using System;
using System.Collections.Generic;
using System.Runtime.InteropServices;  
using System.Linq;
using System.Diagnostics;
using System.Text;
using System.Threading.Tasks;

using System.Threading;

using USB2XXX;

namespace Can
{
    class TooMossDevice : CanDevice
    {

        private Int32 DevHandle;
        private Byte WriteCANIndex = 0;
        private Byte ReadCANIndex = 0;

        Thread CanSendMsgThread;
        List<CanMessage> CanSendMsgBuffer;
        object CanSendMsgLock;


        public TooMossDevice()
        {

            CanSendMsgBuffer = new List<CanMessage>();
            CanSendMsgLock = new object();

            CanSendMsgThread = new Thread(new ThreadStart(CanSendMessageThreadLoop));

            CanSendMsgThread.IsBackground = true;
            CanSendMsgThread.Start();
        }

        ~TooMossDevice()
        {
            CanSendMsgThread.Join();
            CanSendMsgThread.Abort();
        }


        public override string CanInit()
        {
            USB_DEVICE.DEVICE_INFO DevInfo = new USB_DEVICE.DEVICE_INFO();
            Int32[] DevHandles = new Int32[20];
            
            bool state;
            Int32 DevNum, ret;
            //扫描查找设备
            DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
            if (DevNum <= 0)
            {
                return "No device connected!";
            }
            else
            {
                //Console.WriteLine("Have {0} device connected!", DevNum);
            }
            DevHandle = DevHandles[0];
            //打开设备
            state = USB_DEVICE.USB_OpenDevice(DevHandle);
            if (!state)
            {
                return "Open device error!";
            }
            else
            {
                //Console.WriteLine("Open device success!");
            }
            //获取固件信息
            StringBuilder FuncStr = new StringBuilder(256);
            state = USB_DEVICE.DEV_GetDeviceInfo(DevHandle, ref DevInfo, FuncStr);
            if (!state)
            {
                return "Get device infomation error!";
            }
            else
            {
                /*
                Console.WriteLine("Firmware Info:");
                Console.WriteLine("    Name:" + Encoding.Default.GetString(DevInfo.FirmwareName));
                Console.WriteLine("    Build Date:" + Encoding.Default.GetString(DevInfo.BuildDate));
                Console.WriteLine("    Firmware Version:v{0}.{1}.{2}", (DevInfo.FirmwareVersion >> 24) & 0xFF, (DevInfo.FirmwareVersion >> 16) & 0xFF, DevInfo.FirmwareVersion & 0xFFFF);
                Console.WriteLine("    Hardware Version:v{0}.{1}.{2}", (DevInfo.HardwareVersion >> 24) & 0xFF, (DevInfo.HardwareVersion >> 16) & 0xFF, DevInfo.HardwareVersion & 0xFFFF);
                Console.WriteLine("    Functions:" + DevInfo.Functions.ToString("X8"));
                Console.WriteLine("    Functions String:" + FuncStr);
                */
            }

            //初始化配置CAN
            USB2CAN.CAN_INIT_CONFIG CANConfig = new USB2CAN.CAN_INIT_CONFIG();
            ret = USB2CAN.CAN_GetCANSpeedArg(DevHandle, ref CANConfig, 500000);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                return "Get CAN Speed failed!";
            }
            else
            {
                //Console.WriteLine("Get CAN Speed Success!");
            }
#if false
            CANConfig.CAN_Mode = 1;//环回模式
#else
            CANConfig.CAN_Mode = 0x80;//正常模式并接入终端电阻
#endif
            ret = USB2CAN.CAN_Init(DevHandle, WriteCANIndex, ref CANConfig);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                return "Config CAN failed!";
            }
            else
            {
                //Console.WriteLine("Config CAN Success!");
            }

            ret = USB2CAN.CAN_Init(DevHandle, ReadCANIndex, ref CANConfig);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                return "Config CAN failed!";
            }
            else
            {
                //Console.WriteLine("Config CAN Success!");
            }
            //配置过滤器，接收所有数据
            /*USB2CAN.CAN_FILTER_CONFIG CANFilter = new USB2CAN.CAN_FILTER_CONFIG();
            CANFilter.Enable = 1;
            CANFilter.ExtFrame = 0;
            CANFilter.FilterIndex = 0;
            CANFilter.FilterMode = 0;
            CANFilter.MASK_IDE = 0;
            CANFilter.MASK_RTR = 0;
            CANFilter.MASK_Std_Ext = 0;
            CANFilter.ID_Std_Ext = 0x475;
            ret = USB2CAN.CAN_Filter_Init(DevHandle, ReadCANIndex, ref CANFilter);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                Console.WriteLine("Config CAN Filter failed!");
                return;
            }
            else
            {
                Console.WriteLine("Config CAN Filter Success!");
            }*/
            //启动CAN接收数据
            ret = USB2CAN.CAN_StartGetMsg(DevHandle, ReadCANIndex);
            if (ret != USB2CAN.CAN_SUCCESS)
            {
                return "Start CAN failed!";
            }
            else
            {
                //Console.WriteLine("Start CAN Success!");
            }

            return "OK";
        }

        public override string CanDeInit()
        {
            //停止CAN
            USB2CAN.CAN_StopGetMsg(DevHandle, ReadCANIndex);
            return "OK";
        }


        public override void CanSendMessage(uint id, byte[] data, int len)
        {
            CanMessage msg = new CanMessage();

            msg.Id = id;
            msg.Len = len;
            msg.IsTx = true;
            Array.Copy(data, 0, msg.Data, 0, len);

            lock (CanSendMsgLock)
            {
                CanSendMsgBuffer.Add(msg);
            }
        }


        private void CanSendMessageThreadLoop()
        {
            CanMessage[] msg;


            for (;;)
            {
                msg = new CanMessage[0];

                lock (CanSendMsgLock)
                {
                    msg = CanSendMsgBuffer.ToArray();
                    CanSendMsgBuffer.Clear();
                }

                USB2CAN.CAN_MSG[] usb2CanMsg = new USB2CAN.CAN_MSG[msg.Length];

                for (int i = 0; i < usb2CanMsg.Length; i++)
                {
                    usb2CanMsg[i] = new USB2CAN.CAN_MSG();
                    usb2CanMsg[i].ExternFlag = 0;
                    usb2CanMsg[i].RemoteFlag = 0;
                    usb2CanMsg[i].ID = msg[i].Id;
                    usb2CanMsg[i].DataLen = (byte)msg[i].Len;
                    usb2CanMsg[i].Data = msg[i].Data;
                }
                //Array.Copy(data, 0, CanMsg[0].Data, 0, len);

                int SendedNum = USB2CAN.CAN_SendMsg(DevHandle, WriteCANIndex, usb2CanMsg, (UInt32)usb2CanMsg.Length);

                Thread.Sleep(20);
            }

        }


        public override bool CanReadMessage(ref UInt32 id, byte[] data, ref int len)
        {
            USB2CAN.CAN_MSG[] CanMsgBuffer = new USB2CAN.CAN_MSG[1];
            //申请存储数据缓冲区
            IntPtr pt = Marshal.AllocHGlobal(Marshal.SizeOf(typeof(USB2CAN.CAN_MSG)) * CanMsgBuffer.Length);
            int CanNum = USB2CAN.CAN_GetMsgWithSize(DevHandle, ReadCANIndex, pt, CanMsgBuffer.Length);
            if (CanNum > 0)
            {
                //从缓冲区中获取数据
                //CanMsgBuffer[0] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt + 0 * Marshal.SizeOf(typeof(USB2CAN.CAN_MSG))), typeof(USB2CAN.CAN_MSG));
                CanMsgBuffer[0] = (USB2CAN.CAN_MSG)Marshal.PtrToStructure((IntPtr)((UInt32)pt), typeof(USB2CAN.CAN_MSG));

                id = CanMsgBuffer[0].ID;
                len = CanMsgBuffer[0].DataLen;
                Array.Copy(CanMsgBuffer[0].Data, 0, data, 0, CanMsgBuffer[0].Data.Length);

                Marshal.FreeHGlobal(pt);
                return true;

               
            }
            else
            {
                Marshal.FreeHGlobal(pt);   
                return false;
            }

        }


        

    }
}