using Aurora.Api;
using Hermes;
using System;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Threading;
using static AuroraPLC.PLCBase;

namespace AuroraLaserScanner
{
    public class ScannerSimul : ScannerObj
    {
        static new readonly Logger Log = new Logger("Scanner");

        // For storage of each queried data set, the user program must provide (at an address specified by Ptr) an area of PC main memory equal to 528520 bytes.
        [MarshalAs(UnmanagedType.LPArray, SizeConst = 528520)] uint[] m_coordinationTransformPtr = new uint[528520];

        //set_trigger 관련 추가, get_waveform 에서 얻어올 포인터 추가, 최대 크기로 설정 (2^20 = 1,048,576)
        [MarshalAs(UnmanagedType.LPArray, SizeConst = 1048576)] int[] m_getWaveformPtr = new int[1048576];
        private bool _ModulationMode;
        private ScannerConfig _config;

        // -----------------------------
        // MOTF Simulation state
        // -----------------------------
        public Func<int, ePLCDevice, bool, (int err, bool data)> PLCReadBit;
        public Func<int, ePLCDevice, bool, (int err, short data)> PLCReadWord;
        public Func<int, ePLCDevice, bool, (int err, int data)> PLCReadDWord;
        public Func<double> PLCGetAbsDeg;

        private const int PLC_CURRENT_POS_1_ADDR = 4;

        public Stopwatch sw = Stopwatch.StartNew();

        // encoder가 반환할 값
        public volatile int _simEncXCount = 0; //랩핑 각도(0~360
        public volatile int _simEncYCount = 0; //누적 각도

        public volatile bool LastWaitMissedRange = false;

        private const int RotaryJigCount = 16;
        private const double JigPerMsec = 300;
        private const double DegreePerRev = 360.0;
        private const double OneCycleMsec = JigPerMsec * RotaryJigCount;

        // 누적각을 scanner 내부에서 유지
        public double _angleAbsDeg = 0.0;
        private bool _listClosed = false;
        private bool _list1Busy = false;
        private bool _list2Busy = false;
        private eListNo _currentExecutingList = eListNo.NONE;
        private bool _autoChangeRequested = false;

        private long _listStartMs = 0;   // ← 이게 executionStartTime 역할

        private const int MinListTimeMs = 30;      // 너무 빠른 완료 방지
        private const int MaxListTimeMs = 800;     // 너무 느린 완료 방지
        private int SimulatedListTimeMs = 250; // 리스트 실행 시간

        private const double RecommendWindowDeg = 45.0;
        private const double RecommendUseRatio = 0.35; // 45도 중 실제 마킹이 차지하는 비율(가볍게)

        public void EquipmentSimulator()
        {
            PullEncoderFromPlcOnce();
            UpdateListExecution();
        }

        private int DegToCount(double deg)
        {
            double c = deg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
            return (int)System.Math.Round(c);
        }

        private int DegToCountAbs(double absDeg)
        {
            double c = absDeg * _config.MarkingOnTheFlyEncoderResolutionRotate / DegreePerRev;
            long lc = (long)System.Math.Round(c);
            return unchecked((int)lc);
        }

        private void UpdateListExecution()
        {
            if (_currentExecutingList == eListNo.NONE)
                return;

            long now = sw.ElapsedMilliseconds;
            long elapsed = now - _listStartMs;

            int doneTime = GetEffectiveListTimeMs();

            // 최소 현실 가드: elapsed가 음수인 경우 방지
            if (elapsed < 0) {
                _listStartMs = now;
                return;
            }

            if (elapsed >= doneTime) {
                // 현재 리스트 실행 완료
                if (_currentExecutingList == eListNo.LIST1)
                    _list1Busy = false;
                else
                    _list2Busy = false;

                if (_autoChangeRequested) {
                    // 반대 리스트 자동 실행
                    _currentExecutingList =
                        (_currentExecutingList == eListNo.LIST1) ? eListNo.LIST2 : eListNo.LIST1;

                    if (_currentExecutingList == eListNo.LIST1) {
                        _list1Busy = true;
                        _list2Busy = false;
                    } else {
                        _list2Busy = true;
                        _list1Busy = false;
                    }

                    _listStartMs = now;
                    _autoChangeRequested = false;
                } else {
                    _currentExecutingList = eListNo.NONE;
                }
            }
        }
        private int GetEffectiveListTimeMs()
        {
            int t = SimulatedListTimeMs;

            //    4800msec / 360 * 45 * ratio
            int recommendedListRunTime = (int)Math.Round((OneCycleMsec / DegreePerRev) * RecommendWindowDeg * RecommendUseRatio);

            // recommended가 너무 작거나 0이 되는 경우 방지
            if (recommendedListRunTime < MinListTimeMs)
                recommendedListRunTime = MinListTimeMs;

            if (t < MinListTimeMs)
                t = MinListTimeMs;

            if (t > MaxListTimeMs)
                t = MaxListTimeMs;

            if (recommendedListRunTime > MaxListTimeMs)
                recommendedListRunTime = MaxListTimeMs;

            return t;
        }
        public void TrySyncAbsAngleToPlcNow()
        {
            _angleAbsDeg = PLCGetAbsDeg();

            // mod 동기화도 같이
            int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, false).data;
            double modDeg = (modRaw / 100_000.0) % DegreePerRev;
            if (modDeg < 0)
                modDeg += DegreePerRev;

            LastWaitMissedRange = false;
        }
        public void ResetSim()
        {
            _angleAbsDeg = 0.0;

            _simEncXCount = 0;
            _simEncYCount = 0;

            StopExecution(); // 리스트 상태 리셋
            LastWaitMissedRange = false;
        }
        public override uint Open()
        {
            IsOpenUnit = true;
            return NO_ERROR;
        }
        public override void Close()
        {
            if (IsOpenUnit == true) {
                IsOpenUnit = false;
            }
        }
        public override int Initialize(ScannerConfig config)
        {
            CommandPosX = 0;
            CommandPosY = 0;
            CommandPosZ = 0;

            _ModulationMode = config.Modulation;
            _config = config;

            return E1.OK;
        }
        public override bool GetModulationMode()
        {
            return _ModulationMode;
        }
        public override void JumpAbs(double x, double y, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosX = x;
            CommandPosY = y;
        }
        public override void JumpAbs3D(double x, double y, double z, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosX = x;
            CommandPosY = y;
            CommandPosZ = z;
        }
        public override void JumpRel(double x, double y, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosX += x;
            CommandPosY += y;
        }
        public override void JumpRel3D(double x, double y, double z, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosX += x;
            CommandPosY += y;
            CommandPosZ += z;
        }
        public override void MarkAbs(double x, double y)
        {
            CommandPosX = x;
            CommandPosY = y;
        }
        public override void MarkRel(double x, double y)
        {
            CommandPosX += x;
            CommandPosY += y;
        }
        public override void ArcAbs(double x, double y, double angle)
        {
            CommandPosX = x;
            CommandPosY = y;
        }

        public override void ArcRel(double x, double y, double angle)
        {
            CommandPosX += x;
            CommandPosY += y;
        }

        public override void JumpAbsZ(double z, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosZ = z;
        }
        public override void JumpRelZ(double z, eFunctionType type = eFunctionType.COMMAND)
        {
            CommandPosZ += z;
        }
        public override void GetXYPos(out double x, out double y)
        {
            x = CommandPosX;
            y = CommandPosY;
        }
        public override void GetZPos(out double z)
        {
            z = CommandPosZ;
        }

        public override void WriteDA(uint portNo, float value/*0~100%*/, eFunctionType type = eFunctionType.COMMAND)
        {

        }

        public override void GetEncoder(out double encoderX, out double encoderY, bool rotateMode = false)
        {
            int valueX = _simEncXCount;
            int valueY = _simEncYCount;

            // 너가 쓰는 변환식 그대로
            encoderX = (valueX * DegreePerRev) / _config.MarkingOnTheFlyEncoderResolutionRotate;
            encoderY = _angleAbsDeg;
            if (encoderY > -0.5 && encoderY < 0)
                encoderY = 0; // 시뮬 안정화
            return;
        }

        public override uint GetMarkingInfo()
        {
            //return RTC5Wrap.n_get_marking_info(m_deviceNo);
            return 0;
        }
        public override uint GetStartStopInfo()
        {
            //return RTC5Wrap.n_get_startstop_info(m_deviceNo);
            return 0;
        }
        public override void StoreEncoder(uint pos)
        {
            //RTC5Wrap.n_store_encoder(m_deviceNo, pos);
        }

        public override void ReadEncoder(out double encoder0_0, out double encoder1_0, out double encoder0_1, out double encoder1_1, bool rotateMode = false)
        {
            // simulation 할때 값 반영 검토 필요
            encoder0_0 = 0;
            encoder1_0 = 0;
            encoder0_1 = 0;
            encoder1_1 = 0;
        }

        public override void WaitForEncoderX(double position)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderY(double position)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderRotateX(double angle)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderRotateY(double angle)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderRotateXMode(double angle, eEncoderWaitThroughMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderRotateYMode(double angle, eEncoderWaitThroughMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void WaitForEncoderXMode(double position, eEncoderWaitThroughMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void WaitForEncoderYMode(double position, eEncoderWaitThroughMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void WaitForEncoderMode(double position, uint encoderNo, eEncoderWaitThroughMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void WaitForEncoderRange(double minX, double maxX, double minY, double maxY)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void WaitForEncoderRotateRange(double minX, double maxX, double minY, double maxY)
        {
            LastWaitMissedRange = false;

            long t0 = sw.ElapsedMilliseconds;

            while (true) {
                // 블로킹 대기 중에도 PLC에서 최신값을 직접 당겨온다
                PullEncoderFromPlcOnce();

                // GetEncoder는 _simEncYCount를 deg로 바꿔줄 것
                GetEncoder(out _, out double curY, true);

                // 정상 진입
                if (curY >= minY && curY <= maxY)
                    return;

                // 최소 현실 가드: 구간을 지나쳤으면 TIMEOUT까지 끌지 말고 즉시 종료
                // (실장에서도 "놓치면" 의미 없고 다음 로직이 꼬임)
                if (curY > maxY) {
                    LastWaitMissedRange = true;
                    Log.W($"[SIM] WaitForEncoderRotateRange MISSED. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
                    return;
                }

                // 최후 안전장치
                if (sw.ElapsedMilliseconds - t0 > 5000) {
                    LastWaitMissedRange = true;
                    Log.W($"[SIM] WaitForEncoderRotateRange TIMEOUT. curY={curY:F3}, range=[{minY:F3}..{maxY:F3}]");
                    return;
                }

                Thread.Sleep(1);
            }
        }
        private void PullEncoderFromPlcOnce()
        {
            // 방어: delegate 미설정이면 아무 것도 못함
            if (PLCReadDWord == null || _config == null || _config.MarkingOnTheFlyEncoderResolutionRotate == 0)
                return;

            // 1) 랩핑각 (0~360)
            int modRaw = PLCReadDWord(PLC_CURRENT_POS_1_ADDR, ePLCDevice.W, true).data;
            double angleModDeg = (modRaw / 100_000.0) % 360.0;
            if (angleModDeg < 0)
                angleModDeg += 360.0;

            // 2) 누적각 (계속 증가)
            //int absRaw = PLCReadDWord(PLC_CURRENT_POS_ABS_ADDR, ePLCDevice.W, true).data;
            //double angleAbsDeg = absRaw / 100_000.0;
            if (PLCGetAbsDeg != null) {
                _angleAbsDeg = PLCGetAbsDeg();
            }

            // 3) count로 변환 (n_get_encoder가 반환한다고 가정하는 값)
            _simEncXCount = DegToCount(angleModDeg);
            _simEncYCount = DegToCountAbs(_angleAbsDeg);
        }
        public override void SetFlyX(double encoderResolution)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetFlyX(double encoderResolution, double diameter)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetFlyY(double encoderResolution)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetRotateCenter(double posX, double posY, eFunctionType type = eFunctionType.COMMAND)
        {
            // simulation 할때 값 반영 검토 필요

        }
        public override void SetFlyRotate(double encoderResolution)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetFlyRotatePos(double encoderResolution)
        {
            // simulation 할때 값 반영 검토 필요
        }


        public override void ActivateFlyXY(double encoderResolutionX, double encoderResolutionY)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void ActivateFly1Axis(int axis, int mode, double scale, int offset)
        {

        }

        public override void Fly_Return(double x, double y)
        {
            // simulation 할때 값 반영 검토 필요

        }
        public override void ParkPosition(double posX, double posY, eParkType type = eParkType.VirtualImage)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void ParkReturn(double posX, double posY, eParkType type = eParkType.VirtualImage)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void InitFly2D(int offsetX = 0, int offsetY = 0)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SimulateEncoder(uint EncoderNo)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetControlMode(uint mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetLaesrDelay(int laserOnDelay, uint laserOffDelay)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetScannerDelay(uint jumpDelay, uint markDelay, uint arcDelay)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetJumpSpeedCtrl(double speed)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetJumpSpeed(double speed)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetMarkSpeed(double speed)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetStartList(eListNo no)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override uint LoadList(eListNo no)
        {
            bool busy = (no == eListNo.LIST1) ? _list1Busy : _list2Busy;

            if (busy)
                return 0;   // 실행 중 → Load 불가

            return (uint)no;  // Load 가능
        }
        public override void SetEndList()
        {
            _listClosed = true;
        }
        public override void ExecuteList(eListNo no)
        {
            if (!_listClosed)
                Log.W("ExecuteList called without SetEndList");
            _listClosed = false; // 실행 시작하면서 다시 열림 상태로

            _currentExecutingList = no;

            if (no == eListNo.LIST1) {
                _list1Busy = true;
                _list2Busy = false;
            } else {
                _list2Busy = true;
                _list1Busy = false;
            }

            _listStartMs = sw.ElapsedMilliseconds;
        }
        public override void StartLoop()
        {
            RTC5Wrap.n_start_loop(m_deviceNo);
        }
        public override void QuitLoop()
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void AutoChange()
        {
            if (_currentExecutingList == eListNo.NONE)
                return;

            _autoChangeRequested = true;
        }
        public override bool GetBusyStatus()
        {
            return _list1Busy || _list2Busy || _currentExecutingList != eListNo.NONE;
        }
        public override void StopExecution()
        {
            _list1Busy = false;
            _list2Busy = false;
            _currentExecutingList = eListNo.NONE;
            _autoChangeRequested = false;
            _listStartMs = 0;
            _listClosed = false;

            _angleAbsDeg = 0.0;

            _simEncXCount = 0;
            _simEncYCount = 0;
        }
        public override uint GetRTCVersion()
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }
        public override uint GetDLLVersion()
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }
        public override void SetLaserTiming(uint periodHz, uint laser1PulseWidthUs, uint laser2PulseWidthUs)   //단위는 Khz, us임
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetStandby(uint periodHz, uint laserPulseWidthUs) //단위는 Khz, us임
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetLaserMode(eLaserMode mode)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetLaserControl(uint ctrl)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetFirstPulseKiller(uint width) //단위는 us->bit 로 변경해야 함
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void LaserSignalOn()
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void LaserSignalOff()
        {
            // simulation 할때 값 반영 검토 필요
        }

        /// <summary>
        ///  지정한 시간 시간만큼 Laser Active 신호를 켜주는 리스트 함수
        /// </summary>
        /// <param name="interval">시간[ms]</param>
        public override void LaserOnList(double interval)
        {
            // simulation 할때 값 반영 검토 필요
        }

        /// <summary>
        ///  Laser Active가 Off된 상태에서 지정한 시간 시간만큼  delay를 추가하는 함수
        /// </summary>
        /// <param name="delay">시간[ms]</param>
        public override void LongDelay(uint delay)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetAngle(double angle/*degree*/, uint atOnce, eFunctionType type = eFunctionType.COMMAND)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetOffset(double offsetX, double offsetY, uint atOnce, eFunctionType type = eFunctionType.COMMAND)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void DisableLaser()
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void EnableLaser()
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void ParaLaserOnPulsesList(double period, uint pulses, float powerValue)
        {
            // simulation 할때 값 반영 검토 필요
        }



        //Ramping 기능
        public override void ParaMarkAbs(double x, double y, float power)
        {
            CommandPosX = x;
            CommandPosY = y;

            // simulation 할때 값 반영 검토 필요
        }
        public override void ParaMarkRel(double x, double y, float power)
        {
            CommandPosX += x;
            CommandPosY += y;

            // simulation 할때 값 반영 검토 필요
        }
        public override void ParaJumpAbs(double x, double y, float power)
        {
            CommandPosX = x;
            CommandPosY = y;

            // simulation 할때 값 반영 검토 필요
        }
        public override void ParaJumpRel(double x, double y, float power)
        {
            CommandPosX += x;
            CommandPosY += y;

            // simulation 할때 값 반영 검토 필요
        }
        public override void SetVectorControl(uint portNo, uint value)
        {
            // simulation 할때 값 반영 검토 필요
        }

        //측정 기능
        public override void StopTrigger()
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetTrigger(uint period/*㎲*/, eRecordSignal signal1, eRecordSignal signal2, eRecordSignal signal3, eRecordSignal signal4)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetTrigger(uint period/*㎲*/, eRecordSignal signal1, eRecordSignal signal2)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void Measurement_status(out uint busy, out uint pos)
        {
            // simulation 할때 값 반영 검토 필요
            busy = 0; pos = 0;
        }
        public override uint ReadStatus()
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }
        public override void GetWaveForm(uint channel, uint number, out int[] data)
        {
            data = new int[number];
            // simulation 할때 값 반영 검토 필요

        }

        //안오산-170224-Wobbel모드 추가(V1.7.0)
        //set_wobbel_mode
        public override void SetWobbelMode(bool wobbelEnable, double transversal, double longitudinal, double frequency, int shape)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetWobbelDirection(int dX, int dY)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void SetWobbelVector(double tansversal, double longitudinal, uint period, float power)
        {
            // simulation 할때 값 반영 검토 필요
        }
        public override void ConfigLaserSignal(eLaserSignal pin2, eLaserSignal pin1, eLaserSignal pin9)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SelectCorrectionTable(int no)
        {
            // simulation 할때 값 반영 검토 필요
        }

        public override void SetEthernetConfigLinkLoss(eEthConfigLinkLossMode mode)
        {
        }

        public override int CheckEthernetConnection(out uint errorCode)
        {
            errorCode = 0;
            return 0;
        }

        #region 리스트 실행 시간 측정
        /// <summary>
        /// Delayed Short List Command
        /// Stores the current value of the RTC6 timer and resets it to zero.
        /// </summary>
        public override void SaveAndRestartTimer()
        {
            // simulation 할때 값 반영 검토 필요
        }

        /// <summary>
        /// Ctrl Command
        /// Returns the RTC5 timer value (without resetting it to zero). It has been stored during the most recent call of save_and_restart_timer.
        /// </summary>
        /// <returns>RTC5 timer value in seconds. As a 64-bit IEEE floating point value.</returns>
        public override double GetTime()
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }
        #endregion



        // 기존 추상함수 아닌 3개 항목 추상함수로 추가
        //ExecuteUpdateParameterList는 Initialize에 직접구현할수밖에.. config의 항목 쓰려면..
        public override uint LoadProgramFile(string fileName)
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }

        public override uint LoadCorrectionFile(string fileName, uint correctionNo, bool use3DMode)
        {
            // simulation 할때 값 반영 검토 필요
            return 0;
        }

        public static int CutValue(int value, int min, int max)
        {
            if (value > max) {
                return max;
            } else if (value < min) {
                return min;
            } else {
                return value;
            }
        }

        public override void SetLaserPinOutList(uint pins)
        {

        }
        public override void SetPortDefault(uint port, uint value)
        {

        }
        public override void SetLaserPinOut(uint pins)
        {

        }
        public override uint GetLastError()
        {
            return 0;
        }

        public override uint GetListSpace()
        {
            return 0;
        }

        public override void SetConfigList(uint mem1, uint mem2)
        {

        }
    }
}