#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <Windows.h>
#include "ecat_io.h"
#include <time.h>
#include <conio.h>
#include <string.h>
#include <string>
#include <iostream>

using namespace std;

void printSlaveInfo(short slaveNo)
{
	printf("--------------------------- slave %-2d -----------------------------\n", slaveNo);
	EC_SLAVE_INFO info;
	short rtn = EC_GetSlaveInfo(&info, slaveNo);
	if (rtn == CMD_EXECUTE_SUCCEED)
	{
		printf(" vid: 0x%08x  pid: 0x%08x  rev: 0x%08x\n", info.VendorID, info.ProductCode, info.RevisionNo);
		printf("------------------------------------------------------------------\n");
		printf(" DI: %-3d DO: %-3d AI: %-3d AO: %-3d\n", info.DiNum, info.DoNum, info.AiNum, info.AoNum);
		printf(" Module number: %d\n", info.ModuleNum);
		for (long k = 0; k < info.ModuleNum; ++k)
		{
			printf(" ID%d = 0x%08x\n", k, info.ModuleId[k]);
		}
	}
	else
	{
		printf("EC_GetSlaveInfo return error : %d\n", rtn);
	}
	printf("------------------------------------------------------------------\n");
}

void main()
{
	short rtn = 0;
	
	//打开设备
	rtn = EC_Open();
	if (rtn == CMD_EXECUTE_SUCCEED)
	{
		printf("Device opened\n");
	} 
	else
	{
		printf("Device open fail, return error : %d\n", rtn);
		Sleep(2000);
		return;
	}
	
	//获取版本号
	char chVer[100] = {0};
	rtn = EC_GetVersion(chVer, 100);
	if (rtn == CMD_EXECUTE_SUCCEED)
	{
		printf("Version: %s\n", chVer);
	} 
	else
	{
		printf("Version: unknown, return error : %d\n", rtn);
	}
	printf("++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++\n");

	//获取当前文件夹下ENI路径
	TCHAR szPath[MAX_PATH];
    DWORD ret;
    ret = GetModuleFileName(NULL, szPath, MAX_PATH);
    if (!ret) {
        printf("GetModuleFileName fail (%d)\n", GetLastError());
		Sleep(1000);
        return;
    }
	wstring strPath = std::wstring(szPath);
	int iPos = strPath.find_last_of(L"\\");
	strPath = strPath.substr(0,iPos+1);
	strPath += L"eni.xml";
	//UNICODE转ANSI
	int bufferlen = (int)::WideCharToMultiByte(CP_ACP,0,strPath.c_str(),strPath.length(),NULL,0,NULL,NULL);
	char* pBuffer = new char[bufferlen + 4];
	if ( NULL == pBuffer )
	{
		return;
	}
	int out_len = ::WideCharToMultiByte(CP_ACP,0,strPath.c_str(),strPath.length(),pBuffer,bufferlen+2,NULL,NULL);   
	pBuffer[bufferlen] = '\0';
	//加载ENI文件
	rtn = EC_LoadEni(pBuffer);
	delete[] pBuffer;

	//获取从站资源
	EC_RES rsScan;
	EC_RES rsOnline;
	rtn = EC_GetSlaveResource(&rsScan, &rsOnline);
	if (rtn == CMD_EXECUTE_SUCCEED)
	{
		printf(" Slave Scanned: %d\n", rsScan.SlaveNum);
		printf(" DI: %-3d DO: %-3d AI: %-3d AO: %-3d\n", rsScan.DiNum, rsScan.DoNum, rsScan.AiNum, rsScan.AoNum);
		printf(" Slave Online: %d\n", rsOnline.SlaveNum);
		printf(" DI: %-3d DO: %-3d AI: %-3d AO: %-3d\n", rsOnline.DiNum, rsOnline.DoNum, rsOnline.AiNum, rsOnline.AoNum);
	}
	else
	{
		printf("EC_GetSlaveResource fail, return error: %d\n", rtn);
	}
	for (long i = 0; i < rsScan.SlaveNum; ++i)
	{
		printSlaveInfo(i+1);
	}
	
	printf("Continue? (Y/N): ");
	char chGet = getchar();
	if (chGet != 'Y' && chGet != 'y')
	{
		Sleep(200);
		return;
	}
	//连接从站
	rtn = EC_ConnectECAT();
	printf("LH_ConnectECAT() return: %d\n",rtn);
	//获取从站资源
	rtn = EC_GetSlaveResource(&rsScan, &rsOnline);
	if (rtn == CMD_EXECUTE_SUCCEED)
	{
		printf(" Slave Scanned: %d\n", rsScan.SlaveNum);
		printf(" DI: %-3d DO: %-3d AI: %-3d AO: %-3d\n", rsScan.DiNum, rsScan.DoNum, rsScan.AiNum, rsScan.AoNum);
		printf(" Slave Online: %d\n", rsOnline.SlaveNum);
		printf(" DI: %-3d DO: %-3d AI: %-3d AO: %-3d\n", rsOnline.DiNum, rsOnline.DoNum, rsOnline.AiNum, rsOnline.AoNum);
	}
	else
	{
		printf("EC_GetSlaveResource fail, return error: %d\n", rtn);
	}
	for (long i = 0; i < rsScan.SlaveNum; ++i)
	{
		printSlaveInfo(i+1);
	}

	//PDO数据操作
// 	short sModuleNo = 5;
// 	short sIndex = 0x60e0;
// 	short sSubIndex = 0;
// 	short sDataSize = 4;
// 	unsigned long nData = 0;
// 	rtn = EC_SetPdoData(1,sModuleNo,sIndex,sSubIndex,sDataSize,nData);
// 	rtn = EC_GetPdoData(1,sModuleNo,sIndex,sSubIndex,sDataSize,&nData);

 	//设置模拟输出
	short chn = 1;
	short aoVal = 10000;
	rtn = EC_Set_Analog_Chn_Out(1, chn, &aoVal);

	//获取模拟输入
	while(1)
	{
		for (long i = 0; i < rsScan.SlaveNum; ++i)
		{
			EC_SLAVE_INFO info;
			rtn = EC_GetSlaveInfo(&info, i+1);
			short val[16] = {0};
			rtn = EC_Get_Analog_Chn_In(i+1, 1, val, (short)info.AiNum);
			if (rtn == CMD_EXECUTE_SUCCEED)
			{
				printf(" AI0: %-6d AI1: %-6d AI2: %-6d AI3: %-6d", val[0],val[1],val[2],val[3]);
			}
		}
		printf("\r");
		Sleep(100);
	}

	//获取数字输入
	while(1)
	{
		for (long i = 0; i < rsScan.SlaveNum; ++i)
		{
			EC_SLAVE_INFO info;
			rtn = EC_GetSlaveInfo(&info, i+1);
			short val = 0;
			for (long j = 0; j < info.DiNum; ++j)
			{
				short m = 0;
				rtn = EC_Get_Digital_Chn_In(i+1, j+1, m);
				if (rtn == CMD_EXECUTE_SUCCEED)
				{
					val |= (m << j);
				}
			}
			printf(" DI(%-02d): 0x%04x   ", i, val);
		}
		printf("\r");
		Sleep(100);
	}

	//设置数字输出
	for (long i = 0; i < rsScan.SlaveNum; ++i)
	{
		EC_SLAVE_INFO info;
		rtn = EC_GetSlaveInfo(&info, i+1);
		for (long j = 0; j < info.DoNum; ++j)
		{
			rtn = EC_Set_Digital_Chn_Out(i+1, j+1, 1);
			Sleep(200);
		}
		for (long j = 0; j < info.DoNum; ++j)
		{
			rtn = EC_Set_Digital_Chn_Out(i+1, j+1, 0);
			Sleep(200);
		}
	}
	//获取数字输出
	while(1)
	{
		for (long i = 0; i < rsScan.SlaveNum; ++i)
		{
			EC_SLAVE_INFO info;
			rtn = EC_GetSlaveInfo(&info, i+1);
			short val = 0;
			for (long j = 0; j < info.DoNum; ++j)
			{
				short m = 0;
				rtn = EC_Get_Digital_Chn_Out(i+1, j+1, m);
				if (rtn == CMD_EXECUTE_SUCCEED)
				{
					val |= (m << j);
				}
			}
			printf(" DO(%-02d): 0x%04x   ", i, val);
		}
		printf("\r");
		Sleep(100);
	}
	while(1)
	{
		long val = 0;
		for (long i = 0; i < rsScan.SlaveNum; ++i)
		{
			rtn = EC_Set_Digital_Port_Out(i+1, 1, val, 0xf);
			rtn = EC_Get_Digital_Port_Out(i+1, 1, val);
			printf(" DO(%-02d): 0x%08x   ", i, val);
		}
		printf("\r");
		Sleep(100);
	}

	while(1)
	{
		printf("Disconnect? (Y/N): ");
		chGet = getchar();
		if (chGet != 'Y' && chGet != 'y')
		{
			printf("\n");
			continue;
		}
		else
		{
			break;
		}
	}
	
	rtn = EC_DisconnectECAT();
	printf("EC_DisconnectECAT() return: %d\n", rtn);
	
	rtn = EC_Close();
	printf("EC_Close() return: %d\n", rtn);

	Sleep(3000);
}