using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.IO;
using System.IO.Ports;
using System.Threading;
using System.Collections.Concurrent;
using BPA.Helper;

namespace BPASmartClient.SerialPort
{
    public class RobotGripperHelper
    {

        private System.IO.Ports.SerialPort comPort = new System.IO.Ports.SerialPort();
        public bool IsOpen => comPort.IsOpen;

        public bool Open(string portName, int baudRate)
        {
            if (!System.IO.Ports.SerialPort.GetPortNames().Contains(portName))
            {
                MessageLog.GetInstance.Show($"{portName} 串口不存在");
            }
            if (!comPort.IsOpen)
            {
                comPort.PortName = portName;
                comPort.BaudRate = baudRate;
                comPort.DataBits = 8;
                comPort.Parity = Parity.None;
                comPort.StopBits = StopBits.One;
                /*comPort.ReadTimeout = 1000;
                comPort.WriteTimeout = 1000;*/
                //comPort.RtsEnable = true; //设置为 true后会读取不到数据
                comPort.DtrEnable = true;//获取或设置一个值，该值在串行通信过程中启用数据终端就绪 (DTR) 信号。
                //comPort.RtsEnable = true;//获取或设置一个值，该值指示在串行通信中是否启用请求发送 (RTS) 信号
                try
                {
                    comPort.Open();
                }
                catch (Exception ex)
                {
                    MessageLog.GetInstance.ShowEx(ex.ToString());
                }
            }
            /* TaskManage.GetInstance.StartLong(new Action(() =>
             {

                 Thread.Sleep(5000);
             }), $"开启电爪设备通讯", true);*/
            MessageLog.GetInstance.Show($"{portName} 串口打开成功");
            return comPort.IsOpen;
        }
        public bool Stop(string portName)
        {
            comPort.Close();
            MessageLog.GetInstance.Show($"{portName} 串口关闭成功");
            return comPort.IsOpen;
        }
        /// <summary>
        /// 舵机控制  #000P1300T1000!
        /// </summary>
        /// <param name="index">通道号 0 - 5</param>
        /// <param name="value">夹爪幅度 0500 - 2500</param>
        /// <param name="time">夹爪时间 0000-9999</param>
        public void Write(byte index, string value, string time = "1000")
        {
            byte[] PwmNumber = Encoding.ASCII.GetBytes(value);
            byte[] Times = Encoding.ASCII.GetBytes(time);
            //byte[] buffers = new byte[15] { 0x23, 0x30, 0x30, 0x30, 0x50, PwmNumber[0], PwmNumber[1], PwmNumber[2], PwmNumber[3], 0x54, Times[0], Times[1], Times[2], Times[3], 0x21 };
            byte[] buffers = new byte[15] { 0x23, 0x30, 0x30, 0x30, 0x50, 0x31, 0x30, 0x35, 0x30, 0x54, 0x31, 0x30, 0x30, 0x30, 0x21 };
            if (IsOpen) comPort.Write(buffers, 0, buffers.Length);
        }
    }
}