using ALib.CAN;
using NewLife;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace ALib.Can_SAEJ1939
{
/// <summary>
/// 参数组编号 PGN，J1939 中用于标识一组相关参数。
/// 由扩展数据页 EDP、数据页 DP、PDU 格式 PF、PDU 特定 PS(PDU1 时部分位) 组成。
/// </summary>
public class PGN
{
/// <summary>EDP： 扩展数据页，1bit（bit25）</summary>
public bool ExtendDataPage = false;
/// <summary>DP： 数据页，1bit（bit24）</summary>
public bool DataPage = false;
/// <summary>PF： PDU 格式 PF（bit23..16）</summary>
public byte PF = 0;
/// <summary>PS: PDU 特定 PS（bit15..8）</summary>
public byte PS = 0;
/// <summary>PDU 格式 < 240 时为 PDU1（点对点），否则为 PDU2（广播）</summary>
public bool IsPDU1 => PF < 240;
/// <summary>DA: 目标地址 DA，仅 PDU1 有效（即 PS）</summary>
public byte DA => PS;
/// <summary>组扩展 GE，仅 PDU2 有效（即 PS）</summary>
public byte GroupExtension => PS;
public PGN() { }
public PGN(byte pf, byte ps = 0, bool dp = false, bool edp = false)
{
PF = pf;
PS = ps;
DataPage = dp;
ExtendDataPage = edp;
}
/// <summary>PGN 的值（18bit）。PDU1 时目标地址 DA 不属于 PGN，置 0</summary>
public UInt32 Value
{
get
{
UInt32 pgn = (UInt32)PF << 8;
// PGN 不含有 DA （目标地址）
if (!IsPDU1) pgn |= PS;
if (DataPage) pgn |= 0x10000;
if (ExtendDataPage) pgn |= 0x20000;
return pgn;
}
set
{
ExtendDataPage = (value & 0x20000) != 0;
DataPage = (value & 0x10000) != 0;
PF = (byte)((value >> 8) & 0xFF);
PS = IsPDU1 ? (byte)0 : (byte)(value & 0xFF);
}
}
/// <summary>输出十六进制 PGN 文本</summary>
public override String ToString() => Value.ToString("X5");
}
/// <summary>
/// J1939 使用扩展帧（29bit ID），把 ID 拆解为多个分段。
/// 位域结构（bit28..0）：
/// <code>
/// bit28..26 Priority(3) bit25 Reserved/EDP bit24 DataPage bit23..16 PF bit15..8 PS bit7..0 SA
/// PDU1(PF<240) PS 为目标地址 DA；PDU2(PF>=240) PS 为组扩展 GE
/// </code>
/// </summary>
public class J1939Id
{
/// <summary>优先级，3bit，取值 0~7，数值越小优先级越高，默认 6</summary>
public int Priority = 6;
/// <summary>保留位 / 扩展数据页 EDP，1bit</summary>
public bool Reserved = false;
/// <summary>数据页 DP，1bit</summary>
public bool DataPage = false;
/// <summary>PDU 格式 PF，8bit</summary>
public byte PF = 0;
/// <summary>PDU 特定 PS，8bit。PDU1 时为目标地址，PDU2 时为组扩展</summary>
public byte PS = 0;
/// <summary>源地址 SA，8bit</summary>
public byte SourceAddress = 0;
public J1939Id() { }
public J1939Id(UInt32 id29)
{
ID = id29;
}
public J1939Id(int id29)
{
ID = (UInt32)id29;
}
/// <summary>PDU 格式 < 240 时为 PDU1（点对点），否则为 PDU2（广播）</summary>
public bool IsPDU1 => PF < 240;
/// <summary>目标地址 DA，仅 PDU1 有意义（即 PS）</summary>
public byte DestinationAddress => PS;
/// <summary>组扩展 GE，仅 PDU2 有意义（即 PS）</summary>
public byte GroupExtension => PS;
/// <summary>参数组编号</summary>
public PGN PGN
{
get => new PGN(PF, PS, DataPage, Reserved);
set
{
if (value == null) return;
Reserved = value.ExtendDataPage;
DataPage = value.DataPage;
PF = value.PF;
// PDU1 时 PS 代表目标地址，不由 PGN 决定，保留原值
if (!IsPDU1) PS = value.PS;
}
}
/// <summary>PGN 原始值（18bit）</summary>
public UInt32 PGNValue
{
get => PGN.Value;
set => PGN = new PGN { Value = value };
}
/// <summary>
/// 29bit 扩展 ID。
/// bit28..26 Priority | bit25 Reserved | bit24 DataPage | bit23..16 PF | bit15..8 PS | bit7..0 SA
/// </summary>
public UInt32 ID
{
get
{
UInt32 id = 0;
id |= (UInt32)(Priority & 0x07) << 26;
if (Reserved) id |= 1u << 25;
if (DataPage) id |= 1u << 24;
id |= (UInt32)PF << 16;
id |= (UInt32)PS << 8;
id |= SourceAddress;
return id;
}
set
{
Priority = (int)((value >> 26) & 0x07);
Reserved = (value & (1u << 25)) != 0;
DataPage = (value & (1u << 24)) != 0;
PF = (byte)((value >> 16) & 0xFF);
PS = (byte)((value >> 8) & 0xFF);
SourceAddress = (byte)(value & 0xFF);
}
}
/// <summary>转换为 CAN 帧（J1939 固定使用扩展帧）</summary>
/// <param name="data">负载数据，最多 8 字节</param>
/// <param name="rtr">是否远程帧</param>
public CanMsg ToCanMsg(byte[] data = null, bool rtr = false)
{
var bs = new byte[8];
var len = data == null ? 0 : Math.Min(data.Length, 8);
if (len > 0) Array.Copy(data, bs, len);
return new CanMsg((Int32)ID, bs, rtr, true);
}
/// <summary>从 CAN 帧构造</summary>
public static J1939Id FromCanMsg(CanMsg msg)
{
if (msg == null) return null;
return new J1939Id((UInt32)msg.ID);
}
/// <summary>
/// 由 29bit 扩展 ID 直接计算出 18bit PGN（与 <see cref="PGNValue"/> 等价），无对象分配，
/// 适合在分发 / 过滤等热路径中做快速判定（如 <see cref="ICanRx.Match"/>）。
/// </summary>
/// <param name="id29">29bit 扩展帧 ID</param>
public static UInt32 GetPgn(UInt32 id29)
{
var pf = (id29 >> 16) & 0xFF;
var ps = (id29 >> 8) & 0xFF;
var dp = (id29 >> 24) & 0x01;
var edp = (id29 >> 25) & 0x01;
UInt32 pgn = (UInt32)(pf << 8);
if (pf >= 240) pgn |= ps; // PDU2：PS 为组扩展，计入 PGN
pgn |= (UInt32)(dp << 16) | (UInt32)(edp << 17);
return pgn;
}
/// <summary>复制当前值</summary>
public J1939Id Clone()
{
return new J1939Id
{
Priority = Priority,
Reserved = Reserved,
DataPage = DataPage,
PF = PF,
PS = PS,
SourceAddress = SourceAddress,
};
}
/// <summary>输出格式：Priority.PGN.SA （如 6.FEF1.00）</summary>
public override String ToString()
{
return $"{Priority}.{PGN:X5}.{SourceAddress:X2}";
}
}
}
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