using GTN;
using Rs.Framework;
using Rs.Motion.GugaoEcat;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Rs.Motion
{
    public class IoManager
    {
        private short apiResult = 0;
        List<IIO> ioList = new List<IIO>();
        Dictionary<string, IIO> ioDic = new Dictionary<string, IIO>();
        private List<IIOCard> ioCards = new List<IIOCard>();
        private IoManager() { }

        private static IoManager instance;
        public static   IoManager Instance
        {
            get
            {
                if(instance==null)
                    instance = new IoManager();
                return instance;
            }
        }

        public List<IIOCard> GetCards()
        {
            return ioCards;
        }

        public void Init()
        {
            ECatIOCard card1 = null;
            ECatIOCard cardIn2= null;

            //第一张卡

            string filename = "config/motion/io/ecatio_5_32_0.xml";
            if (!File.Exists(filename))
            {
                cardIn2 = new ECatIOCard();
               
                cardIn2.Name = "EC4-3200A(1号卡)";
                cardIn2.Init(32, 0, 5);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, cardIn2);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out cardIn2);
            if (cardIn2 != null)
            {
                cardIn2.Vender = "Gugao";
                ioCards.Add(cardIn2);
                Add(cardIn2);
            }

            //第二张卡

             filename = "config/motion/io/ecatio_6_0_32.xml";
            if (!File.Exists(filename))
            {
                card1 = new ECatIOCard();
                card1.Name = "EC4-3200A(1号卡)";
                card1.Init(0, 32, 6);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
            if (card1 != null)
            {
                card1.Vender = "Gugao";
                ioCards.Add(card1);
                Add(card1);
            }

            //第三张卡

            filename = "config/motion/io/ecatio_7_16_16.xml";
            if (!File.Exists(filename))
            {
                card1 = new ECatIOCard();
                card1.Name = "EC4-1616(3号卡)";
                card1.Init(16, 16, 7);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
            if (card1 != null)
            {
                card1.Vender = "Gugao";
                ioCards.Add(card1);
                Add(card1);
            }

            //第四张卡

            filename = "config/motion/io/ecatio_8_32_0.xml";
            if (!File.Exists(filename))
            {
                card1 = new ECatIOCard();
                card1.Name = "EC4-3200A(4号卡)";
                card1.Init(32, 0, 8);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
            if (card1 != null)
            {
                card1.Vender = "Gugao";
                ioCards.Add(card1);
                Add(card1);
            }
            //第五张卡
            filename = "config/motion/io/ecatio_9_0_32.xml";
            if (!File.Exists(filename))
            {
                card1 = new ECatIOCard();
                card1.Name = "EC4-0032(5号卡)";
                card1.Init(0, 32, 9);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
            if (card1 != null)
            {
                card1.Vender = "Gugao";
                ioCards.Add(card1);
                Add(card1);
            }

            //第六张卡
            filename = "config/motion/io/ecatio_10_16_16.xml";
            if (!File.Exists(filename))
            {
                card1 = new ECatIOCard();
                card1.Name = "EC4-1616(6号卡)";
                card1.Init(16, 16, 10);
                bool suc = XmlSerializerHelper.Instance.Serialize<ECatIOCard>(filename, card1);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<ECatIOCard>(filename, out card1);
            if (card1 != null)
            {
                card1.Vender = "Gugao";
                ioCards.Add(card1);
                Add(card1);
            }


            GLinkIOCard iocard = null;

            filename = "config/motion/io/glinkio.xml";
            if (!File.Exists(filename))
            {
                iocard = new GLinkIOCard();
                iocard.Name = "GLink0";
                iocard.Init(16, 16, 0);
                bool suc = XmlSerializerHelper.Instance.Serialize<GLinkIOCard>(filename, iocard);
            }
            else
                XmlSerializerHelper.Instance.Deserialize<GLinkIOCard>(filename, out iocard);
            if (iocard != null)
            {
                iocard.Vender = "Gugao";
                ioCards.Add(iocard);
                foreach (var item in iocard.DIn)
                {
                    item.IsReverse = false;
                }

                foreach (var item in iocard.DOut)
                {
                    item.IsReverse = true;
                }
                Add(iocard);
            }
        }

        void Add(IIOCard card)
        {
            foreach (IIO eCatIO in card.DOut)
            {
                eCatIO.Card = card;
                if (ioDic.ContainsKey(eCatIO.Name))
                    continue;
                ioDic.Add(eCatIO.Name, eCatIO);
            }

            foreach (IIO eCatIO in card.DIn)
            {
                eCatIO.Card = card;
                ioDic.Add(eCatIO.Name, eCatIO);
            }
        }

        public short ReadIn(string name)
        {
            if(ioDic.ContainsKey(name))
            {
                IIO io = ioDic[name];
                if(io.Card.Vender=="Gugao"&&io.Card.IsEtherCat)
                {
                    ECatIO eio = (ECatIO)io;
                    apiResult = mc_ecat.GTN_EcatIOBitReadInput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
                    if (apiResult == 0)
                        return pValue;
                }
                else if(io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
                {
                    GLinkIO eio = (GLinkIO)io;
                    apiResult = mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out Int32 value);
                    if (apiResult == 0)
                    {
                        byte pValue = (byte)(~(value >> eio.Index) & 0x01);
                        return pValue;
                    }
                }
                
            }
            return -1;
        }

        public short ReadOut(string name)
        {
            if (ioDic.ContainsKey(name))
            {
                IIO io = ioDic[name];
                if (io.Card.Vender == "Gugao" && io.Card.IsEtherCat)
                {
                    ECatIO eio = (ECatIO)io;
                    apiResult = mc_ecat.GTN_EcatIOBitReadOutput(eio.Core, eio.SlaveNo, eio.Offset, eio.Index, out byte pValue);
                    if (apiResult == 0)
                        return pValue;
                }
                else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
                {
                    GLinkIO eio = (GLinkIO)io;
                    apiResult = mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 value);

                    if (apiResult == 0)
                    {
                        byte pValue = (byte)(~(value >> eio.Index) & 0x01);
                        return pValue;
                    }
                }  
            }
            return -1;
        }

        public short WriteOut(string name,byte value)
        {


            //mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, 1, 0);

            //mc_ecat.GTN_GetDo(1, mc_ecat.MC_GPO, out Int32 aaa);

            //mc_ecat.GTN_GetDi(1, mc_ecat.MC_GPI, out int ppp);

            if (ioDic.ContainsKey(name))
            {
                IIO io = ioDic[name];
                if(io.IsReverse)
                {
                    value = (byte)(~(value & 0x01) & 0x01);//取反最后一位
                }
                if(io.Card.Vender=="Gugao" && io.Card.IsEtherCat)
                {
                    ECatIO eio = (ECatIO)io;
                    apiResult = mc_ecat.GTN_EcatIOBitWriteOutput(eio.Core, eio.SlaveNo, eio.Offset, (short)eio.Index, value);
                    if (apiResult == 0)
                        return 0;
                }
                else if (io.Card.Vender == "Gugao" && !io.Card.IsEtherCat)
                {
                    GLinkIO gio = (GLinkIO)io;
                    mc_ecat.GTN_SetDoBit(1, mc_ecat.MC_GPO, (short)(gio.Index+1), value);
                }
            }
            return -1;
        }
    }
}