using CCDCount.DLL.CanBus;
using System;

namespace CanOpenUsageExample
{
    /// <summary>
    /// CanOpenManager 使用示例
    /// 演示如何直接使用创芯科技CAN卡进行CANopen通信
    /// </summary>
    public class CanOpenExample
    {
        public void Example1_BasicUsage()
        {
            // 1. 创建CANopen管理器
            using (var canOpen = new CanOpenManager(deviceType: 4, deviceIndex: 0, canIndex: 0))
            {
                // 2. 初始化(默认500kbps)
                if (!canOpen.Initialize(CanBaudRate.BaudRate_1M))
                {
                    Console.WriteLine("初始化失败!");
                    return;
                }
                
                Console.WriteLine("CANopen管理器初始化成功!");
                
                // 3. NMT - 启动节点1
                canOpen.NmtStartNode(1);
                
                // 4. SDO - 读取设备类型(索引0x1000)
                byte[] response = canOpen.SdoReadAndWait(1, 0x1000, 0x00, 1000);
                if (response != null)
                {
                    Console.WriteLine($"设备类型读取成功");
                }
                
                // 5. SDO - 写入参数
                bool success = canOpen.SdoWriteAndWait(1, 0x6040, 0x00, 0x0006, 1000);
                Console.WriteLine($"SDO写入: {(success ? "成功" : "失败")}");
                
                // 6. PDO - 发送同步帧
                canOpen.SendSync();
                
                // 7. PDO - 配置传输类型
                canOpen.ConfigureTpdoTransmissionType(1, 1, 254); // 事件驱动
                
                // 8. 接收数据
                var frames = canOpen.ReceiveCanFrames(100);
                foreach (var frame in frames)
                {
                    Console.WriteLine($"收到帧: {frame}");
                }
            }
            // using语句会自动调用Dispose()关闭设备
        }
        
        public void Example2_NmtControl()
        {
            using (var canOpen = new CanOpenManager())
            {
                canOpen.Initialize();
                
                // NMT状态机控制
                byte nodeId = 1;
                
                // 重置节点
                canOpen.NmtResetNode(nodeId);
                System.Threading.Thread.Sleep(100);
                
                // 进入预操作状态
                canOpen.NmtEnterPreOperational(nodeId);
                System.Threading.Thread.Sleep(100);
                
                // 启动节点
                canOpen.NmtStartNode(nodeId);
                System.Threading.Thread.Sleep(100);
                
                // 停止节点
                canOpen.NmtStopNode(nodeId);
            }
        }
        
        public void Example3_SdoCommunication()
        {
            using (var canOpen = new CanOpenManager())
            {
                canOpen.Initialize();
                
                byte nodeId = 1;
                
                // 方式1: 异步发送,稍后接收
                canOpen.SdoReadQuick(nodeId, 0x1000, 0x00);
                System.Threading.Thread.Sleep(50);
                var response = canOpen.ReceiveSdoResponse(nodeId, 1000);
                
                // 方式2: 同步阻塞方式(推荐)
                var data = canOpen.SdoReadAndWait(nodeId, 0x1018, 0x01, 1000);
                if (data != null)
                {
                    // 解析响应数据
                    uint vendorId = BitConverter.ToUInt32(data, 4);
                    Console.WriteLine($"厂商ID: 0x{vendorId:X8}");
                }
                
                // 写入4字节数据
                canOpen.SdoWriteAndWait(nodeId, 0x6040, 0x00, 0x0006, 1000);
            }
        }
        
        public void Example4_PdoCommunication()
        {
            using (var canOpen = new CanOpenManager())
            {
                canOpen.Initialize();
                
                byte nodeId = 1;
                
                // 周期性发送SYNC
                for (int i = 0; i < 100; i++)
                {
                    canOpen.SendSync((byte)(i % 256)); // 带计数器
                    
                    // 接收TPDO1
                    var tpdo1Data = canOpen.ReceiveRpdo(nodeId, 1, 50);
                    if (tpdo1Data != null)
                    {
                        Console.WriteLine($"收到TPDO1数据长度: {tpdo1Data.Length}");
                    }
                    
                    System.Threading.Thread.Sleep(10); // 10ms周期
                }
                
                // 发送RPDO1数据到从站
                byte[] rpdoData = new byte[] { 0x01, 0x02, 0x03, 0x04 };
                canOpen.SendTpdo(nodeId, 1, rpdoData);
            }
        }
        
        public void Example5_EmergencyAndHeartbeat()
        {
            using (var canOpen = new CanOpenManager())
            {
                canOpen.Initialize();
                
                // 监听紧急消息和心跳
                while (true)
                {
                    var frames = canOpen.ReceiveCanFrames(100);
                    
                    foreach (var frame in frames)
                    {
                        // 检测紧急消息 (COB-ID: 0x080 + nodeId)
                        if (frame.CobId >= 0x081 && frame.CobId <= 0x0FF)
                        {
                            byte nodeId = (byte)(frame.CobId - 0x080);
                            ushort errorCode = canOpen.ParseEmergencyMessage(frame.Data);
                            Console.WriteLine($"节点{nodeId}紧急错误: 0x{errorCode:X4}");
                        }
                        
                        // 检测心跳 (COB-ID: 0x700 + nodeId)
                        if (frame.CobId >= 0x701 && frame.CobId <= 0x77F)
                        {
                            byte nodeId = (byte)(frame.CobId - 0x700);
                            byte status = canOpen.ParseHeartbeat(nodeId, frame.Data);
                        }
                    }
                }
            }
        }
        
        public void Example6_MultiNodeNetwork()
        {
            using (var canOpen = new CanOpenManager())
            {
                canOpen.Initialize();
                
                // 启动多个节点
                byte[] nodeIds = { 1, 2, 3, 4, 5 };
                
                foreach (byte nodeId in nodeIds)
                {
                    canOpen.NmtStartNode(nodeId);
                    System.Threading.Thread.Sleep(50);
                }
                
                // 轮询所有节点的SDO
                foreach (byte nodeId in nodeIds)
                {
                    var data = canOpen.SdoReadAndWait(nodeId, 0x1000, 0x00, 500);
                    if (data != null)
                    {
                        Console.WriteLine($"节点{nodeId}在线");
                    }
                    else
                    {
                        Console.WriteLine($"节点{nodeId}无响应");
                    }
                }
            }
        }
    }
}