using MegaRobo.Connections;
using MegaRobo.Connections.Adapters;
using MegaRobo.Connections.Modbus;
using MegaRobo.Connections.Sockets.Tcp;
using MegaRobo.Contract;
using MegaRobo.ControlDevices.Abstractions;
using MegaRobo.Logger;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net;
using System.Text;
using System.Threading.Tasks;
using static MegaRobo.Connections.Modbus.ModbusParams;

namespace MegaRobo.C00225155.ControlDevices
{
    /// <summary>
    /// 高温震荡电机驱动器控制服务
    /// </summary>
    public class HighTemperatureMotorControlService : ConnectorBase<MegaTcpClient>
    {
        /// <summary>
        /// 寄存器地址枚举（十六进制转十进制，Modbus 需传入十进制地址）
        /// </summary>
        private enum MotorRegisterAddress : ushort
        {
            启停控制 = 0x00,          // 0x00（十进制0）：启停控制
            工作模式 = 0x02,          // 0x02（十进制2）：模式切换
            速度指令 = 0x06,          // 0x06（十进制6）：速度指令
            清除故障 = 0x4A,          // 0x4A（十进制74）：清除故障
            驱动器状态 = 0xE3,        // 0xE3（十进制227）：驱动器状态
            电机转速 = 0xE4           // 0xE4（十进制228）：电机实际转速
        }

        /// <summary>
        /// 写入数据枚举
        /// </summary>
        private enum MotorWriteData : ushort
        {
            停止 = 0x0000,            // 启停控制：0=停止
            启动 = 0x0001,            // 启停控制：1=启动
            速度模式 = 0x00C4,        // 工作模式：0x00C4=速度模式
            位置模式 = 0x00D0         // 工作模式：0x00D0=位置模式
        }

        /// <summary>
        /// 驱动器状态位解析（对应 0xE3 寄存器的 bit 位）
        /// </summary>
        public class MotorState
        {
            public bool 运行状态 { get; set; }    // bit0：0=停机，1=启动
            public bool 过流故障 { get; set; }    // bit1：1=故障
            public bool 过压故障 { get; set; }    // bit2：1=故障
            public bool 编码器故障 { get; set; }  // bit3：1=故障
            public bool 位置偏差过大 { get; set; }// bit4：1=故障
            public bool 欠压故障 { get; set; }    // bit5：1=故障
            public bool 过载故障 { get; set; }    // bit6：1=故障
            public bool 外部控制标志 { get; set; }// bit7：0=PC控制，1=PLC控制
            public string 故障描述 { get; set; }  // 汇总故障信息
        }

        public override async Task<string> Initialize(ICoreService coreService, params object[] args)
        {
            CoreService = coreService;
            try
            {
                base.CoreService = coreService;
                if (args is [IPEndPoint remoteHost, ..])
                {
                    base.ConnectorAdapter = new MegaTcpClient
                    {
                        Logger = coreService.Logger,
                        Name = base.Name
                    };
                    if (base.ConnectorAdapter != null)
                    {
                        base.ConnectorAdapter.DataReceived += ConnectorOnDataReceived;
                    }

                    ConnectionState = await base.ConnectorAdapter.ConnectAsync(remoteHost);
                }
            }
            catch (Exception ex)
            {
                Logger.LogException(ex);
                return await Task.FromResult(ex.Message);
            }
            return string.Empty;
        }

        private void ConnectorOnDataReceived(object sender, TcpMessage tcpMsg)
        {
            if (tcpMsg is null || tcpMsg.Data == null || tcpMsg.Data.Length == 0)
                return;
            string hexData = BitConverter.ToString(tcpMsg.Data).Replace("-", " ");
            Logger.LogInformation($"接收到电机驱动器数据（十六进制）：{hexData}");
        }

        public override Task<ConnectionState> ReconnectAsync()
        {
            return base.ReconnectAsync();
        }

        public override async Task<ConnectionState> CheckConnected()
        {
            var state = ConnectionState.None;
            if (ConnectorAdapter is not null)
            {
                state = await ConnectorAdapter.CheckConnectedAsync();
            }
            ConnectionState = state;
            return state;
        }


        /// <summary>
        /// 电机启停控制
        /// </summary>
        /// <param name="id">设备从站号</param>
        /// <param name="isStart"></param>
        /// <returns></returns>
        public async Task<bool> ControlMotorStartStop(byte id, bool isStart)
        {
            try
            {
                // 1. 确定写入数据：启动=0x0001，停止=0x0000
                MotorWriteData writeData = isStart ? MotorWriteData.启动 : MotorWriteData.停止;
                // 2. 调用 Modbus 写单个寄存器（功能码06），地址=启停控制（0x00），字节顺序AB（高字节在前）
                var writeResult = ModbusRTU.WriteRegisterSingle(
                    deviceAdress: id,  // 从站地址（默认1）
                    startAdress: (ushort)MotorRegisterAddress.启停控制,
                    lstData: (ushort)writeData,
                    byteOrder: ByteOrder.AB  // 协议要求高字节在前
                );

                if (!writeResult.IsSuccessed)
                {
                    Logger.LogError($"启停控制指令构建失败：{writeResult.Message}");
                    return false;
                }

                // 3. 发送指令并获取响应
                var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(writeResult.Respond, TimeSpan.FromSeconds(5));
                if (tcpMessage == null || tcpMessage.Data == null)
                {
                    Logger.LogError("启停控制未收到响应");
                    return false;
                }

                // 4. 验证响应（协议要求写成功后返回原报文）
                bool isResponseMatch = CompareBytes(writeResult.Respond, tcpMessage.Data);
                if (!isResponseMatch)
                {
                    Logger.LogError($"启停控制响应不匹配：发送={BitConverter.ToString(writeResult.Respond)}, 接收={BitConverter.ToString(tcpMessage.Data)}");
                    return false;
                }

                Logger.LogInformation($"{(isStart ? "启动" : "停止")}电机成功");
                return true;
            }
            catch (Exception ex)
            {
                Logger.LogException(ex, null, LogEvent.Error, null, LogLevel.Error, "HighTemperatureMotorControlService", "ControlMotorStartStop", 150, false);
                return false;
            }
        }

        /// <summary>
        /// 设置电机速度（速度模式下）
        /// </summary>
        /// <param name="id">设备从站号</param>
        /// <param name="targetSpeed">目标速度（0-3000 RPM，协议上限3000）</param>
        public async Task<bool> SetMotorSpeed(byte id, int targetSpeed)
        {
            try
            {
                // 1. 参数校验：速度范围 0-3000 RPM（协议规定）
                if (targetSpeed < 0 || targetSpeed > 3000)
                {
                    Logger.LogError($"速度值超出范围（0-3000 RPM）：{targetSpeed}");
                    return false;
                }

                // 2. 切换到速度模式（必须先设置模式，再写速度）
                bool modeSuccess = await SwitchToSpeedMode(id);
                if (!modeSuccess)
                {
                    Logger.LogError("切换速度模式失败，无法设置速度");
                    return false;
                }

                // 3. 计算速度指令值：写入值 = (目标速度 / 3000) * 8192（协议公式）
                ushort speedCommand = (ushort)Math.Round((targetSpeed / 3000.0) * 8192);
                Logger.LogInformation($"目标速度={targetSpeed} RPM，计算后指令值=0x{speedCommand:X4}");

                // 4. 写速度指令到寄存器 0x06（功能码06）
                var writeResult = ModbusRTU.WriteRegisterSingle(
                    deviceAdress: id,
                    startAdress: (ushort)MotorRegisterAddress.速度指令,
                    lstData: speedCommand,
                    byteOrder: ByteOrder.AB  // 高字节在前
                );

                if (!writeResult.IsSuccessed)
                {
                    Logger.LogError($"速度指令构建失败：{writeResult.Message}");
                    return false;
                }

                // 5. 发送指令并验证响应
                var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(writeResult.Respond, TimeSpan.FromSeconds(5));
                if (tcpMessage == null || tcpMessage.Data == null)
                {
                    Logger.LogError("设置速度未收到响应");
                    return false;
                }

                // 6. 验证响应（写成功返回原报文）
                bool isResponseMatch = CompareBytes(writeResult.Respond, tcpMessage.Data);
                if (!isResponseMatch)
                {
                    Logger.LogError($"速度设置响应不匹配：发送={BitConverter.ToString(writeResult.Respond)}, 接收={BitConverter.ToString(tcpMessage.Data)}");
                    return false;
                }

                Logger.LogInformation($"设置电机速度成功：{targetSpeed} RPM（指令值=0x{speedCommand:X4}）");
                return true;
            }
            catch (Exception ex)
            {
                Logger.LogException(ex, null, LogEvent.Error, null, LogLevel.Error, "HighTemperatureMotorControlService", "SetMotorSpeed", 150, false);
                return false;
            }
        }

        /// <summary>
        /// 获取电机驱动器状态（运行状态+故障信息）
        /// </summary>
        /// <param name="id">设备从站号</param>
        public async Task<MotorState> GetMotorState(byte id)
        {
            try
            {
                // 1. 构建读状态指令：地址0xE3（十进制227），读1个寄存器（状态是16位）
                var readResult = ModbusRTU.GetReadMessage(
                    slaveStation: id,
                    readType: ModbusReadCodes.READ_HOLDING_REGISTERS,  // 功能码03
                    startAdr: (ushort)MotorRegisterAddress.驱动器状态,
                    length: 1  // 状态寄存器是1个16位寄存器，长度=1
                );

                if (!readResult.IsSuccessed)
                {
                    Logger.LogError($"读状态指令构建失败：{readResult.Message}");
                    return new MotorState { 故障描述 = "指令构建失败" };
                }

                // 2. 发送指令并获取响应
                var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(readResult.Respond, TimeSpan.FromSeconds(5));
                if (tcpMessage == null || tcpMessage.Data == null)
                {
                    Logger.LogError("读状态未收到响应");
                    return new MotorState { 故障描述 = "未收到响应" };
                }

                // 3. 解析响应（16位状态字，字节顺序AB）
                var parseResult = ModbusRTU.ReadRegisterUShort(tcpMessage.Data, ByteOrder.AB);
                if (!parseResult.IsSuccessed)
                {
                    Logger.LogError($"状态解析失败：{parseResult.Message}");
                    return new MotorState { 故障描述 = parseResult.Message };
                }

                // 4. 解析状态字的各个bit位（协议表5-22）
                ushort statusWord = parseResult.Respond[0];
                var motorState = new MotorState
                {
                    运行状态 = (statusWord & (1 << 0)) != 0,    // bit0
                    过流故障 = (statusWord & (1 << 1)) != 0,    // bit1
                    过压故障 = (statusWord & (1 << 2)) != 0,    // bit2
                    编码器故障 = (statusWord & (1 << 3)) != 0,  // bit3
                    位置偏差过大 = (statusWord & (1 << 4)) != 0,// bit4
                    欠压故障 = (statusWord & (1 << 5)) != 0,    // bit5
                    过载故障 = (statusWord & (1 << 6)) != 0,    // bit6
                    外部控制标志 = (statusWord & (1 << 7)) != 0 // bit7
                };

                // 5. 汇总故障描述
                var errors = new List<string>();
                if (motorState.过流故障) errors.Add("过流");
                if (motorState.过压故障) errors.Add("过压");
                if (motorState.编码器故障) errors.Add("编码器故障");
                if (motorState.位置偏差过大) errors.Add("位置偏差过大");
                if (motorState.欠压故障) errors.Add("欠压");
                if (motorState.过载故障) errors.Add("过载");

                motorState.故障描述 = errors.Count > 0
                    ? $"故障：{string.Join("、", errors)}"
                    : "无故障";

                Logger.LogInformation($"电机状态：运行状态={(motorState.运行状态 ? "启动" : "停止")}，{motorState.故障描述}");
                return motorState;
            }
            catch (Exception ex)
            {
                Logger.LogException(ex, null, LogEvent.Error, null, LogLevel.Error, "HighTemperatureMotorControlService", "GetMotorState", 150, false);
                return new MotorState { 故障描述 = $"异常：{ex.Message}" };
            }
        }

        /// <summary>
        /// 获取电机实际转速
        /// </summary>
        /// <param name="id">设备从站号</param>
        public async Task<int> GetMotorActualSpeed(byte id)
        {
            try
            {
                // 1. 构建读转速指令：地址0xE4（十进制228），读1个寄存器
                var readResult = ModbusRTU.GetReadMessage(
                    slaveStation: id,
                    readType: ModbusReadCodes.READ_HOLDING_REGISTERS,
                    startAdr: (ushort)MotorRegisterAddress.电机转速,
                    length: 1
                );

                if (!readResult.IsSuccessed)
                {
                    Logger.LogError($"读转速指令构建失败：{readResult.Message}");
                    return -1;
                }

                // 2. 发送指令并获取响应
                var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(readResult.Respond, TimeSpan.FromSeconds(5));
                if (tcpMessage == null || tcpMessage.Data == null)
                {
                    Logger.LogError("读转速未收到响应");
                    return -1;
                }

                // 3. 解析转速（16位无符号数，直接表示RPM）
                var parseResult = ModbusRTU.ReadRegisterUShort(tcpMessage.Data, ByteOrder.AB);
                if (!parseResult.IsSuccessed)
                {
                    Logger.LogError($"转速解析失败：{parseResult.Message}");
                    return -1;
                }

                int actualSpeed = parseResult.Respond[0];
                Logger.LogInformation($"电机实际转速：{actualSpeed} RPM");
                return actualSpeed;
            }
            catch (Exception ex)
            {
                Logger.LogException(ex, null, LogEvent.Error, null, LogLevel.Error, "HighTemperatureMotorControlService", "GetMotorActualSpeed", 150, false);
                return -1;
            }
        }

        /// <summary>
        /// 清除电机故障
        /// </summary>
        /// <param name="id">设备从站号</param>
        /// <returns></returns>
        public async Task<bool> ClearMotorFault(byte id)
        {
            try
            {
                // 协议规定：写入任意值到0x4A即可清除故障，此处写0x0000
                var writeResult = ModbusRTU.WriteRegisterSingle(
                    deviceAdress: id,
                    startAdress: (ushort)MotorRegisterAddress.清除故障,
                    lstData: (ushort)0x0000,
                    byteOrder: ByteOrder.AB
                );

                if (!writeResult.IsSuccessed)
                {
                    Logger.LogError($"清除故障指令构建失败：{writeResult.Message}");
                    return false;
                }

                var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(writeResult.Respond, TimeSpan.FromSeconds(5));
                if (tcpMessage == null || tcpMessage.Data == null)
                {
                    Logger.LogError("清除故障未收到响应");
                    return false;
                }

                bool isResponseMatch = CompareBytes(writeResult.Respond, tcpMessage.Data);
                if (isResponseMatch)
                {
                    Logger.LogInformation("清除电机故障成功");
                    return true;
                }
                else
                {
                    Logger.LogError("清除故障响应不匹配");
                    return false;
                }
            }
            catch (Exception ex)
            {
                Logger.LogException(ex, null, LogEvent.Error, null, LogLevel.Error, "HighTemperatureMotorControlService", "ClearMotorFault", 150, false);
                return false;
            }
        }


        /// <summary>
        /// 切换到速度模式（内部调用，设置模式寄存器0x02为0x00C4）
        /// </summary>
        /// <param name="id"></param>
        /// <returns></returns>
        private async Task<bool> SwitchToSpeedMode(byte id)
        {
            var writeResult = ModbusRTU.WriteRegisterSingle(
                deviceAdress: id,
                startAdress: (ushort)MotorRegisterAddress.工作模式,
                lstData: (ushort)MotorWriteData.速度模式,
                byteOrder: ByteOrder.AB
            );

            if (!writeResult.IsSuccessed)
            {
                Logger.LogError($"切换速度模式指令构建失败：{writeResult.Message}");
                return false;
            }

            var tcpMessage = await ConnectorAdapter.WriteAndGetReplyAsync(writeResult.Respond, TimeSpan.FromSeconds(5));
            if (tcpMessage == null || tcpMessage.Data == null)
            {
                Logger.LogError("切换速度模式未收到响应");
                return false;
            }

            bool isMatch = CompareBytes(writeResult.Respond, tcpMessage.Data);
            if (isMatch)
            {
                Logger.LogInformation("切换到速度模式成功");
                return true;
            }
            else
            {
                Logger.LogError("切换速度模式响应不匹配");
                return false;
            }
        }

        /// <summary>
        /// 比较两个字节数组是否相等（验证响应报文）
        /// </summary>
        private bool CompareBytes(byte[] source, byte[] target)
        {
            if (source.Length != target.Length) return false;
            for (int i = 0; i < source.Length; i++)
            {
                if (source[i] != target[i]) return false;
            }
            return true;
        }
    }
}