using System; using System.Collections.Generic; using System.Linq; using System.Text; using HslCommunication.Core.IMessage; using HslCommunication.Core.Net; using HslCommunication.Core; using System.Net.Sockets; using HslCommunication.BasicFramework; namespace HslCommunication.Profinet.Omron { ///

/// 欧姆龙PLC通讯类，采用Fins-Tcp通信协议实现 ///

/// /// 实例化之后，使用之前，需要初始化三个参数信息，具体见三个参数的说明：，， ///
/// 如果在测试的时候报错误码64，经网友上海-Lex 指点，是因为PLC中产生了报警，如伺服报警，模块错误等产生的，但是数据还是能正常读到的，屏蔽64报警或清除plc错误可解决 /// 地址支持的列表如下： /// /// /// 地址名称 /// 地址代号 /// 示例 /// 地址进制 /// 字操作 /// 位操作 /// 备注 /// /// /// DM Area /// D /// D100,D200 /// 10 /// √ /// √ /// /// /// /// CIO Area /// C /// C100,C200 /// 10 /// √ /// √ /// /// /// /// Work Area /// W /// W100,W200 /// 10 /// √ /// √ /// /// /// /// Holding Bit Area /// H /// H100,H200 /// 10 /// √ /// √ /// /// /// /// Auxiliary Bit Area /// A /// A100,A200 /// 10 /// √ /// √ /// /// /// /// /// ///


    /// 
    ///


    public class OmronFinsNet : NetworkDeviceBase
    {
        #region Constructor

        /// 
        /// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
        /// 
        public OmronFinsNet( )
        {
            WordLength                  = 1;
            ByteTransform.DataFormat    = DataFormat.CDAB;
        }

        /// 
        /// 实例化一个欧姆龙PLC Fins帧协议的通讯对象
        /// 
        /// PLCd的Ip地址
        /// PLC的端口
        public OmronFinsNet( string ipAddress, int port )
        {
            WordLength                  = 1;
            IpAddress                   = ipAddress;
            Port                        = port;
            ByteTransform.DataFormat    = DataFormat.CDAB;
        }

        #endregion
        
        #region IpAddress Override

        /// 
        /// 设备的Ip地址信息
        /// 
        public override string IpAddress
        {
            get => base.IpAddress;
            set
            {
                DA1 = Convert.ToByte( value.Substring( value.LastIndexOf( "." ) + 1 ) );
                base.IpAddress = value;
            }
        }

        #endregion

        #region Public Member

        /// 
        /// 信息控制字段，默认0x80
        /// 
        public byte ICF { get; set; } = 0x80;
        /// 
        /// 系统使用的内部信息
        /// 
        public byte RSV { get; private set; } = 0x00;

        /// 
        /// 网络层信息，默认0x02，如果有八层消息，就设置为0x07
        /// 
        public byte GCT { get; set; } = 0x02;

        /// 
        /// PLC的网络号地址，默认0x00
        /// 
        public byte DNA { get; set; } = 0x00;
        
        /// 
        /// PLC的节点地址，这个值在配置了ip地址之后是默认赋值的，默认为Ip地址的最后一位
        /// 
        /// 
        /// 假如你的PLC的Ip地址为192.168.0.10，那么这个值就是10
        /// 
        public byte DA1 { get; set; } = 0x13;

        /// 
        /// PLC的单元号地址
        /// 
        /// 
        /// 通常都为0
        /// 
        public byte DA2 { get; set; } = 0x00;

        /// 
        /// 上位机的网络号地址
        /// 
        public byte SNA { get; set; } = 0x00;
        
        private byte computerSA1 = 0x0B;

        /// 
        /// 上位机的节点地址，假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13
        /// 
        /// 
        /// 假如你的电脑的Ip地址为192.168.0.13，那么这个值就是13
        /// 
        public byte SA1
        {
            get { return computerSA1; }
            set
            {
                computerSA1 = value;
                handSingle[19] = value;
            }
        }

        /// 
        /// 上位机的单元号地址
        /// 
        public byte SA2 { get; set; }

        /// 
        /// 设备的标识号
        /// 
        public byte SID { get; set; } = 0x00;

        /// 
        /// 如果设置为True，当数据读取失败的时候，会自动变更当前的SA1值，会选择自动增加，但不会和DA1一致
        /// 
        public bool IsChangeSA1AfterReadFailed { get; set; }
        
        #endregion
        
        #region Build Command
        
        /// 
        /// 将普通的指令打包成完整的指令
        /// 
        /// 
        /// 
        private byte[] PackCommand(byte[] cmd)
        {
            byte[] buffer = new byte[26 + cmd.Length];
            Array.Copy( handSingle, 0, buffer, 0, 4 );
            byte[] tmp = BitConverter.GetBytes( buffer.Length - 8 );
            Array.Reverse( tmp );
            tmp.CopyTo( buffer, 4 );
            buffer[11] = 0x02;

            buffer[16] = ICF;
            buffer[17] = RSV;
            buffer[18] = GCT;
            buffer[19] = DNA;
            buffer[20] = DA1;
            buffer[21] = DA2;
            buffer[22] = SNA;
            buffer[23] = SA1;
            buffer[24] = SA2;
            buffer[25] = SID;
            cmd.CopyTo( buffer, 26 );

            return buffer;
        }
        
        /// 
        /// 根据类型地址长度确认需要读取的指令头
        /// 
        /// 起始地址
        /// 长度
        /// 是否是位读取
        /// 带有成功标志的报文数据
        public OperateResult BuildReadCommand( string address, ushort length ,bool isBit)
        {
            var command = OmronFinsNetHelper.BuildReadCommand( address, length, isBit );
            if (!command.IsSuccess) return command;

            return OperateResult.CreateSuccessResult( PackCommand( command.Content ) );
        }
        
        /// 
        /// 根据类型地址以及需要写入的数据来生成指令头
        /// 
        /// 起始地址
        /// 真实的数据值信息
        /// 是否是位操作
        /// 带有成功标志的报文数据
        public OperateResult BuildWriteCommand( string address, byte[] value, bool isBit )
        {
            var command = OmronFinsNetHelper.BuildWriteWordCommand( address, value, isBit );
            if (!command.IsSuccess) return command;
            
            return OperateResult.CreateSuccessResult( PackCommand( command.Content ) );
        }
        
        #endregion

        #region Double Mode Override

        /// 
        /// 在连接上欧姆龙PLC后，需要进行一步握手协议
        /// 
        /// 连接的套接字
        /// 初始化成功与否
        protected override OperateResult InitializationOnConnect( Socket socket )
        {
            // 握手信号
            OperateResult read = ReadFromCoreServer( socket, handSingle );
            if (!read.IsSuccess) return read;
            
            // 检查返回的状态
            byte[] buffer = new byte[4];
            buffer[0] = read.Content[15];
            buffer[1] = read.Content[14];
            buffer[2] = read.Content[13];
            buffer[3] = read.Content[12];

            int status = BitConverter.ToInt32( buffer, 0 );
            if(status != 0) return new OperateResult( status, OmronFinsNetHelper.GetStatusDescription( status ) );

            // 提取PLC的节点地址
            if (read.Content.Length >= 24) DA1 = read.Content[23];

            return OperateResult.CreateSuccessResult( ) ;
        }

        /// 
        /// 和服务器交互完成的时候调用的方法，无论是成功或是失败，都将会调用，具体的操作需要重写实现
        /// 
        /// 读取结果
        protected override void ExtraAfterReadFromCoreServer( OperateResult read )
        {
            base.ExtraAfterReadFromCoreServer( read );
            if (!read.IsSuccess)
            {
                if (IsChangeSA1AfterReadFailed)
                {
                    // when read failed, changed the SA1 value
                    SA1++;
                    if (SA1 == 0) SA1++;
                    if (SA1 == DA1) SA1++;
                }
            }
        }

        #endregion

        #region Read Support

        /// 
        /// 从欧姆龙PLC中读取想要的数据，返回读取结果，读取单位为字
        /// 
        /// 读取地址，格式为"D100","C100","W100","H100","A100"
        /// 读取的数据长度
        /// 带成功标志的结果数据对象
        /// 
        /// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
        /// 
        /// 以下是读取不同类型数据的示例
        /// 
        /// 
        public override OperateResult Read( string address, ushort length )
        {
            // 获取指令
            var command = BuildReadCommand( address, length, false );
            if (!command.IsSuccess) return OperateResult.CreateFailedResult( command );

            // 核心数据交互
            OperateResult read = ReadFromCoreServer( command.Content );
            if(!read.IsSuccess) return OperateResult.CreateFailedResult( read );

            // 数据有效性分析
            OperateResult valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, true );
            if(!valid.IsSuccess) return OperateResult.CreateFailedResult( valid );

            // 读取到了正确的数据
            return OperateResult.CreateSuccessResult( valid.Content );
        }



        /// 
        /// 从欧姆龙PLC中批量读取位软元件，返回读取结果
        /// 
        /// 读取地址，格式为"D100","C100","W100","H100","A100"
        /// 读取的长度
        /// 带成功标志的结果数据对象
        /// 
        /// 
        /// 
        public OperateResult ReadBool( string address, ushort length )
        {
            // 获取指令
            var command = BuildReadCommand( address, length, true );
            if (!command.IsSuccess) return OperateResult.CreateFailedResult( command );

            // 核心数据交互
            OperateResult read = ReadFromCoreServer( command.Content );
            if (!read.IsSuccess) return OperateResult.CreateFailedResult( read );

            // 数据有效性分析
            OperateResult valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, true );
            if (!valid.IsSuccess) return OperateResult.CreateFailedResult( valid );

            // 返回正确的数据信息
            return OperateResult.CreateSuccessResult( valid.Content.Select( m => m != 0x00 ? true : false ).ToArray( ) );
        }


        /// 
        /// 从欧姆龙PLC中批量读取位软元件，返回读取结果
        /// 
        /// 读取地址，格式为"D100.0","C100.15","W100.7","H100.4","A100.9"
        /// 带成功标志的结果数据对象
        /// 
        /// 地址的格式请参照方法
        /// 
        /// 
        /// 
        /// 
        public OperateResult ReadBool( string address )
        {
            OperateResult read = ReadBool( address, 1 );
            if (!read.IsSuccess) return OperateResult.CreateFailedResult( read );

            return OperateResult.CreateSuccessResult( read.Content[0] );
        }


        #endregion

        #region Write Base


        /// 
        /// 向PLC写入数据，数据格式为原始的字节类型
        /// 
        /// 初始地址
        /// 原始的字节数据
        /// 结果
        /// 
        /// 假设起始地址为D100，D100存储了温度，100.6℃值为1006，D101存储了压力，1.23Mpa值为123，D102,D103存储了产量计数，读取如下：
        /// 
        /// 以下是写入不同类型数据的示例
        /// 
        /// 
        public override OperateResult Write( string address, byte[] value )
        {
            // 获取指令
            var command = BuildWriteCommand( address, value, false );
            if (!command.IsSuccess) return command;

            // 核心数据交互
            OperateResult read = ReadFromCoreServer( command.Content );
            if (!read.IsSuccess) return read;

            // 数据有效性分析
            OperateResult valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, false );
            if (!valid.IsSuccess) return valid;

            // 成功
            return OperateResult.CreateSuccessResult( ) ;
        }
        

        #endregion
        
        #region Write bool[]
        
        /// 
        /// 向PLC中位软元件写入bool数组，返回值说明，比如你写入D100,values[0]对应D100.0
        /// 
        /// 要写入的数据地址
        /// 要写入的实际数据，长度为8的倍数
        /// 返回写入结果
        /// 
        /// 
        /// 
        public OperateResult Write( string address, bool value )
        {
            return Write( address, new bool[] { value } );
        }


        /// 
        /// 向PLC中位软元件写入bool数组，返回值说明，比如你写入D100,values[0]对应D100.0
        /// 
        /// 要写入的数据地址
        /// 要写入的实际数据，可以指定任意的长度
        /// 返回写入结果
        /// 
        /// 
        /// 
        public OperateResult Write( string address, bool[] values )
        {
            // 获取指令
            var command = BuildWriteCommand( address, values.Select( m => m ? (byte)0x01 : (byte)0x00 ).ToArray( ), true );
            if (!command.IsSuccess) return command;

            // 核心数据交互
            OperateResult read = ReadFromCoreServer( command.Content );
            if (!read.IsSuccess) return read;

            // 数据有效性分析
            OperateResult valid = OmronFinsNetHelper.ResponseValidAnalysis( read.Content, false );
            if (!valid.IsSuccess) return valid;

            // 写入成功
            return OperateResult.CreateSuccessResult( );
        }


        #endregion
        
        #region Hand Single

        // 握手信号
        // 46494E530000000C0000000000000000000000D6 
        private readonly byte[] handSingle = new byte[]
        {
            0x46, 0x49, 0x4E, 0x53, // FINS
            0x00, 0x00, 0x00, 0x0C, // 后面的命令长度
            0x00, 0x00, 0x00, 0x00, // 命令码
            0x00, 0x00, 0x00, 0x00, // 错误码
            0x00, 0x00, 0x00, 0x01  // 节点号
        };


        #endregion

        #region Object Override

        /// 
        /// 返回表示当前对象的字符串
        /// 
        /// 字符串
        public override string ToString( )
        {
            return $"OmronFinsNet[{IpAddress}:{Port}]";
        }

        #endregion

    }
}