// 定义车型、上下层IO、参数和MCU初始化
using CartActivator;
using MCUSerialBridgeCLR;
using MDCSToolBox.Medulla.Chassis.MultiWheel;
using Medulla.Types;
using System;
using System.Collections.Generic;
using System.Threading;

namespace MedullaAdapter
{
    public class DiverCartDefinition : MultiWheelCartDefinition
    {
        #region 基本成员
        public MCUSerialBridge Bridge;

        internal enum ManualControlMode
        {
            Normal = 0, // 正常模式
            Spin = 1, // 自旋模式
            Crab = 2, // 螃蟹模式
        }
        internal ManualControlMode TransmitterControlMode = ManualControlMode.Normal;
        internal DateTime TransmitterLastTime; // 物理遥控器计算两次实体遥控器指令之间的时间间隔
        #endregion

        #region AsUpperIO
        [AsUpperIO(desc = "从M上复位")] public bool ResetFromM;
        [AsUpperIO(desc = "从M将驱动轮下使能")] public bool DisableFromM;
        [AsUpperIO(desc = "从C上复位")] public bool ResetFromC;
        [AsUpperIO(desc = "从C将驱动轮下使能")] public bool DisableFromC;
        #endregion

        #region AsLowerIO
        [AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
        [AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
        [AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
        [AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
        [AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
        [AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
        [AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
        [AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
        [AsLowerIO(desc = "驱动轮使能状态")] public bool WheelAbleState = true;
        [AsLowerIO(desc = "电池健康状态")] public float SOH;
        [AsInitParam(desc = "车号")][AsLowerIO] public int CarNum = 1;
        #endregion

        #region  初始参数
        [AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
        [AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
        [AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;

        #endregion

        #region 监控参数
        [IOObjectMonitor(desc = "左前左轮PID修正后速度")] public float SpeedLFL;
        [IOObjectMonitor(desc = "左前右轮PID修正后速度")] public float SpeedLFR;
        [IOObjectMonitor(desc = "右前左轮PID修正后速度")] public float SpeedRFL;
        [IOObjectMonitor(desc = "右前右轮PID修正后速度")] public float SpeedRFR;
        [IOObjectMonitor(desc = "左后左轮PID修正后速度")] public float SpeedLRL;
        [IOObjectMonitor(desc = "左后右轮PID修正后速度")] public float SpeedLRR;
        [IOObjectMonitor(desc = "右后左轮PID修正后速度")] public float SpeedRRL;
        [IOObjectMonitor(desc = "右后右轮PID修正后速度")] public float SpeedRRR;
        [IOObjectMonitor(desc = "灯光模式")] public int LightMode = 0;
        [IOObjectMonitor(desc = "实体遥控器当前速度倍率")] public float TransmitterSpeed = 0.3f;
        [IOObjectMonitor(desc = "左前左驱动器远程帧701")] public byte LFLRemoteCode = 0;
        [IOObjectMonitor(desc = "左前右驱动器远程帧702")] public byte LFRRemoteCode = 0;
        [IOObjectMonitor(desc = "右前左驱动器远程帧703")] public byte RFLRemoteCode = 0;
        [IOObjectMonitor(desc = "右前右驱动器远程帧704")] public byte RFRRemoteCode = 0;
        [IOObjectMonitor(desc = "左后左驱动器远程帧705")] public byte LRLRemoteCode = 0;
        [IOObjectMonitor(desc = "左后右驱动器远程帧706")] public byte LRRRemoteCode = 0;
        [IOObjectMonitor(desc = "右后左驱动器远程帧707")] public byte RRLRemoteCode = 0;
        [IOObjectMonitor(desc = "右后右驱动器远程帧708")] public byte RRRRemoteCode = 0;
        #endregion

        #region  操作按钮
        // M层单车硬件：向驱动轮发送复位请求。
        [IOObjectUtility]
        public void WheelReset()
        {
            ResetFromM = true;
        }
        // M层单车硬件：向驱动轮发送下使能请求。
        [IOObjectUtility]
        public void WheelDisable()
        {
            DisableFromM = true;
        }
        #endregion

        public override void CommunicationInit()
        {
            if (GhostMode) return;
            State = -1;
            Bridge = new MCUSerialBridge();
            //Step1:打开指定串口连接
            var err = Bridge.Open(MCUPort, 1000000u);
            if (err != MCUSerialBridgeError.OK)
            {
                Console.WriteLine($"MCU Open FAILED: {err.ToDescription()}");
                return;
            }
            else
            {
                Console.WriteLine("MCU Open OK");
            }
            //Step2:远程复位MCU
            err = Bridge.Reset();
            if (err != MCUSerialBridgeError.OK)
            {
                Console.WriteLine($"MCU Reset FAILED: {err.ToDescription()}");
                return;
            }
            else
            {
                Thread.Sleep(500);
                Console.WriteLine("MCU Reset OK");
            }
            //Step3:获取MCU版本号
            err = Bridge.GetVersion(out var version, 100);
            if (err != MCUSerialBridgeError.OK)
            {
                Console.WriteLine($"MCU GetVersion FAILED: {err.ToDescription()}");
                return;
            }
            else
            {
                Console.WriteLine($"MCU GetVersion OK: {version}");
            }
            //Step4:获取MCU状态
            err = Bridge.GetState(out var state, 100);
            if (err != MCUSerialBridgeError.OK)
            {
                Console.WriteLine($"MCU GetState FAILED: {err.ToDescription()}");
                return;
            }
            else
            {
                Console.WriteLine($"MCU GetState OK: {state}");
            }
            //Step5:串口/CAN配置
            try
            {
                var ports = new List<PortConfig>();
                for (int i = 0; i < 1; i++)
                    ports.Add(new CANPortConfig(500000, 10));
                for (int i = 0; i < 3; i++)
                    ports.Add(new SerialPortConfig(9600, 10));
                Console.WriteLine("=== Port Configuration ===");
                for (int i = 0; i < ports.Count; i++)
                {
                    if (ports[i] is SerialPortConfig s)
                        Console.WriteLine($"Port {i}: Serial, Baud={s.Baud}, ReceiveFrameMs={s.ReceiveFrameMs}");
                    else if (ports[i] is CANPortConfig c)
                        Console.WriteLine($"Port {i}: CAN, Baud={c.Baud}, RetryTimeMs={c.RetryTimeMs}");
                }

                var ret = Bridge.Configure(ports, 200);
                if (ret != MCUSerialBridgeError.OK)
                {
                    Console.WriteLine($"MCU Configure FAILED: {ret.ToDescription()}");
                    return;
                }
                else
                {
                    Console.WriteLine("MCU Configure OK");
                }
                Console.WriteLine("MCU Configure {0}", ret == MCUSerialBridgeError.OK ? "OK" : $"FAILED: 0x{(uint)ret:X8}");
            }
            catch (Exception ex)
            {
                Console.WriteLine($"Configure Exception: {ex.Message}");
                return;
            }
            State = 0;
        }

    }
}