using CapMachine.Model.CANLIN;
using CapMachine.Wpf.CanDrive;
using CapMachine.Wpf.Dtos;
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>();
            LoggerService = ContainerProvider.Resolve<ILogService>();


            //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>
        /// Logger 实例
        /// </summary>
        public ILogService LoggerService { get; set; }

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

        /// <summary>
        /// 接收优化上下文：缓存帧与信号的 StringBuilder，避免循环中重复分配
        /// </summary>
        private class SignalReadCtx
        {
            public string SignalName { get; set; }
            public StringBuilder SignalNameSB { get; set; }
            public LinLdfModel ModelRef { get; set; }
        }

        private class FrameReadCtx
        {
            public string MsgName { get; set; }
            public StringBuilder MsgNameSB { get; set; }
            public bool IsMasterFrame { get; set; }
            public List<SignalReadCtx> Signals { get; set; } = new List<SignalReadCtx>();
        }

        private List<FrameReadCtx> RecvFrameCtxs = new List<FrameReadCtx>();

        /// <summary>
        /// 开始LDF文件写入
        /// </summary>
        public ObservableCollection<LinLdfModel> StartLdf(string LdfPath)
        {
            LDF_Parser(LdfPath);
            BuildRecvFrameCtxs();
            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>
        /// LIN波特率（从LDF读取）
        /// </summary>
        public int LINBaudRate { get; private set; }

        /// <summary>
        /// 当前正在适配器中运行的调度表名称（用于增量刷新）
        /// 同一个时刻只能运行一个调度表
        /// </summary>
        public string ActiveSchName { get; private 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>
        /// 加载要发送的数据（订阅数据变化事件）
        /// 一般是激活后才注册事件
        /// </summary>
        /// <param name="cmdData"></param>
        public void LoadCmdDataToDrive(List<LinCmdData> cmdData)
        {
            // 取消订阅旧数据源事件
            if (CmdData != null && CmdData.Count > 0)
            {
                foreach (var cmd in CmdData)
                {
                    cmd.LinCmdDataChangedHandler -= CmdData_LinCmdDataChangedHandler;
                }
            }

            // 设置新数据源并订阅事件
            CmdData = cmdData ?? new List<LinCmdData>();
            foreach (var cmd in CmdData)
            {
                cmd.LinCmdDataChangedHandler += CmdData_LinCmdDataChangedHandler;
            }
        }

        /// <summary>
        /// 当前激活调度表下，启用的帧/报文名称集合（来自 ListLINScheduleConfig 的 IsMsgActived）。
        /// 为空(null) 表示不过滤，使用所有 CmdData 中的帧；非空则仅对包含在集合内的帧做信号更新与下发。
        /// </summary>
        private HashSet<string>? ActiveMsgNames;

        /// <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));
            LINBaudRate = LDFParser.LDF_GetLINSpeed(LDFHandle);
            Console.WriteLine("LINSpeed = {0}", LINBaudRate);

            // 使用LDF中的波特率初始化LIN通道（主机模式）
            var initRet = USB2LIN_EX.LIN_EX_Init(DevHandle, LINIndex, LINBaudRate, USB2LIN_EX.LIN_EX_MASTER);
            if (initRet < USB2LIN_EX.LIN_EX_SUCCESS)
            {
                Console.WriteLine("LIN通道初始化失败!");
                LdfParserState = false;
                return;
            }
            else
            {
                Console.WriteLine("LIN通道初始化成功");
                // 可选：开启适配器供电以驱动从节点（若硬件支持）
                try { USB2LIN_EX.LIN_EX_CtrlPowerOut(DevHandle, LINIndex, 1); } catch { }
            }

            //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()
                            });
                        }
                    }
                }
            }

            // 构建接收优化上下文，避免每次循环 GroupBy 与临时对象分配
            BuildRecvFrameCtxs();

            //解析成功
            LdfParserState = true;
        }

        /// <summary>
        /// 构建接收优化上下文
        /// </summary>
        private void BuildRecvFrameCtxs()
        {
            if (ListLinLdfModel == null || ListLinLdfModel.Count == 0)
            {
                RecvFrameCtxs = new List<FrameReadCtx>();
                return;
            }

            var grouped = ListLinLdfModel.GroupBy(x => x.MsgName);
            var list = new List<FrameReadCtx>();
            foreach (var g in grouped)
            {
                var first = g.First();
                var frame = new FrameReadCtx
                {
                    MsgName = g.Key,
                    MsgNameSB = new StringBuilder(g.Key),
                    IsMasterFrame = (first.IsMasterFrame != null && first.IsMasterFrame.Contains("是"))
                };
                foreach (var model in g)
                {
                    frame.Signals.Add(new SignalReadCtx
                    {
                        SignalName = model.SignalName,
                        SignalNameSB = new StringBuilder(model.SignalName),
                        ModelRef = model
                    });
                }
                list.Add(frame);
            }
            RecvFrameCtxs = list;
        }


        /// <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 frames = RecvFrameCtxs;
                        if (frames == null || frames.Count == 0)
                        {
                            IsReviceOk = true;
                            continue;
                        }

                        foreach (var frame in frames)
                        {
                            // 仅对从机发布的帧执行读取
                            if (frame.IsMasterFrame)
                                continue;

                            // 主机读操作，读取从机返回的数据值
                            LDFParser.LDF_ExeFrameToBus(LDFHandle, frame.MsgNameSB, 1);
                            foreach (var sig in frame.Signals)
                            {
                                LDFParser.LDF_GetSignalValueStr(LDFHandle, frame.MsgNameSB, sig.SignalNameSB, ReadValueStr);
                                sig.ModelRef.SignalRtValueSb = ReadValueStr;
                            }
                        }

                        IsReviceOk = true;
                    }
                    catch (Exception ex)
                    {
                        IsReviceOk = false;
                        LoggerService.Info($"{ex.Message}");
                    }
                }
                IsReviceOk = false;
            });
        }


        /// <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;
                }
            }
        }


        private bool _IsReviceOk;
        /// <summary>
        /// 接收报文是否OK
        /// </summary>
        public bool IsReviceOk
        {
            get { return _IsReviceOk; }
            set
            {
                if (_IsReviceOk != value)
                {
                    RaisePropertyChanged();
                    _IsReviceOk = 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");

                                LoggerService.Info("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;
                                        }
                                    }
                                }

                                IsSendOk = true;
                            }

                        }
                        catch (TaskCanceledException)
                        {
                            IsSendOk = false;
                            // 任务被取消，正常退出
                            break;
                        }
                        catch (Exception ex)
                        {
                            IsSendOk = false;
                            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);
                        }
                    }

                    IsSendOk = false;
                }
                catch (Exception ex)
                {
                    IsSendOk = false;
                    // 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();
                    LoggerService.Info("接收出现异常");
                    // 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
                {
                    IsSendOk = false;
                    // 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


        #region 调度器发送报文

        /// <summary>
        /// 指令数据变化时，更新调度表的线程锁
        /// </summary>
        private readonly object SchUpdateLock = new object();

        private bool _SchEnable;
        /// <summary>
        /// 调度表使能
        /// </summary>
        public bool SchEnable
        {
            get { return _SchEnable; }
            set
            {
                _SchEnable = value;
                RaisePropertyChanged();
            }
        }

        /// <summary>
        /// 定时扫描更新数据 扫描Task
        /// </summary>
        private static Task CycleUpdateCmdTask { get; set; }

        /// <summary>
        /// 定时更新时间
        /// 定时更新调度表的周期
        /// </summary>
        private int UpdateCycle { get; set; } = 5000;

        /// <summary>
        /// 调度表数量
        /// </summary>
        public int SchCount { get; set; }

        /// <summary>
        /// LIN 调度表的配置信息
        /// </summary>
        public List<LINScheduleConfigDto> ListLINScheduleConfig { get; set; }

        /// <summary>
        /// 获取LIN的LINScheduleConfig
        /// </summary>
        /// <returns></returns>
        public List<LINScheduleConfig> GetLINScheduleConfigs()
        {
            List<LINScheduleConfig> LINScheduleConfigs = new List<LINScheduleConfig>();
            SchCount = GetSchCount();
            for (int i = 0; i < SchCount; i++)
            {
                var SchName = GetSchName(i);
                var FrameCount = GetSchFrameCount(SchName);
                for (int j = 0; j < FrameCount; j++)
                {
                    LINScheduleConfigs.Add(new LINScheduleConfig()
                    {
                        SchTabName = GetSchName(i),
                        SchTabIndex = i,
                        MsgName = GetSchFrameName(SchName, j),
                        MsgNameIndex = j,
                        Cycle = 100,
                        IsActive = false,
                    });
                }
            }
            return LINScheduleConfigs;
        }

        /// <summary>
        /// 获取调度的帧的信号个数
        /// 消息/报文的个数
        /// 一个调度表包含多个帧/消息/报文
        /// </summary>
        /// <returns></returns>
        public int GetSchFrameCount(string SchName)
        {
            return LDFParser.LDF_GetSchFrameQuantity(LDFHandle, new StringBuilder(SchName));
        }

        /// <summary>
        /// 获取调度的帧的名称
        /// </summary>
        /// <returns></returns>
        public string GetSchFrameName(string SchName, int FrameIndex)
        {
            StringBuilder FrameName = new StringBuilder();
            LDFParser.LDF_GetSchFrameName(LDFHandle, new StringBuilder(SchName), FrameIndex, FrameName);
            return FrameName.ToString();
        }

        /// <summary>
        /// 获取调度表数量
        /// </summary>
        /// <returns></returns>
        public int GetSchCount()
        {
            SchCount = LDFParser.LDF_GetSchQuantity(LDFHandle);
            return SchCount;
        }

        /// <summary>
        /// 获取调度表数量
        /// </summary>
        /// <returns></returns>
        public string GetSchName(int index)
        {
            StringBuilder pSchName = new StringBuilder();
            var SchResult = LDFParser.LDF_GetSchName(LDFHandle, index, pSchName);
            return pSchName.ToString();
        }

        Random Random = new Random();

        /// <summary>
        /// 开始调度表执行
        /// 同一个时刻只能运行一个调度表，如果有多个调度表，只能选择一个运行，
        /// ********** 如果控制指令分布在不同的调度表中，需要更改LDF文件的配置，把控制的报文放在同一个调度表中 **********
        /// </summary>
        public void StartSchedule()
        {
            if (LDFHandle == 0)
                return;

            // 1) 将要执行的调度表烧入适配器并自动运行（若不指定，则启动全部调度表）
            // 优先使用 ListLINScheduleConfig 指定的调度表名；否则默认取第一个
            string selectedSch = string.Empty;
            if (ListLINScheduleConfig != null && ListLINScheduleConfig.Count > 0)
            {
                selectedSch = ListLINScheduleConfig.FirstOrDefault(a => a.IsActive && !string.IsNullOrEmpty(a.SchTabName))?.SchTabName
                              ?? ListLINScheduleConfig.FirstOrDefault(a => !string.IsNullOrEmpty(a.SchTabName))?.SchTabName;
            }

            if (string.IsNullOrEmpty(selectedSch))
            {
                // 回退为索引0的调度表
                if (GetSchCount() > 0)
                {
                    selectedSch = GetSchName(0);
                    LoggerService?.Info($"未指定调度表，默认启动调度表[{selectedSch}]，注意当前调度表可能需要的调度表");
                }
            }

            //当前激活的调度表
            ActiveSchName = selectedSch;

            // 计算当前激活调度表下的“被选中帧”集合（IsMsgActived=true）
            if (!string.IsNullOrEmpty(ActiveSchName) && ListLINScheduleConfig != null)
            {
                var actives = ListLINScheduleConfig
                    .Where(d => d.IsActive && d.IsMsgActived && string.Equals(d.SchTabName ?? string.Empty, ActiveSchName ?? string.Empty, StringComparison.Ordinal))
                    .Select(d => d.MsgName)
                    .Where(n => !string.IsNullOrEmpty(n))
                    .Distinct()
                    .ToList();
                ActiveMsgNames = actives.Count > 0 ? new HashSet<string>(actives) : new HashSet<string>();
            }
            else
            {
                ActiveMsgNames = null; // 不过滤
            }

            // 2) 先将当前指令值写入对应帧（可选，用于初始化，仅对被选中的帧）
            if (CmdData != null && CmdData.Count > 0)
            {
                var groupMsg = CmdData.GroupBy(x => x.MsgName);
                foreach (var itemMsg in groupMsg)
                {
                    // 若设置了激活的帧集合，则进行过滤
                    if (ActiveMsgNames != null && !ActiveMsgNames.Contains(itemMsg.Key))
                        continue;
                    foreach (var itemSignal in itemMsg)
                    {
                        LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(itemMsg.Key), new StringBuilder(itemSignal.SignalName), itemSignal.SignalCmdValue);
                    }
                }
            }

            // 3) 下发选中调度表到表格并自动执行
            var ret = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
            if (ret < 0)
            {
                LoggerService?.Info($"启动调度表[{ActiveSchName}]失败, 返回:{ret}");
            }
            else
            {
                Console.WriteLine($"调度表[{ActiveSchName}]已启动(自动执行)");
                LoggerService?.Info($"调度表[{ActiveSchName}]已启动(自动执行)");
            }

            // 4) 置位调度更新开关（事件驱动刷新，不再自动启动周期刷新任务）
            //SchEnable = true;
            // 不再自动启动周期更新任务，改为数据变化事件驱动刷新
            // if (CycleUpdateCmdTask == null || CycleUpdateCmdTask.IsCompleted) { StartCycleUpdateCmd(); }
        }


        /// <summary>
        /// 循环更新调度表的指令数据
        /// 定时更新数据到调度表中
        /// </summary>
        public void StartCycleUpdateCmd()
        {
            CycleUpdateCmdTask = Task.Run(async () =>
            {
                while (IsCycleSend)
                {
                    await Task.Delay(UpdateCycle);
                    try
                    {

                        if (CmdData.Count() == 0) return;

                        //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)
                        {
                            // 若设置了激活的帧集合，则进行过滤
                            if (ActiveMsgNames != null && !ActiveMsgNames.Contains(itemMsg.Key))
                                continue;
                            foreach (var itemSignal in itemMsg)
                            {
                                if (itemSignal.ConfigName.Contains("速"))
                                {
                                    itemSignal.SignalCmdValue =  1250+ Random.NextDouble()*1000;
                                }
                                //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)
                                    && (ActiveMsgNames == null || ActiveMsgNames.Contains(item.MsgName)))
                                {
                                    LDFParser.LDF_GetSignalValueStr(LDFHandle, new StringBuilder(item.MsgName), new StringBuilder(item.SignalName), ReadValueStr);
                                    item.SignalRtValueSb = ReadValueStr;
                                }
                            }

                            // 调度表已在适配器中自动执行，这里仅更新信号值即可
                        }

                        // 将更新后的信号值下发到适配器的自动调度表（刷新离线表的数据）
                        if (!string.IsNullOrEmpty(ActiveSchName))
                        {
                            var retPush = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
                            if (retPush < 0)
                            {
                                LoggerService?.Info($"刷新调度表[{ActiveSchName}]失败, 返回:{retPush}");
                            }
                        }

                        IsSendOk = true;
                    }
                    catch (Exception ex)
                    {
                        IsSendOk = false;
                        LoggerService.Info($"时间:{DateTime.Now.ToString()}-【MSG】-{ex.Message}");
                    }
                }

                IsSendOk = false;
            });
        }

        /// <summary>
        /// 指令数据发生变化事件回调
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e">消息/帧名称</param>
        private void CmdData_LinCmdDataChangedHandler(object? sender, string e)
        {
            UpdateSchDataByCmdDataChanged(e);
        }

        /// <summary>
        /// 指令数据变化时，按消息名增量刷新调度表数据
        /// </summary>
        /// <param name="changedMsgName">发生变化的帧名称</param>
        private void UpdateSchDataByCmdDataChanged(string changedMsgName)
        {
            try
            {
                // 与CAN保持一致：仅在循环发送开启且调度表使能时才更新
                if (!IsCycleSend) return;
                if (!SchEnable) return;

                // 基础防御
                if (LDFHandle == 0) return;
                if (string.IsNullOrEmpty(ActiveSchName)) return;
                if (string.IsNullOrEmpty(changedMsgName)) return;

                // 若配置了激活帧过滤，则不在集合内的帧不更新
                if (ActiveMsgNames != null && ActiveMsgNames.Count > 0 && !ActiveMsgNames.Contains(changedMsgName))
                    return;

                lock (SchUpdateLock)
                {
                    // 仅更新对应消息/帧的信号值
                    var relatedCmds = CmdData.Where(x => string.Equals(x.MsgName, changedMsgName, StringComparison.Ordinal));
                    foreach (var cmd in relatedCmds)
                    {
                        LDFParser.LDF_SetSignalValue(LDFHandle, new StringBuilder(changedMsgName), new StringBuilder(cmd.SignalName), cmd.SignalCmdValue);
                    }

                    // 将更新后的信号值推送到适配器当前运行的调度表（离线表刷新）
                    var retPush = LDFParser.LDF_SetSchToTable(LDFHandle, new StringBuilder(ActiveSchName), 0);
                    if (retPush < 0)
                    {
                        IsSendOk = false;
                        LoggerService?.Info($"刷新调度表[{ActiveSchName}]失败, 返回:{retPush}");
                    }
                    else
                    {
                        IsSendOk = true;
                        //Console.WriteLine($"Update LIN Schedule Success -- Sch:[{ActiveSchName}] Msg:[{changedMsgName}]");
                    }
                }
            }
            catch (Exception ex)
            {
                IsSendOk = false;
                LoggerService?.Info($"时间:{DateTime.Now.ToString()}-【LIN_SCH】-{ex.Message}");
            }
        }

        /// <summary>
        /// 停止调度表自动执行
        /// </summary>
        public void StopSchedule()
        {
            try
            {
                IsCycleSend = false;
                SchEnable = false;
                ActiveMsgNames = null; // 清空激活帧过滤集合
                if (LDFHandle != 0)
                {
                    LDFParser.LDF_StopSchTable(LDFHandle);
                }
            }
            catch (Exception ex)
            {
                LoggerService?.Info($"停止调度表异常: {ex.Message}");
            }
        }


        #endregion

        /// <summary>
        /// 关闭设备
        /// </summary>
        public void CloseDevice()
        {
            //关闭设备
            try
            {
                // 停止调度并释放LDF资源
                if (LDFHandle != 0)
                {
                    try { LDFParser.LDF_StopSchTable(LDFHandle); } catch { }
                    try { LDFParser.LDF_Release(LDFHandle); } catch { }
                    LDFHandle = 0;
                }
            }
            catch { }
            USB_DEVICE.USB_CloseDevice(DevHandle);
            OpenState = false;
            LdfParserState = false;
            IsCycleRevice = false;
            IsCycleSend = false;
        }

    }
}