSettings.Load();

                // 포트 설정
                if (!string.IsNullOrEmpty(settings.LastPort) && cmbPort.Items.Contains(settings.LastPort))
                {
                    cmbPort.SelectedItem = settings.LastPort;
                }
                else if (cmbPort.Items.Count > 0)
                {
                    cmbPort.SelectedIndex = 0;
                }

                // 보레이트 설정
                txtBaudRate.Text = settings.LastBaudRate;

                // RFID 번호 설정
                txtRFID.Text = settings.LastRFID;

                // 별칭 설정
                txtAlias.Text = settings.LastAlias;

                // AGV 선택 설정
                if (settings.LastAGV == 11)
                {
                    rbAGV1.Checked = true;
                }
                else if (settings.LastAGV == 12)
                {
                    rbAGV2.Checked = true;
                }

                AddLog("설정을 불러왔습니다.", LogType.Info);
            }
            catch (Exception ex)
            {
                settings = new AppSettings();
                AddLog($"설정 불러오기 실패: {ex.Message}", LogType.Error);
            }
        }

        private void SaveSettings()
        {
            try
            {
                if (settings == null)
                    settings = new AppSettings();

                settings.LastPort = cmbPort.Text;
                settings.LastBaudRate = txtBaudRate.Text;
                settings.LastRFID = txtRFID.Text;
                settings.LastAlias = txtAlias.Text;
                settings.LastAGV = selectedAGV;
                settings.Save();
            }
            catch (Exception ex)
            {
                AddLog($"설정 저장 실패: {ex.Message}", LogType.Error);
            }
        }

        private void btnConnect_Click(object sender, EventArgs e)
        {
            if (serialPort.IsOpen)
            {
                serialPort.Close();
                btnConnect.Text = "연결";
                AddLog("포트 닫힘", LogType.Info);

            }
            else
            {
                try
                {
                    serialPort.PortName = cmbPort.Text;
                    serialPort.BaudRate = int.Parse(txtBaudRate.Text);
                    serialPort.Open();
                    btnConnect.Text = "해제";
                    AddLog($"{serialPort.PortName}:{serialPort.BaudRate} 연결됨", LogType.Info);
                    SaveSettings();
                }
                catch (Exception ex)
                {
                    AddLog($"연결 실패: {ex.Message}", LogType.Error);
                }
            }
        }

        private void btnRefresh_Click(object sender, EventArgs e)
        {
            LoadPortList();
        }

        private void cmbPort_SelectedIndexChanged(object sender, EventArgs e)
        {
            //SaveSettings();
        }

        private void txtBaudRate_TextChanged(object sender, EventArgs e)
        {
            //SaveSettings();
        }

        private void txtRFID_TextChanged(object sender, EventArgs e)
        {
            //SaveSettings();
        }

        private void txtAlias_TextChanged(object sender, EventArgs e)
        {
            //SaveSettings();
        }

        private void rbAGV1_CheckedChanged(object sender, EventArgs e)
        {
            if (rbAGV1.Checked)
            {
                selectedAGV = 11;
                //SaveSettings();
            }
        }

        private void rbAGV2_CheckedChanged(object sender, EventArgs e)
        {
            if (rbAGV2.Checked)
            {
                selectedAGV = 12;
                //SaveSettings();
            }
        }

        private void btnSetCurrent_Click(object sender, EventArgs e)
        {
            // SetCurrent: data = TargetID(2 hex) + RFID(4 hex)
            var targetID = selectedAGV.ToString("X2");
            var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
            var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
            var dataStr = targetID + rfidHex;
            SendCommand(AGVCommandHE.SetCurrent, dataStr);
        }

        private void btnGoto_Click(object sender, EventArgs e)
        {
            // Goto: data = TargetID(2 hex) + RFID(4 hex)

            var targetID = selectedAGV.ToString("X2");
            var rfidBytes = Encoding.ASCII.GetBytes(txtRFID.Text.PadLeft(4, '0'));
            var rfidHex = string.Join("", rfidBytes.Select(b => b.ToString("X2")));
            var dataStr = targetID + rfidHex;
            SendCommand(AGVCommandHE.Goto, dataStr);
        }

        private void btnGotoAlias_Click(object sender, EventArgs e)
        {
            // GotoAlias: data = TargetID(2 hex) + Alias(ASCII string)
            var alias = txtAlias.Text.Trim();
            if (string.IsNullOrEmpty(alias))
            {
                AddLog("별칭을 입력하세요.", LogType.Error);
                return;
            }

            var targetID = selectedAGV.ToString("X2");
            var aliasBytes = Encoding.ASCII.GetBytes(alias);
            var aliasHex = string.Join("", aliasBytes.Select(b => b.ToString("X2")));
            var dataStr = targetID + aliasHex;
            SendCommand(AGVCommandHE.GotoAlias, dataStr);
            SaveSettings();
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            // Stop: data = TargetID(2 hex)
            var targetID = selectedAGV.ToString("X2");
            SendCommand(AGVCommandHE.Stop, targetID);
        }

        private void btnReset_Click(object sender, EventArgs e)
        {
            // Reset: data = TargetID(2 hex)
            var targetID = selectedAGV.ToString("X2");
            SendCommand(AGVCommandHE.Reset, targetID);
        }

        private void btnManual_Click(object sender, EventArgs e)
        {
            var but = sender as Button;
            if (but.Tag == null) return;
            var tagstr = but.Tag.ToString();

            var targetID = selectedAGV.ToString("X2");
            var direction = byte.Parse(tagstr);//  //back
            var speed = (byte)0;// cmbSpeed.SelectedIndex;
            if (radSpdM.Checked) speed = 1;
            else if (radSpdH.Checked) speed = 2;


            var dataBytes = new byte[] { direction, speed };
            var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
            SendCommand(AGVCommandHE.Manual, dataStr);
        }

        private void btnMarkStop_Click(object sender, EventArgs e)
        {
            // MarkStop: data = TargetID(2 hex) + MarkStop(1 byte)
            var targetID = selectedAGV.ToString("X2");
            var markStop = chkMarkStop.Checked ? "01" : "00";
            SendCommand(AGVCommandHE.MarkStop, targetID + markStop);
        }

        private void btnLiftUp_Click(object sender, EventArgs e)
        {
            SendLiftCommand(1); // Up
        }

        private void btnLiftDown_Click(object sender, EventArgs e)
        {
            SendLiftCommand(2); // Down
        }

        private void btnLiftStop_Click(object sender, EventArgs e)
        {
            SendLiftCommand(0); // Stop
        }

        private void SendLiftCommand(byte liftCmd)
        {
            // LiftControl: data = TargetID(2 hex) + LiftCommand(1 byte)
            var targetID = selectedAGV.ToString("X2");
            var dataStr = targetID + liftCmd.ToString("X2");
            SendCommand(AGVCommandHE.LiftControl, dataStr);
        }

        private void SendCommand(AGVCommandHE command, string dataHexString)
        {
            if (!serialPort.IsOpen)
            {
                AddLog("포트가 연결되지 않았습니다.", LogType.Error);
                return;
            }

            try
            {
                // Hex 문자열을 byte 배열로 변환
                byte[] dataBytes = new byte[dataHexString.Length / 2];
                for (int i = 0; i < dataBytes.Length; i++)
                {
                    dataBytes[i] = Convert.ToByte(dataHexString.Substring(i * 2, 2), 16);
                }

                // 패킷 생성 (ACS ID = 0)
                byte[] packet = protocol.CreatePacket(0, (byte)command, dataBytes);

                // 전송
                serialPort.Write(packet, 0, packet.Length);

                var hexString = string.Join(" ", packet.Select(b => b.ToString("X2")));

                //정보를 조금더 추출한다.
                var Sender = packet[2];

                if (Sender == 0x00)
                {
                    var Receiver = packet[4];
                    var strdata = System.Text.Encoding.Default.GetString(dataBytes, 1, dataBytes.Length - 1);// (dataHexString.Substring(2), 16);

                    AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} To:{Receiver} => {dataHexString} STR:{strdata}", LogType.TX);
                }
                else
                {
                    AddLog($"{hexString}|{command}({(byte)command:X2}) From:{Sender} => {dataHexString}", LogType.TX);
                }

            }
            catch (Exception ex)
            {
                AddLog($"전송 실패: {ex.Message}", LogType.Error);
            }
        }

        private void UpdateAGVStatus(byte[] data)
        {
            if (data.Length < 12)
            {
                AddLog($"AGV 상태 데이터 길이 오류: {data.Length} bytes", LogType.Error);
                return;
            }

            if (InvokeRequired)
            {
                BeginInvoke(new Action(() => UpdateAGVStatus(data)));
                return;
            }

            try
            {
                // Mode[1]: 0=manual, 1=auto
                lblModeValue.Text = data[0] == 0 ? "수동" : "자동";
                lblModeValue.ForeColor = data[0] == 0 ? Color.Blue : Color.Green;

                // RunSt[1]: 0=stop, 1=run, 2=error
                switch (data[1])
                {
                    case 0:
                        lblRunStValue.Text = "정지";
                        lblRunStValue.ForeColor = Color.Gray;
                        break;
                    case 1:
                        lblRunStValue.Text = "실행";
                        lblRunStValue.ForeColor = Color.Green;
                        break;
                    case 2:
                        lblRunStValue.Text = "에러";
                        lblRunStValue.ForeColor = Color.Red;
                        break;
                    default:
                        lblRunStValue.Text = "알 수 없음";
                        lblRunStValue.ForeColor = Color.Black;
                        break;
                }

                // Mot Direction[1]: 0=forward, 1:backward
                switch (data[2])
                {
                    case 0:
                        lblDirectionValue.Text = "전진";
                        break;
                    case 1:
                        lblDirectionValue.Text = "후진";
                        break;
                    default:
                        lblDirectionValue.Text = "??";
                        break;
                }

                // Direction[1]: 0=straight, 1=left, 2=right, 3=markstop
                switch (data[3])
                {
                    case 0:
                        lblDirectionValue.Text += "/직진";
                        break;
                    case 1:
                        lblDirectionValue.Text += "/좌회전";
                        break;
                    case 2:
                        lblDirectionValue.Text += "/우회전";
                        break;
                    default:
                        lblDirectionValue.Text += "/??";
                        break;
                }

                // Inposition[1]: 0=off, 1=on
                lblInpositionValue.Text = data[4] == 0 ? "OFF" : "ON";
                lblInpositionValue.ForeColor = data[4] == 0 ? Color.Gray : Color.Green;

                // ChargeSt[1]: 0=off, 1=on
                lblChargeStValue.Text = data[5] == 0 ? "OFF" : "ON";
                lblChargeStValue.ForeColor = data[5] == 0 ? Color.Gray : Color.Orange;

                // CartSt[1]: 0=off, 1=on, 2=unknown
                switch (data[6])
                {
                    case 0:
                        lblCartStValue.Text = "없음";
                        lblCartStValue.ForeColor = Color.Gray;
                        break;
                    case 1:
                        lblCartStValue.Text = "있음";
                        lblCartStValue.ForeColor = Color.Green;
                        break;
                    default:
                        lblCartStValue.Text = "??";
                        lblCartStValue.ForeColor = Color.Red;
                        break;
                }

                // LiftSt[1]: 0=down, 1=up, 2=unknown
                switch (data[7])
                {
                    case 0:
                        lblLiftStValue.Text = "하강";
                        lblLiftStValue.ForeColor = Color.Blue;
                        break;
                    case 1:
                        lblLiftStValue.Text = "상승";
                        lblLiftStValue.ForeColor = Color.Green;
                        break;
                    default:
                        lblLiftStValue.Text = "??";
                        lblLiftStValue.ForeColor = Color.Red;
                        break;
                }

                string lastTag = Encoding.ASCII.GetString(data, 8, 4);
                lblLastTagValue.Text = lastTag;
                lblLastTagValue.ForeColor = Color.Black;
            }
            catch (Exception ex)
            {
                AddLog($"AGV 상태 업데이트 실패: {ex.Message}", LogType.Error);
            }
        }

        private enum LogType { TX, RX, Info, Error }

        private void AddLog(string message, LogType type)
        {
            if (InvokeRequired)
            {
                BeginInvoke(new Action(() => AddLog(message, type)));
                return;
            }

            var timestamp = DateTime.Now.ToString("HH:mm:ss");
            var logMessage = $"[{timestamp}] {message}\r\n";

            switch (type)
            {
                case LogType.TX:
                    txtTxLog.AppendText(logMessage);
                    txtTxLog.ScrollToCaret();
                    break;
                case LogType.RX:
                    txtRxLog.AppendText(logMessage);
                    txtRxLog.ScrollToCaret();
                    break;
                case LogType.Info:
                    txtInfoLog.AppendText(logMessage);
                    txtInfoLog.ScrollToCaret();
                    break;
                case LogType.Error:
                    txtInfoLog.ForeColor = Color.Red;
                    txtInfoLog.AppendText(logMessage);
                    txtInfoLog.ForeColor = Color.Black;
                    txtInfoLog.ScrollToCaret();
                    break;
            }
        }

        protected override void OnFormClosing(FormClosingEventArgs e)
        {
            if (serialPort != null && serialPort.IsOpen)
            {
                serialPort.Close();
            }
            base.OnFormClosing(e);
        }

        private void btAMove_Click(object sender, EventArgs e)
        {
            var targetID = selectedAGV.ToString("X2");
            byte Motdirection = 0;// (byte)cmbMotDirection.SelectedIndex;
            if (radForw.Checked) Motdirection = 1;

            byte Magdirection = 0;
            if (radLeft.Checked) Magdirection = 1;
            else if (radRight.Checked) Magdirection = 2;

            byte speed = 0;// (byte)cmbAutoSpeed.SelectedIndex;
            if (radSpdM.Checked) speed = 1;
            else if (radSpdH.Checked) speed = 2;

            var dataBytes = new byte[] { Motdirection, Magdirection, speed };
            var dataStr = targetID + string.Join("", dataBytes.Select(b => b.ToString("X2")));
            SendCommand(AGVCommandHE.AutoMove, dataStr);
        }

        private void button2_Click(object sender, EventArgs e)
        {
            // Stop: data = TargetID(2 hex)
            var targetID = selectedAGV.ToString("X2");
            SendCommand(AGVCommandHE.Stop, targetID);
        }

        private void groupBox2_Enter(object sender, EventArgs e)
        {

        }
    }
}