using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;

namespace Test_ProPLC
{
    public partial class Form1 : Form
    {
        arDev.FakePLC dev2;
        public Form1()
        {
            InitializeComponent();
            this.serialPort1.DataReceived += SerialPort1_DataReceived;
            dev2 = new arDev.FakePLC();
            this.dev2.ValueChanged += Dev2_ValueChanged;
            this.dev2.Message += Dev2_Message;
            this.FormClosed += Form1_FormClosed;
        }

        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            timer1.Stop();
        }

        private void Dev2_ValueChanged(object sender, arDev.Arduino.DIO.IOValueEventArgs e)
        {
            addMsg2($"val({e.ArrIDX}) -> {e.NewValue}");

        }

        byte[] buffer1;
        List<byte> Tempbuffer1 = new List<byte>();
        byte[] buffer2;
        List<byte> Tempbuffer2 = new List<byte>();


        Boolean STX11 = false;
        Boolean STX21 = false;
        Boolean ETX11 = false;

        Boolean STX12 = false;
        Boolean STX22 = false;
        Boolean ETX12 = false;


        //MAIN PLC
        byte[] DIpinList1 = new byte[] { 22, 23, 24, 25, 26, 27, 28, 29, 41 };
        string[] DIpinName1 = new string[] { "EMERGENCTY", "OVR_L", "LIDAR_STOP", "LIDAR_SLOW", "OVR_R", "MARK", "GATEOUT_B", "GATEOUT_F", "ALIGN" };

        byte[] DOpinList1 = new byte[] { 33, 34, 35, 36, 37, 43, 44, 39, 40 };
        string[] DopinName1 = new string[] { "MOT_POWER_GUIDE", "MOT_POWER_L", "MOT_POWER_R", "LIDAR_DIR", "CHARGE_ON", "MOT_DIR_L", "MOT_RUN_L", "MOT_DIR_R", "MOT_RUN_R" };


        // SUB PLC
        byte[] DIpinList2 = new byte[] { 22, 23, 24, 25, 41, 42, 43, 45, 38 };
        string[] DIpinName2 = new string[] { "BTN_GUIDE_UP", "BTN_GUIDE_DN", "BTN_QA1", "BTN_QC", "LIM_HIGH_R", "LIM_LOW_R", "LIM_HIGH_L", "BTN_PACK", "LIM_LOW_L" };


        byte[] DOpinList2 = new byte[] { 30, 31, 32, 33 };
        string[] DopinName2 = new string[] { "GMOT_INT", "GMOT_DIR", "GMOT_RUN", "GMOT_STA" };


        byte LEN1 = 0;
        byte CHK1 = 0;
        int bufferCount1 = 0;

        byte LEN2 = 0;
        byte CHK2 = 0;
        int bufferCount2 = 0;
        private void SerialPort1_DataReceived(object sender, System.IO.Ports.SerialDataReceivedEventArgs e)
        {
            bufferCount1 = this.serialPort1.BytesToRead;
            byte[] rxBuffer = new byte[bufferCount1];
            serialPort1.Read(rxBuffer, 0, bufferCount1);
            foreach (byte incomingByte in rxBuffer)
            {
                if (STX11 == false)
                {
                    if (incomingByte != '@')
                    {
                        STX21 = false;
                        ETX11 = false;
                        continue;
                    }
                    else
                    {
                        STX11 = true;
                        Tempbuffer1.Add(incomingByte);
                    }
                }
                else if (STX21 == false)
                {
                    if (Tempbuffer1.Count != 1 || Tempbuffer1.Count < 1 || Tempbuffer1[0] != '@' || incomingByte != '@')
                    {
                        STX11 = false;
                        ETX11 = false;
                        continue;
                    }
                    else
                    {
                        STX21 = true;
                        Tempbuffer1.Add(incomingByte);
                    }
                }
                else
                {
                    Tempbuffer1.Add(incomingByte);

                    //여기서부터는무조건 누적한다.
                    if (Tempbuffer1.Count == 3)
                    {
                        if (Tempbuffer1[0] != 0x40 || Tempbuffer1[1] != '@')
                        {
                            STX11 = false;
                            STX21 = false;
                            ETX11 = false;
                            LEN1 = 0;
                            Tempbuffer1.Clear();
                        }
                        else LEN1 = incomingByte;    //데이터 길이가온다
                    }
                    else if (Tempbuffer1.Count == LEN1 + 2 + 1 + 1) //체크섬이 왔다
                    {
                        CHK1 = incomingByte;
                    }
                    else if (Tempbuffer1.Count == LEN1 + 2 + 1 + 1 + 1) //ETX1
                    {
                        if (incomingByte != 0x0D)
                        {
                            //ETX가 와야하는데 다른데이터가 왔다
                            STX11 = false;
                            STX21 = false;
                            ETX11 = false;
                            Console.WriteLine("에러 모두 파기");
                            Tempbuffer1.Clear();
                        }
                    }
                    else if (Tempbuffer1.Count == LEN1 + 2 + 1 + 1 + 1 + 1)
                    {
                        //전체길이를 만족햇다.
                        if (incomingByte != 0x0A)
                        {
                            //ETX가 와야하는데 다른데이터가 왔다
                            STX11 = false;
                            STX21 = false;
                            ETX11 = false;
                            Console.WriteLine("에러 모두 파기");
                            Tempbuffer1.Clear();
                        }
                        else
                        {
                            STX11 = false;
                            STX21 = false;
                            ETX11 = false;
                            if (buffer1 == null) buffer1 = new byte[Tempbuffer1.Count];
                            else if (buffer1.Length != Tempbuffer1.Count) Array.Resize(ref buffer1, Tempbuffer1.Count);
                            Tempbuffer1.CopyTo(buffer1);
                            Tempbuffer1.Clear();
                            parser(buffer1, tbMsg1, 0);
                        }
                    }
                }


            }
        }
        private void Dev2_Message(object sender, arDev.arRS232.MessageEventArgs e)
        {
            addMsg2($"{e.Message}");
        }


        delegate void DisplayMessage(string message);

        void parser(byte[] buffer, Action<string> func, int type)
        {
            // DisplayMessage messageTarget;

            var hexString = buffer.GetHexString();
            var len = buffer[2];
            if (len + 6 != buffer.Length)
            {

                func(string.Format("길이오류 예상:{0},수신:{1},{2}", len + 5, buffer.Length, hexString));
            }
            else if (buffer[0] != 0x40 || buffer[1] != 0x40 || buffer[buffer.Length - 2] != 0x0D || buffer[buffer.Length - 1] != 0x0A)
            {
                func(string.Format("헤더 오류 : {0}", hexString));
            }
            else
            {

                var cmd = buffer[3];
                if (cmd == 'I')  //IOData
                {
                    if (len != 15)
                    {
                        func("IO수신길이오류:" + DateTime.Now.ToString("mm:ss.fff") + " 수신 : " + hexString);
                    }
                    else
                    {
                        var IOData = BitConverter.ToUInt32(buffer, 4);
                        var An1 = BitConverter.ToUInt16(buffer, 8);
                        var An2 = BitConverter.ToUInt16(buffer, 10);
                        var Ao11 = buffer[12];
                        var Ao12 = buffer[13];
                        var FGData = BitConverter.ToInt32(buffer, 14);

                        byte[] buf_iodata = new byte[4];
                        Array.Copy(buffer, 4, buf_iodata, 0, 4);

                        var ba = new System.Collections.BitArray(buf_iodata);
                        for (int i = 0; i < 32; i++)
                        {
                            Boolean val = ba[i];
                            if (val)
                            {

                            }
                            if (type == 0) this.gv1.setValue(i, val);
                            else this.gv2.setValue(i, val);
                        }


                        var binstr = Convert.ToString(IOData, 2).PadLeft(32, '0');
                        string msg = string.Format(DateTime.Now.ToString("mm:ss.fff") + " IO:{0},AN={1:0000},{2:0000},FG={3},AO={4},{5}",
                            binstr, An1, An2, FGData, Ao11, Ao12);
                        func(msg);

                        if (type == 0) gv1.Invalidate();
                        else gv2.Invalidate();

                    }
                }
                else if (cmd == 'T')
                {
                    Boolean errorMessage = buffer[4] == 1;
                    var message = System.Text.Encoding.Default.GetString(buffer, 5, len - 2);//데이터타입과 에러여부 제거
                    if (type == 0)
                        addMsg1("Rx : " + hexString + ", 메세지: " + message);
                    else
                        addMsg2("Rx : " + hexString + ", 메세지: " + message);
                }
                else
                {
                    if (type == 0)
                        addMsg1(DateTime.Now.ToString("mm:ss.fff") + " 수신 : " + hexString + "\n" + "Data=" + System.Text.Encoding.Default.GetString(buffer));
                    else
                        addMsg2(DateTime.Now.ToString("mm:ss.fff") + " 수신 : " + hexString + "\n" + "Data=" + System.Text.Encoding.Default.GetString(buffer));

                    //func();
                }



            }
            //Console.WriteLine("Rx : " + hexString);
        }
        void tbMsg1(string m)
        {
            if (textBox3.InvokeRequired)
            {
                textBox3.BeginInvoke(new Action(() =>
                {
                    textBox3.Text = (m + "\n");
                    // textBox3.ScrollToCaret();
                }));
            }
            else
            {
                textBox3.Text = (m + "\n");
                //textBox3.ScrollToCaret();

            }
        }
        void tbMsg2(string m)
        {
            if (textBox4.InvokeRequired)
            {
                textBox4.BeginInvoke(new Action(() =>
                {
                    textBox4.Text = (m + "\n");
                    // richTextBox2.ScrollToCaret();
                }));
            }
            else
            {
                textBox4.Text = (m + "\n");
                //richTextBox2.ScrollToCaret();

            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            if (this.dev2.IsOpen)
            {
                this.serialPort1.Close();
                this.button1.BackColor = SystemColors.Control;
            }
            else
            {
                if (textbox1.Text.isEmpty()) return;
                this.serialPort1.PortName = textbox1.Text;
                this.serialPort1.BaudRate = 250000;
                this.serialPort1.Open();
                button1.BackColor = Color.Lime;
            }
        }


        private void timer1_Tick(object sender, EventArgs e)
        {
            this.Text = bufferCount1.ToString() + "/" + bufferCount2.ToString();
        }

        private void button2_Click(object sender, EventArgs e)
        {
            if (textbox2.Text.isEmpty()) return;
            if (this.dev2.IsOpen)
            {
                this.dev2.Close();
                this.button2.BackColor = SystemColors.Control;
            }
            else
            {
                this.dev2.PortName = textbox2.Text;
                this.dev2.BaudRate = int.Parse(comboBox1.Text);
                this.dev2.Open();
                button2.BackColor = Color.Lime;
                // timer1.Start();
            }
            addMsg2($"open:{this.dev2.IsOpen}");


        }

        private void Form1_Load(object sender, EventArgs e)
        {
            textbox1.Items.Clear();
            textbox2.Items.Clear();
            foreach (var port in System.IO.Ports.SerialPort.GetPortNames())
            {
                textbox1.Items.Add(port);
                textbox2.Items.Add(port);
            }
            // textbox1.Text = "COM15";
            // textbox2.Text = "COM16";

            List<Boolean> values = new List<bool>();
            for (int i = 0; i < 32; i++)
                values.Add(false);

            this.gv1.setValue(values.ToArray());
            this.gv2.setValue(values.ToArray());

            //그리드뷰 값초기화
            for (int i = 0; i < 32; i++)
            {
                string pinName = i.ToString();


                if (i < 16 && i < DIpinName1.Length)
                    pinName = string.Format("[{0}:{2}] {1}", i, DIpinName1[i], DIpinList1[i]);
                else if (i >= 16 && (i - 16) < DopinName1.Length)
                    pinName = string.Format("[{0}:{2}] {1}", i, DopinName1[i - 16], DOpinList1[i - 16]);



                this.gv1.setTitle(i, pinName);
                this.gv1.setValue(i, 0);
            }

            for (int i = 0; i < 32; i++)
            {
                string pinName = i.ToString();

                if (i < 16)
                {
                    var pin = (arDev.FakePLC.DIName)i;
                    pinName = $"[{i}] {pin}";
                }
                else
                {
                    var pin = (arDev.FakePLC.DOName)(i-16);
                    pinName = $"[{i}] {pin}";
                }

                this.gv2.setTitle(i, pinName);
                this.gv2.setValue(i, 0);
            }
            timer1.Start();

        }

        private void gv1_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
        {
            //sub item click
            if (e.idx < 16)
            {
                Util.MsgE("입력은 상태를 변경할 수 없습니다");
            }
            else
            {
                //이 인덱스에 해당하는 포트번호를 가져왕야함

                var dataIndex = e.idx - 16;
                if (dataIndex >= 0)
                {
                    var pinNo = DOpinList1[e.idx - 16];
                    var curVal = gv1.getValue(e.idx);
                    byte newval = (byte)(curVal == 0 ? 1 : 0);

                    Sendcommand1(eCommand1.SET_DOUTPUT, pinNo, newval);
                }
                else Util.MsgE("해당 주소는 허용되지 않습니다.");
            }
        }

        byte makeChecksum(byte[] buffer)
        {
            //return 0;
            byte chk = 0;
            foreach (var b in buffer)
                chk = (byte)(chk ^ b);
            return chk;
        }

        enum eCommand1 : byte
        {
            LOAD = 0,   //EEPROM 불러오기
            SAVE,                       //EEPROM 저장
            RESET,                      //초기화
            SET_PINMODE,                //PINMODE 설정
            SET_DOUTPUT,                //디지털출력설정(포트번호,값[1,0])
            SET_AOUTPUT,                //아날로그출력설정(포트GET_SETTING = 50,	 포트번호,값(0~255)
            GET_SETTING = 50,           //셋팅값 요청

            MOT = 100,  //p1(0=left,1=right), p2(0=stop,1=pos run,2=neg run)
            MOVE_GO,
            MOVE_BACK,
            MOVE_LEFT,
            MOVE_RIGHT,
            MOVE_STOP
        }


        enum eCommand2 : byte
        {
            LOAD = 0,   //EEPROM 불러오기
            SAVE,                       //EEPROM 저장
            RESET,                      //초기화
            SET_PINMODE,                //PINMODE 설정
            SET_DOUTPUT,                //디지털출력설정(포트번호,값[1,0])
            SET_AOUTPUT,                //아날로그출력설정(포트번호,값[0~255])
            GET_SETTING = 50,   //셋팅값 요청
            GUIDE_MOT,
            SET_GUIDE_SPD = 100,//가이드커버(양쪽) 속도 설정(0~255)
        }
        void addMsg1(string m)
        {
            if (logMain.InvokeRequired)
            {
                logMain.BeginInvoke(new Action(() =>
                {
                    if (m.IndexOf('\n') != -1) m = m.Replace("\r", "").Replace("\n", "");
                    logMain.AddMsg(m);
                }));
            }
            else
            {
                if (m.IndexOf('\n') != -1) m = m.Replace("\r", "").Replace("\n", "");
                logMain.AddMsg(m);

            }

        }
        void addMsg2(string m)
        {
            if (logSub.InvokeRequired)
            {
                logSub.BeginInvoke(new Action(() =>
                {
                    if (m.IndexOf('\n') != -1) m = m.Replace("\r", "").Replace("\n", "");
                    logSub.AddMsg(m);

                }));
            }
            else
            {
                if (m.IndexOf('\n') != -1) m = m.Replace("\r", "").Replace("\n", "");
                logSub.AddMsg(m);
            }

        }
        private void gv2_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
        {
            //sub item click
            if (e.idx < 16)
            {
                Util.MsgE("입력은 상태를 변경할 수 없습니다");
            }
            else
            {
                //이 인덱스에 해당하는 포트번호를 가져왕야함

                var dataIndex = e.idx - 16;
                if (dataIndex >= 0)
                {
                    var pinNo = DOpinList2[e.idx - 16];
                    var curVal = gv2.getValue(e.idx);
                    byte newval = (byte)(curVal == 0 ? 1 : 0);

                    // Sendcommand2(eCommand2.SET_DOUTPUT, pinNo, newval);
                }
                else Util.MsgE("해당 주소는 허용되지 않습니다.");

            }
        }


        void Sendcommand1(eCommand1 cmd, byte p1, byte p2)
        {

            //이번호의 상태를 on/off 해줘야함
            List<byte> buffer = new List<byte>();

            buffer.Add((byte)cmd); //command
            buffer.Add(p1);
            buffer.Add(p2);

            byte dataLen = (byte)buffer.Count;      //데이터길이
            byte checksum = makeChecksum(buffer.ToArray());

            buffer.Insert(0, (byte)'@');  //stx
            buffer.Insert(1, (byte)'@');  //stx
            buffer.Insert(2, dataLen);
            buffer.Add(checksum);       //길이를 제외한 실제 데이터 영역만 체크섬
            buffer.Add(0x0D);       //etx
            buffer.Add(0x0A);       //etx

            addMsg1("Tx Buffer : " + buffer.ToArray().GetHexString());

            if (this.serialPort1.IsOpen)
                serialPort1.Write(buffer.ToArray(), 0, buffer.Count);
            else
                addMsg1("포트(2)가 열리지 않았습니다");
        }
        private void button3_Click(object sender, EventArgs e)
        {
            //-zup
            dev2.ZMot(arDev.FakePLC.ZMotDirection.Up);
        }

        private void button4_Click(object sender, EventArgs e)
        {
            //z-stop
            dev2.ZMot(arDev.FakePLC.ZMotDirection.Stop);
        }

        private void button5_Click(object sender, EventArgs e)
        {
            //z-down
            dev2.ZMot(arDev.FakePLC.ZMotDirection.Down);
        }

        private void button8_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 0, 1);
        }

        private void button6_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 0, 0);
        }

        private void button7_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 0, 2);
        }

        private void button10_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 1, 2);
        }

        private void button9_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 1, 0);
        }

        private void button11_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOT, 1, 1);
        }

        private void button14_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOVE_GO, 0, 0);
        }

        private void button12_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOVE_STOP, 0, 0);
        }

        private void button13_Click(object sender, EventArgs e)
        {
            Sendcommand1(eCommand1.MOVE_BACK, 0, 0);
        }

        private void button15_Click(object sender, EventArgs e)
        {
            //지정된 %의 값을 전송한다
            var but = sender as Button;
            var percValue = byte.Parse(but.Text.ToString());
            var realValue = (percValue / 100.0) * 255.0;

            Sendcommand1(eCommand1.SET_AOUTPUT, 11, (byte)realValue);
            Sendcommand1(eCommand1.SET_AOUTPUT, 12, (byte)realValue);
        }

        private void button34_Click(object sender, EventArgs e)
        {
            //지정된 %의 값을 전송한다
            var but = sender as Button;
            var percValue = byte.Parse(but.Text.ToString());
            var realValue = (percValue / 100.0) * 255.0;

            // Sendcommand2(eCommand2.SET_AOUTPUT, 11, (byte)realValue); //Z축 모터는 동일하게 사용한다
        }

        private void timer1_Tick_1(object sender, EventArgs e)
        {
            timer1.Stop();
            if (dev2 != null && dev2.IsOpen)
            {
                for(byte i = 0; i < 32;i++)
                {
                    bool v = false;

                    if (i < 16) v = dev2.GetValueI(i);
                    else v = dev2.GetValueO((byte)(i-16));

                    this.gv2.setValue(i, v);
                }
                this.gv2.Invalidate();
            }
          
        
            timer1.Start();
        }
    }
}