package com.iflytop.gd.hardware.drivers;

import cn.hutool.core.util.StrUtil;
import com.iflytop.gd.hardware.comm.can.A8kCanBusService;
import com.iflytop.gd.hardware.comm.modbus.ModbusMasterService;
import com.iflytop.gd.hardware.exception.HardwareException;
import com.iflytop.gd.hardware.type.A8kPacket;
import com.iflytop.gd.hardware.type.CmdId;
import com.iflytop.gd.hardware.type.driver.HeaterRodSlavedId;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;

import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;

@Slf4j
@Component
@RequiredArgsConstructor
public class HeaterRodDriver {
    private final A8kCanBusService canBus;
    private final ModbusMasterService modbusMaster;

    private static final int SV_ADDRESS = 0x2000;
    private static final int PV_ADDRESS = 0x2010;

    private static final int CONTROL_REGISTER = 0x2106;
    private static final int DP_ADDRESS = 0x2107;
    private static final int DEVICE_ADDRESS_REGISTER = 0x2112;

    private final Map<Integer, Integer> dpCache = new ConcurrentHashMap<>();
    private static final int DEFAULT_DP = 1;

    public void setDeviceAddress(HeaterRodSlavedId heaterRodId, int newAddress) throws Exception {
        int slaveId = heaterRodId.getSlaveId();

        if (!modbusMaster.writeRegister(slaveId, DEVICE_ADDRESS_REGISTER, newAddress)) {
            throw new Exception("Failed to set device address for heater rod with ID: " + heaterRodId.name());
        }

        log.info("Device address for heater rod with ID: {} set to: {}", heaterRodId.name(), newAddress);
    }

    private int getDecimalPoint(int slaveId) throws Exception {
        return dpCache.computeIfAbsent(slaveId, id -> {
            try {
                short[] response = modbusMaster.readHoldingRegisters(id, DP_ADDRESS, 1);
                if (response != null && response.length > 0) {
                    return (int) response[0];
                }
            } catch (Exception e) {
                log.warn("Failed to read DP for slave ID: {}, using default DP: {}", id, DEFAULT_DP);
            }
            return DEFAULT_DP;
        });
    }

    public void openPower(HeaterRodSlavedId heaterRodId) throws Exception
    {
        int slaveId = heaterRodId.getSlaveId();
        if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 1)) { // 1 = Start
            throw new Exception("Failed to start heater rod with ID: " + heaterRodId.name());
        }
    }

    public void closePower(HeaterRodSlavedId heaterRodId) throws Exception
    {
        int slaveId = heaterRodId.getSlaveId();

        if (!modbusMaster.writeRegister(slaveId, CONTROL_REGISTER, 2)) { // 2 = Stop
            throw new Exception("Failed to stop heater rod with ID: " + heaterRodId.name());
        }

        log.info("{} stopped.", heaterRodId.name());
    }

    public void setTemperature(HeaterRodSlavedId heaterRodId, double temperature) throws Exception {
        int slaveId = heaterRodId.getSlaveId();
        int decimalPoint = getDecimalPoint(slaveId);
        int scaledTemperature = (int) (temperature * Math.pow(10, decimalPoint));

        if (!modbusMaster.writeRegister(slaveId, SV_ADDRESS, scaledTemperature)) {
            throw new Exception("Failed to set temperature for heater rod with ID: " + heaterRodId.name());
        }

        log.info("{} started with temperature: {}", heaterRodId.name(), temperature);
    }

    public double getTemperature(HeaterRodSlavedId heaterRodId) throws Exception {
        int slaveId = heaterRodId.getSlaveId();
        int decimalPoint = getDecimalPoint(slaveId);

        short[] response = modbusMaster.readHoldingRegisters(slaveId, PV_ADDRESS, 1);
        if (response == null || response.length == 0) {
            throw new Exception(StrUtil.format("Failed to read temperature {}", heaterRodId.name()));
        }
        double temperature = response[0] / Math.pow(10, decimalPoint);
        log.info("{} GET temperature {}", heaterRodId.name(), temperature);
        return temperature;
    }

    /**
     * 获取电流
     * @return
     */
    public Integer getCurrent(HeaterRodSlavedId heaterRodId) throws HardwareException
    {
        A8kPacket packet = canBus.callcmd(heaterRodId.getMid(), CmdId.adc_read_adc, heaterRodId.getAdcCurrentIndex());
        Integer current = packet.getContentI32(0);
        return current;
    }

    // ==== ==== ==== ==== ==== ====  application  ==== ==== ==== ==== ==== ====
    public void open(HeaterRodSlavedId heaterRodId, double temperature) throws Exception {
        this.openPower(heaterRodId);
        this.setTemperature(heaterRodId, temperature);
    }

    public void close(HeaterRodSlavedId heaterRodId) throws Exception {
        this.closePower(heaterRodId);
    }
}