namespace LB_VisionProcesses.Communicators
{
    public abstract class BaseCommunicator : ICommunicator
    {
        /// <summary>
        /// 子类名称
        /// </summary>
        public string ClassName { get; set; } = string.Empty;

        /// <summary>
        /// 通讯名称
        /// </summary>
        public string CommunicatorName { get; set; } = string.Empty;

        /// <summary>
        /// 通讯类名
        /// </summary>
        public CommunicatorBrand CommunicatorBrand { get; set; } = CommunicatorBrand.UARTPort;

        /// <summary>
        /// 是否连接
        /// </summary>
        public bool bConnected = true;

        /// <summary>
        /// 是否有心跳
        /// </summary>
        protected bool bHeart = true;

        /// <summary>
        /// 连接参数
        /// </summary>
        public CommunicatorCollections<object> CommunicatorConnections = new CommunicatorCollections<object>();

        /// <summary>
        /// 运行日志
        /// </summary>
        public string Msg = string.Empty;

        /// <summary>
        /// 接受到的消息
        /// </summary>
        protected string strReceiveMsg = string.Empty;

        /// <summary>
        /// 发送的消息
        /// </summary>
        protected string strSendMsg = string.Empty;

        /// <summary>
        /// 获取消息回调
        /// </summary>
        public Action<string> MessageReceived;

        /// <summary>
        /// 获取消息回调
        /// </summary>
        public Action<string, string> TriggerRunMessageReceived;

        /// <summary>
        /// 心跳信号
        /// </summary>
        public string strHeartbeat = "\0";

        /// <summary>
        /// 心跳间隔
        /// </summary>
        private const int HeartbeatInterval = 30; // 心跳间隔（30秒）

        /// <summary>
        /// 心跳发送线程
        /// </summary>
        public Thread heartbeatThread;

        public BaseCommunicator(string name = "")
        {
            CommunicatorName = name;
        }

        public virtual void SendHeartbeat()
        {
            while (true)
            {
                Thread.Sleep(50);
                if (!bConnected)
                    return;
                try
                {
                    // 发送失败则重连
                    if (!SendMessage(strHeartbeat) || !bHeart)
                    {
                        bHeart = false;
                        Connect();
                    }
                    else
                        bHeart = true;

                    // 为避免心跳延时导致关闭软件延时采用for循环,过程中判断是否连接已断开
                    for (int i = 0; i < HeartbeatInterval; i++)
                    {
                        Thread.Sleep(1000);
                        if (!bConnected)
                            return;
                    }
                }
                catch (Exception ex)
                {
                    Msg = $"心跳丢失+{ex.Message}";
                    return;
                }
            }
        }

        public abstract bool Connect();

        public abstract bool Disconnect();

        public virtual string ReceiveMsg()
        {
            string msg = string.Empty;
            for (int i = 0; i <= 3; i++)
            {
                if (string.IsNullOrEmpty(strReceiveMsg))
                    Thread.Sleep(25);
                else
                {
                    msg = strReceiveMsg;
                    strReceiveMsg = string.Empty;
                    return msg;
                }
            }
            return msg;
        }

        public abstract bool SendMessage(string message);
        public abstract bool SendMessage(byte[] message);

        // 清空缓冲区
        public void ClearMessage()
        {
            strReceiveMsg = string.Empty;
        }

        public virtual void Dispose()
        {
            Disconnect();
        }

        public static ushort[] CRC_TABLE = new ushort[]{
             0x0000,0x1021,0x2042,0x3063,0x4084,0x50A5,0x60C6,0x70E7,
             0x8108,0x9129,0xA14A,0xB16B,0xC18C,0xD1AD,0xE1CE,0xF1EF
             };

        public static ushort CRC16Calculate(byte[] data, int length)
        {
            ushort uwCRC = 0xFFFF;
            byte ucTemp;
            for (int index = 0; index < length; index++)
            {
                ucTemp = (byte)(uwCRC >> 0x0C); // 提取CRC的高4位
                uwCRC <<= 4;                    // CRC左移4位
                uwCRC ^= CRC_TABLE[ucTemp ^ data[index] >> 0x04]; // 高4位数据与CRC表进行异或

                ucTemp = (byte)(uwCRC >> 0x0C); // 再次提取CRC的高4位
                uwCRC <<= 4;                    // CRC再次左移4位
                uwCRC ^= CRC_TABLE[ucTemp ^ data[index] & 0x0F]; // 低4位数据与CRC表进行异或
            }
            return uwCRC;
        }

        public static byte[] strToHexByte(string hexString)
        {
            try
            {
                hexString = hexString.Replace(" ", "");
                if (hexString.Length % 2 != 0)
                    hexString += " ";
                byte[] returnBytes = new byte[hexString.Length / 2];
                for (int i = 0; i < returnBytes.Length; i++)
                    returnBytes[i] = Convert.ToByte(hexString.Substring(i * 2, 2), 16);
                return returnBytes;
            }
            catch { return new byte[] { }; }
        }
    }
}