using System;
using System.Runtime.InteropServices;
using System.Text;

namespace ln.ethercat
{


    [StructLayout(LayoutKind.Sequential)]
    public struct PDOEntry
    {
        public int slave;
        public short index;
        public byte subindex;
        public int addr_offset;
        public int addr_bit;
        public int bitlength;
        public int type;

        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 64)]
        public StringBuilder name;


        public override string ToString()
        {
            return string.Format("PDOEntry(slave={0},index={1},subindex={2},addr_offset={3},addr_bit={4},bitlength={5},type={6})", slave,index,subindex,addr_offset,addr_bit,bitlength,type);
        }
    }

    [StructLayout(LayoutKind.Sequential)]
    public struct dto_servicedescriptor
    {
        public int slave;
        public UInt16 index;
        public UInt16 datatype;
        public UInt16 objectcode;
        public byte maxsub;

        [MarshalAs(UnmanagedType.ByValTStr, SizeConst = 128)]
        public StringBuilder name;
    }

    public delegate void cb_enum_indeces(int slave, int index);
    public delegate void cb_enum_sdo_descriptors(int slave, int index, ECDataTypes dataType, ECObjectCodes objectCode, int maxsub, String name);
    public delegate void cb_enum_pdo(UInt16 slave, UInt16 index, byte subindex, int addr_offset, int addr_bit, int bitlength);


    public static class ECMBind
    {

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_version(StringBuilder versionString);

        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_initialize(String ifname);
        
        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_config_init();

        [DllImport("lib/libecmbind.so")]
        public static extern IntPtr ecmbind_get_iomap();

        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_get_expected_wkc_size();

        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_config_map();

        [DllImport("lib/libecmbind.so")]
        public static extern ECSlaveState ecmbind_read_state();

        [DllImport("lib/libecmbind.so")]
        public static extern ECSlaveState ecmbind_get_slave_state(int slave);
        
        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_write_slave_state(int slave, ECSlaveState state);

        [DllImport("lib/libecmbind.so")]
        public static extern ECSlaveState ecmbind_request_state(int slave, ECSlaveState reqState, int timeout);
        
        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_processdata();
        
        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_recover();

        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecd_read_pdo_map(Int32 slave);
        
        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_get_pdo_entries_length();

        [DllImport("lib/libecmbind.so")]
        public static extern Int32 ecmbind_get_pdo_entries(ref PDOEntry[] table, int length);

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_pdo_read(int slave, int index, int subindex, byte[] buffer, int size);

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_pdo_write(int slave, int index, int subindex, byte[] buffer, int size);
        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_sdo_read(int slave, int index, int subindex, byte[] buffer, int size);

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_sdo_write(int slave, int index, int subindex, byte[] buffer, int size);



        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_enumerate_servicedescriptors(int Slave, cb_enum_indeces cb);
        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_read_objectdescription(int slave, int index, cb_enum_sdo_descriptors cb);
        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_read_objectdescription_entry(UInt16 slave, UInt16 index, UInt16 sub, cb_enum_sdo_descriptors cb);

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_pdo_enumerate(cb_enum_pdo cb);
        
        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_iomap_get(int offset, byte[] buffer, int length);

        [DllImport("lib/libecmbind.so")]
        public static extern int ecmbind_iomap_set(int offset, byte[] buffer, int length);

    }
}