using System;
using System.Net.Sockets;
using System.Threading.Tasks;
using UnityEngine;

public class ModbusTcpClient
{
    private TcpClient tcpClient;
    private string serverIp = "127.0.0.1";
    private int serverPort = 12315;

    public ModbusTcpClient()
    {
        tcpClient = new TcpClient();
    }

    public async Task ConnectToServer()
    {
        try
        {
            await tcpClient.ConnectAsync(serverIp, serverPort);
           Debug.Log("Connected to Modbus server.");
            await SendModbusRequest();
        }
        catch (Exception ex)
        {
           Debug.Log("Error connecting to Modbus server: " + ex.Message);
        }
    }

    private async Task SendModbusRequest()
    {
        byte[] request = new byte[] { 0x00, 0x00, 0x00, 0x00, 0x06, 0x01, 0x03, 0x00, 0x00, 0x00, 0x10 };
        NetworkStream stream = tcpClient.GetStream();

        if (stream.CanWrite)
        {
            await stream.WriteAsync(request, 0, request.Length);
           Debug.Log("Modbus request sent.");
            await ReadResponse(stream);
        }
    }

    private async Task ReadResponse(NetworkStream stream)
    {
        byte[] response = new byte[256];
        int bytesRead = await stream.ReadAsync(response, 0, response.Length);
       Debug.Log("Received response from Modbus server.");

        if (bytesRead > 9) // 确保响应长度足够
        {
            // 解析响应数据
            int length = response[5]; // 获取数据长度
            byte deviceId = response[6]; // 设备编号
            byte functionCode = response[7]; // 功能码

           Debug.Log($"Device ID: {deviceId}, Function Code: {functionCode}, Data Length: {length}");

            // 从第9个字节开始，每两个字节解析一个数据
            for (int i = 9; i < 9 + length; i += 2)
            {
                ushort dataValue = (ushort)(response[i] << 8 | response[i + 1]);
                switch ((i - 9) / 2)
                {
                    case 0: // 钥匙开关数据
                       Debug.Log($"Key Switch Data: {dataValue}");
                        break;
                    case 1: // 方向盘数据
                       Debug.Log($"Steering Wheel Data: {dataValue}");
                        break;
                    case 2: // 方向盘上喇叭状态
                       Debug.Log($"Horn Status: {dataValue}");
                        break;
                    case 3: // 刹车踏板数据
                       Debug.Log($"Brake Pedal Data: {dataValue}");
                        break;
                    case 4: // 油门踏板数据
                       Debug.Log($"Throttle Pedal Data: {dataValue}");
                        break;
                    case 5: // 离合踏板数据
                       Debug.Log($"Clutch Pedal Data: {dataValue}");
                        break;
                    case 6: // 手刹数据
                       Debug.Log($"Handbrake Data: {dataValue}");
                        break;
                    // 其他预留数据的解析
                    default:
                       Debug.Log($"Reserved Data {i/2 - 4}: {dataValue}");
                        break;
                }
            }
        }
        else
        {
           Debug.Log("Invalid response length.");
        }
    }

    public void CloseConnection()
    {
        if (tcpClient != null)
        {
            if (tcpClient.Connected)
            {
                tcpClient.GetStream().Close();
                tcpClient.Close();
               Debug.Log("Connection to Modbus server closed.");
            }
        }
    }
}