using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

using TSMaster;

namespace Can
{
    class ToSunDevice : CanDevice
    {
        private string Name = "666";

        
        private TCANQueueEvent CanQueueEvent;
        private TCANFDQueueEvent CanFdQueueEvent;

        public ToSunDevice()
        {
            this.CanQueueEvent = new TCANQueueEvent(OnCANRxEvent);
            this.CanFdQueueEvent = new TCANFDQueueEvent(OnCANFDRxEvent); 
        }

        ~ToSunDevice()
        {
            //释放所有资源
            TsMasterApi.finalize_lib_tsmaster();
        }


        //标准CAN
        #region CAN

        //CAN初始化
        public override string CanInit()
        {
            //释放所有资源
            //TsMasterApi.finalize_lib_tsmaster();

            TsMasterApi.initialize_lib_tsmaster(Name);

            //创建通道数
            if ((TsMasterApi.tsapp_set_can_channel_count(1) == 0)
                && (TsMasterApi.tsapp_set_lin_channel_count(0) == 0)
            )
            {

            }
            else
            {
                return "创建通道失败";
            }

            TsMasterApi.tsapp_set_lin_channel_count(0);

            /*int hardwareNum = 0;
            TsMasterApi.tsapp_enumerate_hw_devices(out hardwareNum);

            TLIBHWInfo tmpDeviceInfo = new TLIBHWInfo(0);
            TsMasterApi.tsapp_get_hw_info_by_index(0, ref tmpDeviceInfo);*/

#if true
            //创建通道映射
            if (TsMasterApi.tsapp_set_mapping_verbose(Name, TLIBApplicationChannelType.APP_CAN,
                  APP_CHANNEL.CHN1, "TC1012", TLIBBusToolDeviceType.TS_USB_DEVICE, 12, 0, HARDWARE_CHANNEL.CHN1) == 0)  //12
#else
            if (TsMasterApi.tsapp_set_mapping_verbose(Name, TLIBApplicationChannelType.APP_CAN,
                  APP_CHANNEL.CHN1, "TC1011", TLIBBusToolDeviceType.TS_USB_DEVICE, 5, 0, HARDWARE_CHANNEL.CHN1) == 0)  //12
#endif
            {

            }
            else
            {
                return "创建通道映射失败";
            }


#if true
            //初始化通道参数
            if (TsMasterApi.tsapp_configure_baudrate_can((int)APP_CHANNEL.CHN1, 500, false, true) != 0)
            {
                return "创建通道参数失败";
            }

#else
            if (TsMasterApi.tsapp_configure_can_regs(APP_CHANNEL.CHN1, 500, 7, 1, 1, 1, 0) != 0)
            {
                return "创建通道参数失败";
            }
            //tsapp_configure_can_regs(APP_CHANNEL AIdxChn, float ABaudrateKbps, int ASEG1, int ASEG2, int APrescaler, int ASJW, int A120OhmConnected);
#endif

            

            //连接application：连接硬件通道并开启接收FIFO
            int ret = TsMasterApi.tsapp_connect();
            string connectResult = TsMasterApi.tsapp_get_error_description(ret);
            if (0 == ret)
            {
                TsMasterApi.tsfifo_enable_receive_fifo();
            }
            else
            {
                //Log(connectResult);
                //Log("Connect Application Failed! Please check the mapping table and whether the Hardware is Ready?!");
                return "连接设备失败";
            }


            TsMasterApi.tsapp_unregister_events_all((IntPtr)0);
            //注册接收回调函数：在每一次的回调函数vCANQueueEventObj中刷新数据段
            /*if (0 == TsMasterApi.tsapp_register_event_can((IntPtr)0, CanQueueEvent))
            {

            }
            else
            {
                return "创建接受报文事件失败";
            }*/


            return "OK";

            
        }


        //CAN逆初始化
        public override string CanDeInit()
        {
            base.CanDeInit();

            TsMasterApi.tsapp_unregister_events_all((IntPtr)0);
            if(0 == TsMasterApi.tsapp_disconnect()
            )
            {
                base.CanDeInit();
                return "OK";
            }
            else
            {
                return "断开连接失败";
            }
        }

        public override string CanReceiveEventEnable()
        {
            string ret;

            //注册接收回调函数：在每一次的回调函数vCANQueueEventObj中刷新数据段
            if (0 == TsMasterApi.tsapp_register_event_can((IntPtr)0, CanQueueEvent))
            {
                ret = "OK";
            }
            else
            {
                ret = "创建接受报文事件失败";
            }

            return ret;
        }


        public override string CanReceiveEventDisable()
        {
            string ret;

            if (0 == TsMasterApi.tsapp_unregister_events_all((IntPtr)0))
            {
                ret = "OK";
            }
            else
            {
                ret = "失能接收事件失败";
            }

            return ret;
        }


        public override string CanSetFilter(UInt32 stratId, UInt32 endId)
        {
            //清除所有过滤器
            for (int i = 0; i < 0x7ff; i++)
            {
                TsMasterApi.tsfifo_delete_can_canfd_pass_filter(APP_CHANNEL.CHN1, (int)i);
            }

            //设置过滤
            for(UInt32 i = stratId; i <= endId; i++)
            {
                TsMasterApi.tsfifo_add_can_canfd_pass_filter(APP_CHANNEL.CHN1, (int)i, true);
            }
            
            return "OK";
        }


        //CAN发送一帧报文
        public override void CanSendMessage(UInt32 id, byte[] data, int len)
        {
            TLIBCAN msg = new TLIBCAN(0, (int)id, true, false, false, MessagesLenToDlc(len), data);

            if (TsMasterApi.tsapp_transmit_can_async(ref msg) == 0)
            {

            }
            else
            { 
                
            }
        }

        //CAN从FIFO接收一帧报文
        public override bool CanReadMessage(ref UInt32 id, byte[] data, ref int len)
        { 
            TLIBCAN msg;
            bool ret = false;

            if(true == TsMasterApi.tsfifo_receive_can_message(out msg, 0))
            {
                id = (UInt32)msg.FIdentifier;
                msg.FData.CopyTo(data, 0);
                len = MessagesDlcToLen(msg.FDLC);

                ret = true;
            }

            return ret;
        }


        //CAN接收事件
        private void OnCANRxEvent(IntPtr AObj, ref TLIBCAN AData)
        {
            if (AData.FIsTx)//发送的报文
            {

            }
            else if(false == AData.FIsError)//接受的报文
            {
                TLIBCAN msg;

                while(true == TsMasterApi.tsfifo_receive_can_message(out msg, 0))
                {
                    CanReadEventInvoke((UInt32)AData.FIdentifier, AData.FData, MessagesDlcToLen(AData.FDLC));
                }
                 
            }
        }
        
        #endregion

        //CANFD
        #region CANFD

        //CANFD初始化
        public override string CanFdInit()
        {
            TsMasterApi.initialize_lib_tsmaster(Name);

            //创建通道数
            if ((TsMasterApi.tsapp_set_can_channel_count(1) == 0)
                && (TsMasterApi.tsapp_set_lin_channel_count(0) == 0)
            )
            {

            }
            else
            {
                return "创建通道失败";
            }

            //创建通道映射
            if (TsMasterApi.tsapp_set_mapping_verbose(Name, TLIBApplicationChannelType.APP_CAN,
                  APP_CHANNEL.CHN1, "TC1012", TLIBBusToolDeviceType.TS_USB_DEVICE, 12, 0, HARDWARE_CHANNEL.CHN1) == 0)
            {

            }
            else
            {
                return "创建通道映射失败";
            }


            //初始化通道参数
#if true
            
            if (TsMasterApi.tsapp_configure_baudrate_canfd((int)APP_CHANNEL.CHN1, 500, 2000, TLIBCANFDControllerType.lfdtISOFDCAN, TLIBCANFDControllerMode.lfdmNormal, true) == 0)
            {

            }
            else
            {
                return "创建通道参数失败";
            }
#else
            if (TsMasterApi.tsapp_configure_canfd_regs(APP_CHANNEL.CHN1,
                                       500, 4, 1, 1, 1, //500
                                       2000, 4, 1, 1, 1, //2000
                                       TLIBCANFDControllerType.lfdtISOFDCAN, TLIBCANFDControllerMode.lfdmNormal, 0) != 0)
            {
                return "创建通道参数失败";
            }
#endif
            

            //连接application：连接硬件通道并开启接收FIFO
            int ret = TsMasterApi.tsapp_connect();
            string connectResult = TsMasterApi.tsapp_get_error_description(ret);
            if (0 == ret)
            {
                TsMasterApi.tsfifo_enable_receive_fifo();
            }
            else
            {
                return "连接设备失败";
            }

            TsMasterApi.tsapp_unregister_events_all((IntPtr)0);


            return "OK";
        }


        //CANFD逆初始化
        public override string CanFdDeInit()
        {
            base.CanFdDeInit();

            TsMasterApi.tsapp_unregister_events_all((IntPtr)0);

            if((0 == TsMasterApi.tsapp_disconnect())
            )
            {
                return "OK";
            }
            else
            {
                return "断开连接失败";
            }

        }

        public override string CanFdSetFilter(UInt32 stratId, UInt32 endId)
        {
            //清除所有过滤器
            for (int i = 0; i < 0x7ff; i++)
            {
                TsMasterApi.tsfifo_delete_can_canfd_pass_filter(APP_CHANNEL.CHN1, (int)i);
            }

            //设置过滤
            for (UInt32 i = stratId; i <= endId; i++)
            {
                TsMasterApi.tsfifo_add_can_canfd_pass_filter(APP_CHANNEL.CHN1, (int)i, true);
            }

            return "OK";
        }

        public override string CanFdReceiveEventEnable()
        {
            string ret;

            //注册接收回调函数：在每一次的回调函数vCANQueueEventObj中刷新数据段
            if (0 == TsMasterApi.tsapp_register_event_canfd((IntPtr)0, CanFdQueueEvent))
            {
                ret = "OK";
            }
            else
            {
                ret = "创建接受报文事件失败";
            }

            return ret;
        }


        public override string CanFdReceiveEventDisable()
        {
            return this.CanReceiveEventDisable();
        }

        //CANFD发送一帧报文
        public override void CanFdSendMessage(UInt32 id, byte[] data, int len)
        {
            TLIBCANFD msg = new TLIBCANFD(APP_CHANNEL.CHN1, (int)id, true, false, false, MessagesLenToDlc(len), data, true, true);
            
            if (TsMasterApi.tsapp_transmit_canfd_async(ref msg) == 0)
            {

            }
            else
            {

            }
        }


        //CANFD从FIFO接收一帧报文
        public override bool CanFdReadMessage(ref UInt32 id, byte[] data, ref int len)
        {
            TLIBCANFD msg = new TLIBCANFD();
            bool ret = false;

            if (true == TsMasterApi.tsfifo_receive_canfd_message(ref msg, 0))
            {
                id = (UInt32)msg.FIdentifier;
                msg.FData.CopyTo(data, 0);
                len = MessagesDlcToLen(msg.FDLC);
                ret = true;
            }

            return ret;
        }


        //CANFD接收报文事件
        private void OnCANFDRxEvent(IntPtr AObj, ref TLIBCANFD AData)
        {
            //发送的报文
            if (AData.FIsTx)
            {

            }
            else if (false == AData.FIsError)//接受的报文
            {
                TLIBCANFD msg = new TLIBCANFD();

                while (true == TsMasterApi.tsfifo_receive_canfd_message(ref msg, 0))
                {
                    CanReadEventInvoke((UInt32)AData.FIdentifier, AData.FData, MessagesDlcToLen(AData.FDLC));
                }
            }
        }


        #endregion

        
    }
}