using Common.Attributes;
using System.Collections.Concurrent;
using System.Collections.Generic;
using System.ComponentModel;
using System.Diagnostics;
using System.IO;
using System.Runtime.InteropServices;
using System.Text;
using System.Text.Json;
using TSMaster;
namespace TSMasterCAN
{
    /// <summary>
    /// TSMaster CAN/CANFD 总线控制类，基于 TSMaster API 实现总线连接管理、
    /// DBC 信号读写、报文发送（单次/循环）、日志记录等功能，暴露给命令树供测试步骤调用。
    /// </summary>
    [ACPCommand]
    public class CAN
    {

        public static event Action ConnectEvent;
        public static event Action DisConnectEvent;
        public static bool ConnectFlag { get; set; } = false;

        /// <summary>
        /// 初始化CAN驱动
        /// </summary>
        /// <param name="ProjectName"></param>
        /// <param name="filePath"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int Init(string ProjectName, string? filePath = null)
        {
            if (string.IsNullOrEmpty(filePath))
            {
                return TsMasterApi.initialize_lib_tsmaster(ProjectName);
            }
            else
            {
                return TsMasterApi.initialize_lib_tsmaster_with_project(ProjectName, Path.GetFullPath(filePath));
            }
        }

        /// <summary>
        /// 释放CAN驱动
        /// </summary>
        [Browsable(false)]
        public static void Release()
        {
            TsMasterApi.finalize_lib_tsmaster();
        }

        public static int obj = 0;
        public static TCANFDQueueEvent_Win32 listener;
        [Browsable(false)]
        public static int RegisterListener(TCANFDQueueEvent_Win32 listenEvent)
        {
            listener = listenEvent;
            var re = TsMasterApi.tsapp_register_event_canfd(ref obj, listener);
            Debug.Assert(re == 0);
            return re;
        }

        [Browsable(false)]
        public static int UnRegisterListener(TCANFDQueueEvent_Win32 listenEvent = null)
        {
            if (listenEvent is not null)
            {
                listener = listenEvent;
            }
            var re = TsMasterApi.tsapp_unregister_event_canfd(ref obj, listener);
            Debug.Assert(re == 0);
            return re;
        }

        /// <summary>
        /// 连接 TSMaster CAN 总线：建立总线连接并启动 RBS 仿真系统，
        /// 成功后置位连接标志并触发 <see cref="ConnectEvent"/> 连接事件。
        /// </summary>
        /// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
        public static int Connect()
        {

            var re = TsMasterApi.tsapp_connect();
            if (re == 0)
            {
                re = TsMasterApi.tscom_can_rbs_start();
                if (re == 0)
                {
                    ConnectFlag = true;
                    Task.Run(() => ConnectEvent?.Invoke());
                }
                else
                {
                    Debug.WriteLine($"CAN_RBS启动失败,错误代码：{re}");
                }
            }
            else
            {
                Debug.WriteLine($"CAN连接失败,错误代码：{re}");
                return re;
            }
            return re;
        }

        /// <summary>
        /// 断开 TSMaster CAN 总线连接，成功后清除连接标志并触发 <see cref="DisConnectEvent"/> 断开事件。
        /// </summary>
        /// <returns>返回代码，0 表示成功，非 0 表示失败（可用 <see cref="GetErrorDescription"/> 查询错误说明）</returns>
        public static int DisConnect()
        {
            var re = TsMasterApi.tsapp_disconnect();
            //Debug.Assert(re == 0);
            if (re == 0)
            {
                ConnectFlag = false;
                Task.Run(() => DisConnectEvent?.Invoke());
            }
            else
            {
                Debug.WriteLine($"断开CAN连接失败,错误代码：{re}");
            }


            return re;
        }

        /// <summary>
        /// 加载DBC
        /// </summary>
        /// <param name="filePath"></param>
        /// <param name="channel"></param>
        /// <param name="databaseID"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int LoadDBC(string filePath, int[] channel, out uint databaseID)
        {
            databaseID = 0;
            if (!Path.Exists(filePath)) return -1;
            var re = TsMasterApi.tsdb_load_can_db(Path.GetFullPath(filePath), string.Join(",", channel), ref databaseID);
            foreach (var item in channel)
            {
                DBCParse.parse(databaseID, item);
                DBCParse.rbs_parse(databaseID, item);
            }

            return re;
        }

        /// <summary>
        /// 卸载DBC
        /// </summary>
        /// <param name="databaseID"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int UnLoadDBC(uint? databaseID = null)
        {
            if (databaseID == null)
            {
                return TsMasterApi.tsdb_unload_can_dbs();
            }
            else
            {
                return TsMasterApi.tsdb_unload_can_db(databaseID.Value);
            }
        }

        /// <summary>
        /// 开始记录总线日志，将总线上的报文数据记录到指定文件。
        /// </summary>
        /// <param name="filePath">日志文件保存路径（自动转换为绝对路径）</param>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int StartLogging(string filePath)
        {
            return TsMasterApi.tsapp_start_logging(Path.GetFullPath(filePath));
        }

        /// <summary>
        /// 结束总线日志记录。
        /// </summary>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int StopLogging()
        {
            return TsMasterApi.tsapp_stop_logging();
        }

        /// <summary>
        /// 弹出通道映射窗口
        /// </summary>
        /// <param name="isWait"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int ShowChannelMappingWindow(bool isWait = false)
        {
            return TsMasterApi.tsapp_show_tsmaster_window("Hardware", isWait);
        }

        /// <summary>
        /// 获取 DBC 中定义信号的当前物理值（从总线接收报文中解析）。
        /// </summary>
        /// <param name="channel">通道号（0 起始）</param>
        /// <param name="AMsgName">DBC 中的报文名称</param>
        /// <param name="ASgnName">DBC 中的信号名称</param>
        /// <returns>信号物理值，获取失败时返回 <see cref="double.NaN"/></returns>
        public static double GetSignalValue(byte channel, string AMsgName, string ASgnName)
        {
            double value = double.NaN;
            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
            var re = TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);

            return value;
        }

        /// <summary>
        /// 获取信号值
        /// </summary>
        /// <param name="channel"></param>
        /// <param name="AMsgName"></param>
        /// <param name="ASgnName"></param>
        /// <param name="value"></param>
        /// <returns></returns>
        [Browsable(false)]
        public static int GetSignalValue(byte channel, string AMsgName, string ASgnName, ref double value)
        {
            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
            return TsMasterApi.tsdb_get_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, ref value);
        }

        /// <summary>
        /// 获取信号值
        /// </summary>
        /// <param name="ACANFD"></param>
        /// <param name="AMsgName"></param>
        /// <param name="ASgnName"></param>
        /// <param name="value"></param>
        /// <returns></returns>

        [Browsable(false)]
        public static int GetSignalValue(ref TLIBCANFD ACANFD, string AMsgName, string ASgnName, ref double value)
        {
            return TsMasterApi.tsdb_get_signal_value_canfd(ref ACANFD, AMsgName, ASgnName, ref value);
        }

        /// <summary>
        /// 设置 DBC 中定义信号的值（按物理值编码进报文数据），可选择立即发送或周期发送。
        /// </summary>
        /// <param name="channel">通道号（0 起始）</param>
        /// <param name="AMsgName">DBC 中的报文名称</param>
        /// <param name="ASgnName">DBC 中的信号名称</param>
        /// <param name="AValue">要设置的信号物理值</param>
        /// <param name="isSend">是否发送：false 仅更新数据不发送，true 则发送</param>
        /// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；&gt;0 = 按该周期循环发送</param>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        /// <exception cref="Exception">信号编码写入报文失败时抛出</exception>
        public static int SetSignalValue(byte channel, string AMsgName, string ASgnName, double AValue, bool isSend = false, float sendPeriod = 0)
        {
            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
            find.ACANFD.FIdxChn = channel;
            var re = TsMasterApi.tsdb_set_signal_value_canfd(ref find.ACANFD, AMsgName, ASgnName, AValue);
            Debug.Assert(re == 0);
            if (re != 0) throw new Exception($"设置报文失败!返回代码{re}");
            if (re != 0) return re;
            if (isSend)
            {
                if (sendPeriod == 0)
                {
                    return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
                }
                else
                {
                    return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
                }
            }
            return 0;
        }


        /// <summary>
        /// 按报文名称发送 DBC 中定义的报文（使用该报文在 DBC 数据库中的当前数据）。
        /// </summary>
        /// <param name="channel">通道号</param>
        /// <param name="AMsgName">DBC 中的报文名称</param>
        /// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；&gt;0 = 按该周期循环发送</param>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int SetSignalValue(APP_CHANNEL channel, string AMsgName, float sendPeriod = 0)
        {
            var find = DBCParse.MsgDatabase[(byte)channel].First(s => s.msg_name == AMsgName);
            find.ACANFD.FIdxChn = (byte)channel;
            if (sendPeriod == 0)
            {
                return TsMasterApi.tsapp_transmit_canfd_async(ref find.ACANFD);
            }
            else
            {
                return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
            }
        }

        /// <summary>
        /// 发送自定义报文
        /// </summary>
        /// <returns></returns>
        [Browsable(false)]
        public static int SetMsg(TLIBCANFD msg)
        {
            return TsMasterApi.tsapp_transmit_canfd_async(ref msg);
        }

        /// <summary>
        /// 按帧 ID 更新 DBC 数据库中指定报文的数据区（仅更新内存中的数据，不发送）。
        /// </summary>
        /// <param name="channel">通道号</param>
        /// <param name="ID">报文帧 ID（DBC 中定义的 FIdentifier）</param>
        /// <param name="bytes">要写入的报文数据数组，超出报文数据长度的部分会被截断</param>
        public static void SetMsg(APP_CHANNEL channel, int ID, byte[] bytes)
        {
            var find = DBCParse.MsgDatabase[(byte)channel].FirstOrDefault(s => s.ACANFD.FIdentifier == ID);
            if (find != null)
            {
                Array.Copy(bytes, 0, find.ACANFD.FData, 0, Math.Min(bytes.Length, find.ACANFD.FData.Length));
            }
        }

        /// <summary>
        /// 构造并发送自定义 CAN/CANFD 报文，可选择单次发送或周期发送，并可同步更新 DBC 数据库中同 ID 报文的数据。
        /// </summary>
        /// <param name="AIdxChn">通道号</param>
        /// <param name="AID">报文帧 ID</param>
        /// <param name="AIsTx">是否为发送帧</param>
        /// <param name="AIsExt">是否为扩展帧（29 位 ID）</param>
        /// <param name="AIsRemote">是否为远程帧</param>
        /// <param name="ADLC">数据长度代码（数据字节数，最大 64）</param>
        /// <param name="ADataArray">报文数据数组，超过 64 字节的部分会被截断</param>
        /// <param name="AIsFD">是否为 CANFD 帧，默认 true</param>
        /// <param name="AIsBRS">是否切换数据段波特率（仅 CANFD 有效），默认 false</param>
        /// <param name="isUpdateDBCDatabase">是否同步更新 DBC 数据库中同帧 ID 报文的数据，默认 false</param>
        /// <param name="sendPeriod">发送周期（毫秒）：0 = 只发送一次；&gt;0 = 按该周期循环发送</param>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int SendMsg(APP_CHANNEL AIdxChn, int AID, bool AIsTx, bool AIsExt,
            bool AIsRemote, byte ADLC, byte[] ADataArray, bool AIsFD = true, bool AIsBRS = false,
            bool isUpdateDBCDatabase = false, float sendPeriod = 0)
        {
            var send = new TLIBCANFD
            {
                FIdxChn = (byte)AIdxChn,
                FProperties = 0,
                FIdentifier = AID,
                FDLC = ADLC,
                FTimeUS = 0uL,
                FData = new byte[64],
                FFDProperties = 0,
                FIsTx = AIsTx,
                FIsError = false,
                FIsExt = AIsExt,
                FIsRemote = AIsRemote,
                FIsFD = AIsFD,
                FIsBRS = AIsBRS
            };
            int length = Math.Min(ADataArray.Length, 64);
            Array.Copy(ADataArray, 0, send.FData, 0, length);
            int re;
            if (sendPeriod == 0)
            {
                re = TsMasterApi.tsapp_transmit_canfd_async(ref send);
            }
            else
            {
                re = TsMasterApi.tsapp_add_cyclic_msg_canfd(ref send, sendPeriod);
            }

            if (isUpdateDBCDatabase)
            {
                var find = DBCParse.MsgDatabase[(byte)AIdxChn].FirstOrDefault(s => s.ACANFD.FIdentifier == send.FIdentifier);
                if (find != null)
                {
                    Array.Copy(send.FData, 0, find.ACANFD.FData, 0, Math.Min(ADataArray.Length, find.ACANFD.FData.Length));
                }
            }
            return re;
        }

        /// <summary>
        /// 将 DBC 中定义的报文加入循环发送列表，按指定周期持续发送。
        /// </summary>
        /// <param name="channel">通道号（0 起始）</param>
        /// <param name="AMsgName">DBC 中的报文名称</param>
        /// <param name="sendPeriod">发送周期（毫秒）</param>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int AddCyclicMsg(byte channel, string AMsgName, float sendPeriod)
        {
            var find = DBCParse.MsgDatabase[channel].First(s => s.msg_name == AMsgName);
            find.ACANFD.FIdxChn = channel;
            return TsMasterApi.tsapp_add_cyclic_msg_canfd(ref find.ACANFD, sendPeriod);
        }

        /// <summary>
        /// 清除所有循环发送的报文，停止全部周期发送任务。
        /// </summary>
        /// <returns>返回代码，0 表示成功，非 0 表示失败</returns>
        public static int DeleteCyclicMsgs()
        {
            return TsMasterApi.tsapp_delete_cyclic_msgs();
        }

        /// <summary>
        /// 根据错误代码获取对应的错误文字描述，用于诊断 TSMaster API 返回码。
        /// </summary>
        /// <param name="errorCode">TSMaster API 返回的错误代码</param>
        /// <returns>错误描述文本，未知错误代码时返回提示信息</returns>
        public static string GetErrorDescription(int errorCode)
        {
            IntPtr ADesc = IntPtr.Zero;
            TsMasterApi.tsapp_get_error_description(errorCode, ref ADesc);

            if (ADesc == IntPtr.Zero) return $"未知错误代码: {errorCode}";

            // 假设返回的是 ANSI 字符串（如 C 的 char*）
            string? description = Marshal.PtrToStringAnsi(ADesc);

            return description ?? $"未知错误代码: {errorCode}";
        }

    }
}