using arCtl;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;

namespace AGVEmulator
{
    class DevAGV : AR.Dev.RS232
    {
        //######### private variable
        byte runtime = 0;

        //######### public variable
        public UInt16 system0 = 0;
        public UInt16 system1 = 0;
        public UInt16 error = 0;
        public byte signal = 0;
        public char sts_bunki = 'S';
        public char sts_speed = 'L';
        public char sts_dir = 'F';
        public char sts_sensor = '1';


        public enum eCommand : byte
        {
            LOAD = 0,                   //EEPROM 불러오기
            SAVE,                       //EEPROM 저장
            RESET,                      //초기화
            PINGCHK,
            SET_PINMODE,                //PINMODE 설정
            SET_DOUTPUT,                //디지털출력설정(포트번호,값[1,0])
            SET_AOUTPUT,                //아날로그출력설정(포트GET_SETTING = 50,	//셋팅값 요청
            SET_FLAG,
            SET_EEPROM,
            SET_MANUALSPEED,
            GET_SETTING = 50,
            GUIDE_MOT = 90,                 //가이드커버(양쪽) 0=멈춤,1=UP,2=DN 아스키코드표 90=Z
            SET_EEP_DIREV,
        };

        public enum DOName
        {
            PINO_GUIDEMOTOR_LDIR,
            PINO_GUIDEMOTOR_LRUN,
            PINO_GUIDEMOTOR_RDIR,
            PINO_GUIDEMOTOR_RRUN,
            PINO_EMPTY_26,
            PINO_EMPTY_27,
            PINO_EMPTY_28,
            PINO_EMPTY_29,
        }

        public enum DIName
        {
            PINI_EMG,
            PINI_BTN_1,
            PINI_BTN_2,
            PINI_BTN_3,
            PINI_BTN_4,
            PINI_OVERLOADL,
            PINI_OVERLOADR,
            PINI_EMPTY_36,
            PINI_EMPTY_37,
            PINI_EMPTY_38,
            PINI_BTN_ZUP,
            PINI_BTN_ZDN,
            PINI_LIMIT_LU,
            PINI_LIMIT_LD,
            PINI_LIMIT_RU,
            PINI_LIMIT_RD,
            PINI_STOP,
        }
        public enum eerror
        {
            Emergency = 0,
            Overcurrent,
            Charger_run_error,
            Charger_pos_error,
            line_out_error = 4,

            /// <summary>
            /// 기동시 자석 감지 에러
            /// </summary>
            runerror_by_no_magent_line,
            /// <summary>
            /// 호출제어기 통신 오류
            /// </summary>
            controller_comm_error = 11,
            /// <summary>
            /// 도착경보기 통신 오류
            /// </summary>
            arrive_ctl_comm_error,

            /// <summary>
            /// 자동문제어기 통신 오류
            /// </summary>
            door_ctl_comm_error,

            /// <summary>
            /// 자동충전기 통신 오류
            /// </summary>
            charger_comm_error,

            /// <summary>
            /// 교차로 제어기 통신 오류
            /// </summary>
            cross_ctrl_comm_error,
        }
        public enum esignal
        {
            front_gate_out = 0,
            rear_sensor_out,
            mark_sensor_1,
            mark_sensor_2,
            front_left_sensor,
            front_right_sensor,
            front_center_sensor,
            charger_align_sensor,
        }
        public enum esystemflag0
        {
            Memory_RW_State = 5,
            EXT_IO_Conn_State,
            RFID_Conn_State,
            M5E_Module_Run_State = 8,
            Front_Ultrasonic_Conn_State,
            Front_Untrasonic_Sensor_State,
            Side_Ultrasonic_Conn_State,
            Side_Ultrasonic_Sensor_State = 12,
            Front_Guide_Sensor_State,
            Rear_Guide_Sensor_State,
            Battery_Level_Check
        }
        public enum esystemflag1
        {
            Side_Detect_Ignore = 3,
            Melody_check,
            Mark2_check,
            Mark1_check,
            gateout_check,
            Battery_charging = 8,
            re_Start,

            /// <summary>
            /// 전방 감지 무시
            /// </summary>
            front_detect_ignore,

            /// <summary>
            /// 전방장애물감지상태
            /// </summary>
            front_detect_check,

            /// <summary>
            /// 전방감지 후 정지 상태
            /// </summary>
            stop_by_front_detect = 12,
            /// <summary>
            /// 교차로 진입 후 정지 상태
            /// </summary>
            stop_by_cross_in,
            agv_stop,
            agv_run
        }

        public enum evaluetype
        {
            system0,
            system1,
            error,
            signal,
        }
        public enum estsvaluetype
        {
            bunki,
            speed,
            direction,
            sensor
        }
        public class ValueChangedArgs : EventArgs
        {
            public int Idx { get; set; }
            public bool Value { get; set; }
            public evaluetype vtype { get; set; }
            public ValueChangedArgs(int idx, bool val, evaluetype isOut)
            {
                this.Idx = idx;
                this.Value = val;
                this.vtype = isOut;
            }
        }
        public class StsValueChangedArgs : EventArgs
        {
            public char Value { get; set; }
            public estsvaluetype vtype { get; set; }
            public StsValueChangedArgs(estsvaluetype vType, char val)
            {
                this.Value = val;
                this.vtype = vType;
            }
        }

        public class RequestStatusDataArgs : EventArgs
        {
            public UInt16 system0 { get; set; } = 0;
            public UInt16 system1 { get; set; } = 0;
            public char speed { get; set; } = 'L';
            public char direction { get; set; } = 'F';
            public char bunki { get; set; } = 'S';

            public byte signal { get; set; } = 0;
            public float volt { get; set; } = 0f;
            public UInt16 error { get; set; } = 0;
            public char sensor { get; set; } = '0';
            public RequestStatusDataArgs()
            {

            }
        }
        public event EventHandler<RequestStatusDataArgs> RequestStatusData;
        public event EventHandler<ValueChangedArgs> ValueChanged;
        public event EventHandler<StsValueChangedArgs> StsValueChanged;

        public class commandargs : EventArgs
        {
            public string Command { get; set; }
            public commandargs(string cmd)
            {
                this.Command = cmd;
            }
        }
        public event EventHandler<commandargs> Command;
        public class FrameData
        {
            public string Checksum { get; set; }
            public byte stx { get; set; }
            public byte etx { get; set; }
            public string cmd { get; set; }
            public string data { get; set; }
            public FrameData(byte[] data)
            {
                this.stx = data[0];
                this.etx = data[data.Length - 1];
                this.Checksum = System.Text.Encoding.Default.GetString(data, data.Length - 3, 2);
                this.data = System.Text.Encoding.Default.GetString(data, 1, data.Length - 4);
                this.cmd = this.data.Substring(0, 3);
                this.data = this.data.Substring(3);
            }
        }


        #region SetAGV/SetSTS/SetBIT/GetBIT
        Boolean GetBit(ref UInt16 _value, int idx)
        {
            var offset = (UInt16)(1 << idx);
            return (_value & offset) != 0;
        }

        Boolean GetBit(ref byte _value, int idx)
        {
            var offset = (byte)(1 << idx);
            return (_value & offset) != 0;
        }

        bool SetBit(ref UInt16 _value, int idx, Boolean value)
        {
            var oldvalue = GetBit(ref _value, idx);
            if (value)
            {
                var offset = (UInt16)(1 << idx);
                _value = (UInt16)(_value | offset);
            }
            else
            {
                var offset = (UInt16)(~(1 << idx));
                _value = (UInt16)(_value & offset);
            }
            return oldvalue != value;
        }
        bool SetBit(ref byte _value, int idx, Boolean value)
        {
            var oldvalue = GetBit(ref _value, idx);
            if (value)
            {
                var offset = (byte)(1 << idx);
                _value = (byte)(_value | offset);
            }
            else
            {
                var offset = (byte)(~(1 << idx));
                _value = (byte)(_value & offset);
            }
            return oldvalue != value;
        }
        public bool GetAGV(DevAGV.esystemflag1 flag)
        {
            var idx = (int)flag;
            return GetBit(ref system1, idx);
        }
        public void SetAGV(DevAGV.esystemflag0 flag, bool value)
        {
            var idx = (int)flag;
            if (SetBit(ref system0, idx, value))
                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system0));
        }
        public void SetAGV(DevAGV.esystemflag1 flag, bool value)
        {
            var idx = (int)flag;
            if (SetBit(ref system1, idx, value))
                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.system1));
        }
        public void SetAGV(DevAGV.eerror flag, bool value)
        {
            var idx = (int)flag;
            if (SetBit(ref error, idx, value))
                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.error));
        }
        public void SetAGV(DevAGV.esignal flag, bool value)
        {
            var idx = (int)flag;
            if (SetBit(ref signal, idx, value))
                ValueChanged?.Invoke(this, new ValueChangedArgs(idx, value, evaluetype.signal));
        }

        public void SetSTS(estsvaluetype target, char value)
        {
            //bool changed = false;
            switch (target)
            {
                case estsvaluetype.sensor:
                    //changed = this.sts_sensor.Equals(value);
                    sts_sensor = value;
                    break;
                case estsvaluetype.direction:
                    //changed = this.sts_dir.Equals(value);
                    sts_dir = value;
                    break;
                case estsvaluetype.speed:
                    //changed = this.sts_speed.Equals(value);
                    sts_speed = value;
                    break;
                case estsvaluetype.bunki:
                    //changed = this.sts_bunki.Equals(value);
                    sts_bunki = value;
                    break;
            }
            //if(changed)
            {
                StsValueChanged?.Invoke(this, new StsValueChangedArgs(target, value));
            }
        }
        #endregion

        public override bool ProcessRecvData(byte[] data)
        {
            //dd로 시작하고 34개의 데이터
            //STS258FFFF40000000LSF0000003A
            //02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
            var frame = new FrameData(data);

            switch (frame.cmd)
            {
                case "CRN": //기동명령
                    //sts_dir = frame.data[0];
                    SetSTS(estsvaluetype.direction, frame.data[0]);
                    SetAGV(esystemflag1.agv_stop, false);
                    SetAGV(esystemflag1.agv_run, true);
                    break;
                case "CST": //중지명령
                    //(바로 중지한다)
                    if (frame.data.StartsWith("M"))
                    {
                        Command?.Invoke(this, new commandargs("stopmark"));
                    }
                    else
                    {
                        SetAGV(esystemflag1.agv_run, false);
                        SetAGV(esystemflag1.agv_stop, true);
                    }

                    break;
                case "CBR": //분기명령
                    //FSL
                    SetSTS(estsvaluetype.direction, frame.data[0]);
                    SetSTS(estsvaluetype.bunki, frame.data[1]);
                    SetSTS(estsvaluetype.speed, frame.data[2]);
                    SetSTS(estsvaluetype.sensor, frame.data[3]);
                    break;
                case "CRT"://수동제어
                    sts_dir = frame.data[0];
                    sts_bunki = frame.data[1];
                    sts_speed = frame.data[2];
                    sts_sensor = frame.data[3];
                    SetAGV(esystemflag1.agv_stop, false);
                    SetAGV(esystemflag1.agv_run, true);
                    break;
                case "ACK": //응답ok
                    RaiseMessage(MessageType.Normal, $">> {frame.cmd} DATA={frame.data}");
                    break;
                case "SFR": //reset
                    SetAGV(DevAGV.eerror.Emergency, false);
                    SetAGV(DevAGV.eerror.line_out_error, false);
                    SetAGV(DevAGV.eerror.Overcurrent, false);
                    SetAGV(DevAGV.esystemflag1.agv_run, false);
                    SetAGV(DevAGV.esystemflag1.agv_stop, true);
                    break;
                case "CBT"://충전작업
                    SetAGV(DevAGV.esystemflag1.Battery_charging, true);
                    var id = frame.data.Substring(2, 2);
                    var cmd = frame.data[4];
                    var delaytime = int.Parse(frame.data.Substring(5));
                    if (cmd == 'I') SetAGV(DevAGV.esystemflag1.Battery_charging, true);
                    else SetAGV(esystemflag1.Battery_charging, false);
                    break;
                case "SSH":
                case "SSM":
                case "SSL":
                case "SSS":
                case "SHS":
                case "SLS":
                case "SPK":
                case "SPM":
                case "SPL":
                case "SPS":
                case "SIK":
                case "SIM":
                case "SIH":
                case "SIL":
                case "SIS":
                case "SDK":
                case "SDW":
                case "SDL":
                case "SDS":
                case "SRS":
                case "SCK":
                case "SSK":
                case "STT":
                case "SSI":
                case "SMD":
                case "SSC":
                case "SPN":
                case "SPH":
                case "SCH":
                case "SDH":
                case "SDM":
                case "SLB":
                case "SGS":
                    SendCmd("ACK", frame.cmd);
                    break;
                default:
                    RaiseMessage(MessageType.Normal, $"미처리명령 {frame.cmd} DATA={frame.data}");
                    break;
            }



            return true;
        }
        public void SendCmd(string cmd, string value)
        {

            var barr = new List<byte>();
            barr.Add(0x02);
            barr.AddRange(System.Text.Encoding.Default.GetBytes(cmd));
            barr.AddRange(System.Text.Encoding.Default.GetBytes(value));
            barr.Add((byte)'*');
            barr.Add((byte)'*');
            barr.Add(0x03);
            var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
            WriteData(barr.ToArray());
        }

        public void SendTag(string tagno)
        {
            tagno = tagno.PadLeft(6, '0');
            if (tagno.Length > 6) tagno = tagno.Substring(0, 6);
            var barr = new List<byte>();
            barr.Add(0x02);
            barr.Add((byte)'T');
            barr.Add((byte)'A');
            barr.Add((byte)'G');
            barr.AddRange(System.Text.Encoding.Default.GetBytes(tagno));
            barr.Add((byte)'*');
            barr.Add((byte)'*');
            barr.Add(0x03);
            var cmdstr = System.Text.Encoding.Default.GetString(barr.ToArray());
            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
            WriteData(barr.ToArray());
        }

        public override void AutoSendData()
        {
            //if (_device.DtrEnable == false) return;
            //STS258FFFF40000000LSF0000003A
            //02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03
            var sample = "02 53 54 53 32 35 38 46 46 46 46 34 30 30 30 30 30 30 30 4C 53 46 30 30 30 30 30 30 33 41 03";
            var barr = sample.Split(' ').ToList().Select(t => Convert.ToByte(t, 16)).ToArray();

            //if (RequestStatusData != null)
            //{
            //var p = new RequestStatusDataArgs();
            //RequestStatusData.Invoke(this, p);

            var voltstr = "255";// ((int)(p.volt * 10f)).ToString().PadRight(3, '0');
            var bufarr = System.Text.Encoding.Default.GetBytes(voltstr);
            Array.Copy(bufarr, 0, barr, 4, bufarr.Length);

            bufarr = System.Text.Encoding.Default.GetBytes(system0.ToString("X2").PadLeft(4, '0'));

            Array.Copy(bufarr, 0, barr, 7, bufarr.Length);

            bufarr = System.Text.Encoding.Default.GetBytes(system1.ToString("X2").PadLeft(4, '0'));
            Array.Copy(bufarr, 0, barr, 11, bufarr.Length);

            bufarr = System.Text.Encoding.Default.GetBytes(error.ToString("X2").PadLeft(4, '0'));
            Array.Copy(bufarr, 0, barr, 15, bufarr.Length);

            
            barr[19] = (byte)this.sts_speed;
            barr[20] = (byte)this.sts_bunki;
            barr[21] = (byte)this.sts_dir;
            barr[22] = (byte)this.sts_sensor;
            //bufarr = System.Text.Encoding.Default.GetBytes(p.sensor.ToString().PadLeft(2, '0'));
            //Array.Copy(bufarr, 0, barr, 22, bufarr.Length);
            bufarr = System.Text.Encoding.Default.GetBytes(signal.ToString("X2").PadLeft(2, '0'));
            Array.Copy(bufarr, 0, barr, 23, bufarr.Length);
            //barr[22] = (byte)'5';

            barr[barr.Length - 3] = (byte)'*';
            barr[barr.Length - 2] = (byte)'*';

            //}

            var cmdstr = System.Text.Encoding.Default.GetString(barr);
            RaiseMessage(MessageType.Normal, "Tx:" + barr.ToArray().HexString());
            WriteData(barr.ToArray());
        }


        protected override bool CustomParser(byte[] buf, out byte[] remainBuffer)
        {
            //DD A5 03 00 FF FD 77 0D
            //remainBuffer = new byte[] { };
            List<byte> remain = new List<byte>();
            bool retval = false;
            foreach (var b in buf)
            {
                if (retval)
                {
                    remain.Add(b);
                    continue;
                }



                if (b == 0x02) //stx
                {
                    tempBuffer.Clear();
                    tempBuffer.Add(b);
                }

                else if (b == 0x03) //etx
                {
                    tempBuffer.Add(b);
                    retval = true;
                }
                else
                {
                    //데이터길이가 만족한 상태
                    tempBuffer.Add(b);
                    var maxlen = 100;
                    if (tempBuffer.Count > maxlen)
                    {
                        RaiseMessage(MessageType.Error, $"buffer over({maxlen})");
                        tempBuffer.Clear();
                    }
                }


            }
            remainBuffer = remain.ToArray();
            return retval;
        }
    }
}