using CapMachine.Wpf.CanDrive;
using CapMachine.Wpf.Services;
using ImTools;
using Microsoft.VisualBasic;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Diagnostics;
using System.IO;
using System.Linq;
using System.Runtime.InteropServices;
using System.Security.Cryptography.Xml;
using System.Text;
using System.Threading.Tasks;

namespace CapMachine.Wpf.LinDrive
{
    /// <summary>
    /// Toomoss 的LIN驱动
    /// </summary>
    public class ToomossLin : BindableBase
    {
        /// <summary>
        /// 设备Handles集合
        /// </summary>
        public Int32[] DevHandles { get; set; } = new Int32[20];
        /// <summary>
        /// 设备Handles
        /// 设备句柄，本质为设备序号的低4字节，可以通过调用USB_ScanDevice函数获得
        /// </summary>
        public Int32 DevHandle { get; set; } = 0;
        /// <summary>
        /// Lin的Index
        /// LIN通道索引号，填0或者1，若只有一个通道LIN，则填0.
        /// </summary>
        public Byte LINIndex { get; set; } = 0;
        /// <summary>
        /// Lin的连接State
        /// </summary>
        public bool state { get; set; }
        /// <summary>
        /// Lin的连接设备数量
        /// </summary>
        public Int32 DevNum { get; set; }
        /// <summary>
        /// Lin的Dll文件的路径
        /// </summary>
        public string dllFilePath { get; set; } = "USB2XXX.dll";

        private readonly IContainerProvider ContainerProvider;

        public ToomossLin(IContainerProvider containerProvider)
        {
            ContainerProvider = containerProvider;
            HighSpeedDataService = ContainerProvider.Resolve<HighSpeedDataService>();

            //Stopwatch.Frequency表示高精度计时器每秒的计数次数（ticks/秒）每毫秒的ticks数 = 每秒的ticks数 ÷ 1000
            TicksPerMs = Stopwatch.Frequency / 1000.0;
        }

        /// <summary>
        /// HighSpeedDataService 实例
        /// </summary>
        public HighSpeedDataService HighSpeedDataService { get; set; }

        /// <summary>
        /// 开始LDF文件写入
        /// </summary>
        public ObservableCollection<LinLdfModel> StartLdf(string LdfPath)
        {
            LDF_Parser(LdfPath);
            return ListLinLdfModel;
        }

        /// <summary>
        /// 开始Lin的驱动
        /// </summary>
        public void StartLinDrive()
        {
            IsExistsDllFile();
            ScanDevice();
            OpenDevice();

        }

        private bool _IsCycleRevice;
        /// <summary>
        /// 是否循环接收数据
        /// </summary>
        public bool IsCycleRevice
        {
            get { return _IsCycleRevice; }
            set { _IsCycleRevice = value; RaisePropertyChanged(); }
        }

        private bool _IsCycleSend;
        /// <summary>
        /// 是否循环发送数据
        /// </summary>
        public bool IsCycleSend
        {
            get { return _IsCycleSend; }
            set { _IsCycleSend = value; RaisePropertyChanged(); }
        }

        /// <summary>
        /// 循环发送数据
        /// </summary>
        public ushort SendCycle { get; set; } = 100;

        /// <summary>
        /// 循环接受数据
        /// </summary>
        public ushort ReviceCycle { get; set; } = 500;

        /// <summary>
        /// CycleRevice 扫描Task
        /// </summary>
        private static Task CycleReviceTask { get; set; }

        /// <summary>
        /// CycleSend 扫描Task
        /// </summary>
        private static Task CycleSendTask { get; set; }

        private bool _OpenState;
        /// <summary>
        /// 打开设备的状态
        /// </summary>
        public bool OpenState
        {
            get { return _OpenState; }
            set { _OpenState = value; RaisePropertyChanged(); }
        }


        private bool _LdfParserState;
        /// <summary>
        /// LDF解析的状态
        /// </summary>
        public bool LdfParserState
        {
            get { return _LdfParserState; }
            set { _LdfParserState = value; RaisePropertyChanged(); }
        }


        /// <summary>
        /// LDFHandle
        /// </summary>
        public UInt64 LDFHandle { get; set; }

        /// <summary>
        /// LDF消息集合
        /// 包括读取的实时值和数据
        /// </summary>
        public ObservableCollection<LinLdfModel> ListLinLdfModel { get; set; } = new ObservableCollection<LinLdfModel>();

        /// <summary>
        /// 要发送的LIN数据
        /// </summary>
        public List<LinCmdData> CmdData { get; set; } = new List<LinCmdData>();

        /// <summary>
        /// ******************【1】*********************
        /// 是否存在Dll文件
        /// </summary>
        /// <returns></returns>
        public bool IsExistsDllFile()
        {
            if (!File.Exists(dllFilePath))
            {
                Console.WriteLine("请先将USB2XXX.dll和libusb-1.0.dll文件复制到exe程序文件输出目录下!");
                Console.WriteLine("dll文件在‘usb2can_lin_pwm_example/sdk/libs/windows’目录下！");
                Console.WriteLine("程序是32位的就复制‘x86’目录下文件，程序是64位的就复制‘x86_64’目录下文件！");
                return false;
            }
            return true;
        }


        /// <summary>
        /// ******************【2】*********************
        /// 扫描查找设备，并将每个设备的唯一设备号存放到数组中，后面的函数需要用到
        /// </summary>
        /// <returns></returns>
        public bool ScanDevice()
        {
            DevNum = USB_DEVICE.USB_ScanDevice(DevHandles);
            if (DevNum <= 0)
            {
                Console.WriteLine("No device connected!");
                return false;
            }
            else
            {
                Console.WriteLine("Have {0} device connected!", DevNum);
                DevHandle = DevHandles[0];//获取第一个设备的设备号
                return true;
            }
        }

        /// <summary>
        /// ******************【3】*********************
        /// 打开设备
        /// </summary>
        /// <returns></returns>
        public bool OpenDevice()
        {
            //打开设备
            OpenState = USB_DEVICE.USB_OpenDevice(DevHandle);
            if (!OpenState)
            {
                Console.WriteLine("Open device error!");
                return false;
            }
            else
            {
                Console.WriteLine("Open device success!");
                return true;
            }
        }

        /// <summary>
        /// ******************【4】*********************
        /// 解析LDF信息
        /// </summary>
        /// <returns></returns>
        public void LDF_Parser(string Path)
        {
            LDFHandle = LDFParser.LDF_ParserFile(DevHandle, LINIndex, 1, new StringBuilder(Path));
            if (LDFHandle == 0)
            {
                Console.WriteLine("解析LDF文件失败!");
                LdfParserState = false;
                return;
            }

            //读取LDF文件信息
            Console.WriteLine("ProtocolVersion = {0}", LDFParser.LDF_GetProtocolVersion(LDFHandle));
            Console.WriteLine("LINSpeed = {0}", LDFParser.LDF_GetLINSpeed(LDFHandle));

            //读取主机名称
            StringBuilder MasterName = new StringBuilder(64);
            LDFParser.LDF_GetMasterName(LDFHandle, MasterName);
            Console.WriteLine("Master Name = {0}", MasterName);

            ListLinLdfModel.Clear();
            //读取信息
            int FrameLen = LDFParser.LDF_GetFrameQuantity(LDFHandle);
            for (int i = 0; i < FrameLen; i++)
            {
                //读取帧名称和发布者
                StringBuilder FrameName = new StringBuilder(64);
                string IsMasterFrame = "";
                if (LDFParser.LDF_PARSER_OK == LDFParser.LDF_GetFrameName(LDFHandle, i, FrameName))
                {
                    StringBuilder PublisherName = new StringBuilder(64);
                    LDFParser.LDF_GetFramePublisher(LDFHandle, FrameName, PublisherName);
                    if (MasterName.Equals(PublisherName))
                    {
                        IsMasterFrame = "是";
                        //当前帧为主机发送数据帧
                        Console.WriteLine("[MW]Frame[{0}].Name={1},Publisher={2}", i, FrameName, PublisherName);
                    }
                    else
                    {
                        IsMasterFrame = "否";
                        //当前帧为主机读数据帧
                        Console.WriteLine("[MR]Frame[{0}].Name={1},Publisher={2}", i, FrameName, PublisherName);
                    }

                    //读取信号信息
                    int SignalNum = LDFParser.LDF_GetFrameSignalQuantity(LDFHandle, FrameName);
                    for (int j = 0; j < SignalNum; j++)
                    {
                        StringBuilder SignalName = new StringBuilder(64);
                        if (LDFParser.LDF_PARSER_OK == LDFParser.LDF_GetFrameSignalName(LDFHandle, FrameName, j, SignalName))
                        {
                            Console.WriteLine("\tSignal[{0}].Name={1}", j, SignalName);
                            ListLinLdfModel.Add(new LinLdfModel()
                            {
                                MsgName = FrameName.ToString(),
                                Publisher = PublisherName.ToString(),
                                IsMasterFrame = IsMasterFrame,
                                SignalName = SignalName.ToString()
                            });
                        }
                    }
                }
            }

            //解析成功
            LdfParserState = true;
        }


        /// <summary>
        /// 发送LIN数据
        /// 发送一次
        /// </summary>
        public void SendLinMsg(List<LinCmdData> CmdData)
        {
            try
            {
                //防止有多个不同的消息名称/帧，每个帧单独处理发送
                var GroupMsg = CmdData.GroupBy(x => x.MsgName);
                foreach (var itemMsg in GroupMsg)
                {
                    foreach (var itemSignal in itemMsg)
                    {
                        //主机写操作，发送数据给从机
                        LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                    }
                    LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
                    //LDFParser.LDF_ExeSchToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
                }
            }
            catch (Exception ex)
            {

            }
        }


        /// <summary>
        /// 读取信号值
        /// </summary>
        private StringBuilder ReadValueStr = new StringBuilder(64);

        /// <summary>
        /// 循环
        /// 主机读操作，读取从机返回的数据值
        /// </summary>
        public void StartCycleReviceMsg()
        {
            CycleReviceTask = Task.Run(async () =>
            {
                while (IsCycleRevice)
                {
                    await Task.Delay(ReviceCycle);
                    try
                    {
                        var GroupMsg = ListLinLdfModel.GroupBy(x => x.MsgName);
                        foreach (var itemMsg in GroupMsg)
                        {
                            var data = itemMsg.FirstOrDefault();
                            //非主机发送的指令帧就可以读取数据，因为函数 LDF_ExeFrameToBus【执行帧到总线，若该帧的发布者是主机，那么就是主机写数据，否则就是主机读数据】
                            //那么主机发送和读取都是同一个函数。会导致跟Master主机也会在这里执行写入，导致冲突，出现错误。所以做一个排出
                            if (data != null && !data.IsMasterFrame!.Contains("是"))
                            {
                                //主机读操作，读取从机返回的数据值
                                LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
                                foreach (var itemSignal in itemMsg)
                                {
                                    //LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 1);
                                    LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), ReadValueStr);
                                    itemSignal.SignalRtValueSb = ReadValueStr;
                                }
                            }

                        }


                        //StringBuilder ValueStr = new StringBuilder(64);
                        //LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder("ID_DATA"), 1);
                        //LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Supplier_ID"), ValueStr);
                        //Console.WriteLine("ID_DATA.Supplier_ID={0}", ValueStr);
                        //LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Machine_ID"), ValueStr);
                        //Console.WriteLine("ID_DATA.Machine_ID={0}", ValueStr);
                        //LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder("ID_DATA"), new StringBuilder("Chip_ID"), ValueStr);
                        //Console.WriteLine("ID_DATA.Chip_ID={0}", ValueStr);

                    }
                    catch (Exception ex)
                    {
                        //LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
                    }
                }
            });
        }


        /// <summary>
        /// 循环发送数据
        /// </summary>
        public void StartCycleSendMsg()
        {
            CycleSendTask = Task.Run(async () =>
            {
                while (IsCycleSend)
                {
                    await Task.Delay(SendCycle);
                    try
                    {
                        //防止有多个不同的消息名称/帧，每个帧单独处理发送
                        var GroupMsg = CmdData.GroupBy(x => x.MsgName);
                        foreach (var itemMsg in GroupMsg)
                        {
                            foreach (var itemSignal in itemMsg)
                            {
                                //主机写操作，发送数据给从机
                                LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                            }
                            //【0】参数注意
                            LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0);

                            //读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据
                            foreach (var item in ListLinLdfModel)
                            {
                                if (CmdData.Any(a => a.MsgName == item.MsgName))
                                {
                                    LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
                                    item.SignalRtValueSb = ReadValueStr;
                                }
                            }
                        }

                        ////主机写操作，发送数据给从机
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Reg_Set_Voltage"), 13.5);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Ramp_Time"), 3);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Cut_Off_Speed"), 4);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Exc_Limitation"), 15.6);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Derat_Shift"), 2);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("MM_Request"), 2);
                        //LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder("LIN_CONTROL"), new StringBuilder("Reg_Blind"), 1);
                    }
                    catch (Exception ex)
                    {
                        //LogService.Info($"时间:{DateTime.Now.ToString()}-【Meter】-{ex.Message}");
                    }
                }
            });
        }


        private bool _IsSendOk;
        /// <summary>
        /// 发送报文是否OK
        /// </summary>
        public bool IsSendOk
        {
            get { return _IsSendOk; }
            set
            {
                if (_IsSendOk != value)
                {
                    RaisePropertyChanged();
                    _IsSendOk = value;
                }
            }
        }



        #region 精确发送报文数据

        // 添加取消标记源字段用于停止任务
        private CancellationTokenSource CycleSendCts;

        /// <summary>
        ///  计算每毫秒对应的ticks数（只需计算一次）
        /// </summary>
        private double TicksPerMs;

        // 类成员变量定义 精确记时用
        private readonly Stopwatch Stopwatcher = new Stopwatch();
        private long NextExecutionTime;
        // 计算需要等待的时间
        private long CurrentTime;
        private long DelayTicks;
        private int DelayMs;

        private static readonly Random _random = new Random();

        /// <summary>
        /// 精确周期发送CAN数据
        /// </summary>
        public void StartPrecisionCycleSendMsg()
        {
            // 创建取消标记源 用于控制任务的取消 允许在需要时通过取消令牌来优雅停止任务
            var cancellationTokenSource = new CancellationTokenSource();
            var token = cancellationTokenSource.Token;

            // 保存取消标记，以便在停止时使用
            CycleSendCts = cancellationTokenSource;//将取消标记源保存到类的成员变量CycleSendCts，这样在外部调用停止方法时可以访问它
            NextExecutionTime = 0;//初始化NextExecutionTime为0，这个变量用于记录下一次执行的目标时间点

            CycleSendTask = Task.Factory.StartNew(async () =>
            {
                try
                {
                    // 设置当前线程为高优先级
                    Thread.CurrentThread.Priority = ThreadPriority.AboveNormal;

                    // 初始化完成后开始计时
                    Stopwatcher.Restart();
                    // 预先计算固定值
                    long CycleInTicks = (long)(SendCycle * TicksPerMs);
                    //临时测试用
                    //long lastTicks = Stopwatcher.ElapsedTicks;
                    //IsCycleSend
                    while (IsCycleSend && !token.IsCancellationRequested)
                    {
                        try
                        {
                            // 计算下一次执行时间点 ，将当前设置的发送周期SendCycle(毫秒)转换为Stopwatch的计时单位(tick)，累加到NextExecutionTime上
                            NextExecutionTime += CycleInTicks; // 转换为Stopwatch计时单位

                            // 获取当前时间点，以Stopwatch的tick为单位
                            CurrentTime = Stopwatcher.ElapsedTicks;
                            //计算需要等待的时间，即目标时间点(NextExecutionTime)与当前时间点(CurrentTime)的差值
                            DelayTicks = NextExecutionTime - CurrentTime;

                            // 如果还有等待时间，则等待，只有在目标时间点还未到达时才执行等待
                            if (DelayTicks > 0)
                            {
                                ////此时是需要等待的，那么需要等待多久呢， 将需等待的tick数转换回毫秒
                                DelayMs = (int)(DelayTicks / TicksPerMs);
                                //20这个数据是预估和测试的，可能跟Windows抖动误差就是20ms左右，当然可以不用这个IF()判断，直接SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);但是会导致当前独占一个CPU核心线程
                                //所以设置一个20的阈值，20ms以下的延迟使用SpinWait.SpinUntil进行自旋等待，20ms以上的延迟使用Task.Delay进行异步等待，让CPU不至于一直的独占
                                if (DelayMs <= 20)
                                {
                                    SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
                                }
                                else
                                {
                                    ////使用Task.Delay进行异步等待，大部分等待时间通过这种方式完成，避免线程阻塞
                                    await Task.Delay(DelayMs - 20, token);
                                    //// 使用SpinWait.SpinUntil进行精确的微调等待。自旋等待会占用CPU资源，但能提供更高的定时精度，确保在精确的时间点执行
                                    ////上面的Task.Delay可能会因为系统调度等原因导致实际执行时间稍晚于预期，因此在这里使用SpinWait.SpinUntil来确保在精确的时间点执行
                                    SpinWait.SpinUntil(() => Stopwatcher.ElapsedTicks >= NextExecutionTime);
                                }
                            }

                            // 如果已经超过了计划时间，立即执行并重新校准
                            if (Stopwatcher.ElapsedTicks >= NextExecutionTime + CycleInTicks)
                            {
                                //检测是否发生了严重延迟(超过一个周期)。如果当前时间已经超过了下一次计划时间，则说明系统负载过高或其他原因导致无法按时执行，
                                //此时重置NextExecutionTime为当前时间，避免连续的延迟累积
                                // 严重延迟，重新校准
                                NextExecutionTime = Stopwatcher.ElapsedTicks;
                                Console.WriteLine("定时发送延迟过大，重新校准时间");
                            }

                            // 使用Stopwatch记录实际的执行间隔，而不是DateTime
                            //Console.WriteLine($"--实际间隔(ms): {(Stopwatcher.ElapsedTicks - lastTicks) / TicksPerMs:F3}, 目标: {SendCycle}");
                            //lastTicks = Stopwatcher.ElapsedTicks;

                            //Console.WriteLine($"--当前时间(毫秒): {DateTime.Now:yyyy-MM-dd HH:mm:ss.fff}");


                            // 执行发送CAN逻辑
                            {

                                //防止有多个不同的消息名称/帧，每个帧单独处理发送
                                var GroupMsg = CmdData.GroupBy(x => x.MsgName);
                                foreach (var itemMsg in GroupMsg)
                                {
                                    foreach (var itemSignal in itemMsg)
                                    {
                                        //主机写操作，发送数据给从机
                                        LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                                    }
                                    //【0】参数注意
                                    LDFParser.LDF_ExeFrameToBus(LDFHandle, new StringBuilder(itemMsg.Key), 0);

                                    //读取当前的指令帧数据，LDF_ExeFrameToBus执行后就可以读取本身的数据
                                    foreach (var item in ListLinLdfModel)
                                    {
                                        if (CmdData.Any(a => a.MsgName == item.MsgName))
                                        {
                                            LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
                                            item.SignalRtValueSb = ReadValueStr;
                                        }
                                    }
                                }


                            }

                        }
                        catch (TaskCanceledException)
                        {
                            // 任务被取消，正常退出
                            break;
                        }
                        catch (Exception ex)
                        {
                            Console.WriteLine($"LIN周期发送异常: {ex.Message}");
                            // 短暂暂停避免异常情况下CPU占用过高
                            await Task.Delay(10, token);
                        }
                    }
                }
                catch (Exception ex)
                {
                    // 确保在任何情况下（正常退出、异常、取消）都会停止计时器
                    Stopwatcher.Stop();

                    // 清理其他可能的资源
                    Console.WriteLine("LIN周期发送任务已结束，资源已清理");
                }
                finally
                {
                    // 确保在任何情况下（正常退出、异常、取消）都会停止计时器
                    Stopwatcher.Stop();
                }

            }, token, TaskCreationOptions.LongRunning, TaskScheduler.Default);
        }


        /// <summary>
        /// 修改停止发送的方法
        /// </summary>
        public void StopCycleSendMsg()
        {
            IsCycleSend = false;
            CycleSendCts?.Cancel();
        }

        #endregion



        /// <summary>
        /// 关闭设备
        /// </summary>
        public void CloseDevice()
        {
            //关闭设备
            USB_DEVICE.USB_CloseDevice(DevHandle);
            OpenState = false;
            LdfParserState = false;
            IsCycleRevice = false;
            IsCycleSend = false;
        }

    }
}