using Sres.Net.EEIP;
using System;
using System.Collections.Generic;
using System.Data.Entity.Core.Metadata.Edm;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using TeamAAS_VP.Models;

namespace TeamAAS_VP.Core.RFID
{
    /// <summary>
    /// SIG350 EtherNet/IP 通讯类 - 专为 RFID 应用设计
    /// 支持 SICK IO-Link RFID 读写头 (RFU63x, RFU62x 等)
    /// </summary>
    public class SIG350RFIDClient : IDisposable
    {
        #region 私有字段

        private readonly EEIPClient _client;
        private readonly string _ipAddress;
        private bool _isConnected;
        private bool _isIOModeActive;
        private CancellationTokenSource _ioCancelToken;
        private Task _ioReceiveTask;
        private readonly object _ioSync = new object();
        private O2TData _lastOutput = new O2TData();
        private T2OData _lastInput = new T2OData();
        private readonly HashSet<int> _enabledPorts = new HashSet<int> { 1 };
        private Rfh5xxReadOptions _readOptions = new Rfh5xxReadOptions();

        private volatile bool _disposed;
        private volatile bool _autoReconnectEnabled = true;
        private int _lastRpiMs = 10;
        private readonly object _reconnectSync = new object();
        private CancellationTokenSource _reconnectCts;
        private Task _reconnectTask;

        /// <summary>初始连接重试次数</summary>
        public int ConnectRetryCount { get; set; } = 10;

        /// <summary>初始连接重试间隔（毫秒）</summary>
        public int ConnectRetryDelayMs { get; set; } = 2000;

        /// <summary>启动 I/O 前回调（Management 用于配置端口/读模式，含 EIP 重连场景）。</summary>
        public Action BeforeStartRfidReading { get; set; }

        /// <summary>断线后自动重连基础间隔（毫秒），随失败次数递增，最大 30 秒</summary>
        public int ReconnectIntervalMs { get; set; } = 3000;

        // Assembly ID（EDS / 手册）
        private const ushort ASSEMBLY_CONFIG = 102;     // 配置：端口 80 字节，完整含 DIO 为 130
        private const ushort ASSEMBLY_O2T = 100;        // 输出 276 字节
        private const ushort ASSEMBLY_T2O = 101;        // 输入 276 字节

        private const int PROCESS_DATA_PER_PORT = 32;
        private const int IO_ASSEMBLY_SIZE = 4 + 8 * (2 + PROCESS_DATA_PER_PORT); // 276
        private const int CONFIG_PORT_SIZE = 80;        // 8 × 10
        private const int CONFIG_FULL_SIZE = 130;       // 80 + layout + substitute + 8×6 DIO

        // IOL Status Bit7 = 过程数据有效 (PQ)
        private const byte IOL_STATUS_PQ_VALID = 0x80;
        private const byte IOL_STATUS_DEV_COM = 0x20;

        // RFH5xx HF ISO15693 PDI/PDO（手册 8.3.1）
        private const byte RFH5xxPdoStart = 0x01;
        private const byte RFH5xxTagPresent = 0x04;
        private const byte RFH5xxFault = 0x02;
        private const int RFH5xxCmdAutoRead = 1;
        private const int RFH5xxCmdRead = 3;
        private const int RFH5xxCmdReadUid = 5;
        private const int RFH5xxUidLength = 8;
        private const int RFH5xxMaxUserPayload = 28;

        // RFU61x UHF（保留兼容）
        private const byte RFU_TAG_PRESENT = 0x04;
        private const int RFU_LENGTH_INDEX = 3;
        private const int RFU_DATA_OFFSET = 4;
        private const int RFU_MAX_EPC_LEN = 28;
        BgEthernetIP Config;
        #endregion

        #region 事件

        public event EventHandler<RFIDTagDataEventArgs> OnTagDataReceived;
        public event Action<bool> OnConnectReceive;
        public event EventHandler<Exception> OnError;
        public event Action<string> OnLog;

        #endregion

        #region 构造函数

        public SIG350RFIDClient(BgEthernetIP config)
        {
            Config = config;
            _ipAddress = config.IP;
            _client = new EEIPClient();
            OnConnectReceive += HandleConnectionChanged;
        }

        #endregion

        #region 连接管理

        public bool Connect()
        {
            StopReconnectLoop();
            for (int i = 0; i < ConnectRetryCount; i++)
            {
                if (InternalConnect())
                {
                    OnConnectReceive?.Invoke(true);
                    return true;
                }

                if (i < ConnectRetryCount - 1)
                    Thread.Sleep(ConnectRetryDelayMs);
            }

            OnConnectReceive?.Invoke(false);
            return false;
        }

        private bool InternalConnect()
        {
            try
            {
                if (_isConnected)
                    return true;

                _client.RegisterSession(_ipAddress);
                _isConnected = true;
                OnLog?.Invoke($"成功连接到 SIG350 ({_ipAddress})");
                return true;
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"连接失败: {ex.Message}");
                OnError?.Invoke(this, ex);
                CleanupSessionOnly();
                return false;
            }
        }

        private void HandleConnectionChanged(bool connected)
        {
            if (connected || _disposed || !_autoReconnectEnabled)
                return;

            ScheduleReconnect();
        }

        private void ScheduleReconnect()
        {
            lock (_reconnectSync)
            {
                if (_disposed || !_autoReconnectEnabled)
                    return;

                if (_reconnectTask != null && !_reconnectTask.IsCompleted)
                    return;

                StopReconnectLoop();
                _reconnectCts = new CancellationTokenSource();
                var token = _reconnectCts.Token;
                _reconnectTask = Task.Run(() => ReconnectLoop(token), token);
            }
        }

        private void ReconnectLoop(CancellationToken token)
        {
            OnLog?.Invoke("EIP 连接断开，开始自动重连...");
            int attempt = 0;

            while (!token.IsCancellationRequested && !_disposed && _autoReconnectEnabled)
            {
                attempt++;
                try
                {
                    if (TryRestoreSession())
                    {
                        OnLog?.Invoke($"EIP 重连成功（第 {attempt} 次）");
                        OnConnectReceive?.Invoke(true);
                        return;
                    }

                    OnLog?.Invoke($"EIP 重连失败（第 {attempt} 次），稍后重试");
                }
                catch (Exception ex)
                {
                    OnLog?.Invoke($"EIP 重连异常: {ex.Message}");
                }

                int delay = Math.Min(ReconnectIntervalMs * Math.Min(attempt, 10), 30000);
                if (token.WaitHandle.WaitOne(delay))
                    break;
            }
        }

        private bool TryRestoreSession()
        {
            CleanupSessionOnly();

            if (!InternalConnect())
                return false;

            if (_lastRpiMs <= 0)
                return true;

            try
            {
                StartRFIDReading(_lastRpiMs);
                return true;
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"EIP 重连后恢复 I/O 失败: {ex.Message}");
                CleanupSessionOnly();
                return false;
            }
        }

        private void StopReconnectLoop()
        {
            try
            {
                if (_reconnectCts != null)
                {
                    _reconnectCts.Cancel();
                    try
                    {
                        if (_reconnectTask != null)
                            _reconnectTask.Wait(3000);
                    }
                    catch (AggregateException) { /* ignore */ }
                    _reconnectCts.Dispose();
                }
            }
            catch { /* ignore */ }
            finally
            {
                _reconnectCts = null;
                _reconnectTask = null;
            }
        }

        public void Disconnect()
        {
            _autoReconnectEnabled = false;
            StopReconnectLoop();
            CleanupResources();
        }

        public bool IsConnected => _isConnected;
        public bool IsIOModeActive => _isIOModeActive;

        /// <summary>
        /// 当前启用监听的端口（1-8）。空集合表示不上报任何标签。
        /// </summary>
        public IReadOnlyCollection<int> EnabledPorts
        {
            get
            {
                lock (_ioSync)
                    return _enabledPorts.OrderBy(p => p).ToList();
            }
        }

        /// <summary>
        /// 设置要读取的读写头端口（1-8）。
        /// </summary>
        public void SetEnabledPorts(IEnumerable<int> ports)
        {
            if (ports == null)
                throw new ArgumentNullException(nameof(ports));

            var next = new HashSet<int>();
            foreach (int p in ports)
            {
                if (p < 1 || p > 8)
                    throw new ArgumentException($"端口号无效: {p}，必须在1-8之间");
                next.Add(p);
            }

            lock (_ioSync)
            {
                _enabledPorts.Clear();
                foreach (int p in next)
                    _enabledPorts.Add(p);
            }

            OnLog?.Invoke(next.Count == 0
                ? "未启用任何 RFID 端口"
                : $"已启用 RFID 端口: {string.Join(",", next.OrderBy(x => x))}");
        }

        private bool IsPortEnabled(int port)
        {
            lock (_ioSync)
                return _enabledPorts.Contains(port);
        }

        /// <summary>
        /// 配置 RFH5xx 读取内容：UID 或用户存储区（手册 8.3.1）。
        /// </summary>
        public void ConfigureReadOptions(Rfh5xxReadOptions options)
        {
            if (options == null)
                throw new ArgumentNullException(nameof(options));

            lock (_ioSync)
                _readOptions = options.Clone();
        }

        public Rfh5xxReadOptions GetReadOptions()
        {
            lock (_ioSync)
                return _readOptions.Clone();
        }

        #endregion

        #region 配置管理

        /// <summary>
        /// 配置 RFID 端口为 IO-Link 模式
        /// </summary>
        public void ConfigureRFIDPort(int port, PortMode mode = PortMode.IOLAutostart)
        {
            if (port < 1 || port > 8)
                throw new ArgumentException("端口号必须在1-8之间");

            try
            {
                var config = ReadConfiguration();
                ApplyPortMode(config, port, mode);
                WriteConfiguration(config);
                OnLog?.Invoke($"端口 {port} 已配置为 {mode}");
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"配置端口 {port} 失败: {ex.Message}");
                throw;
            }
        }

        /// <summary>
        /// 批量配置多个端口为 IO-Link 模式，并更新启用端口集合。
        /// </summary>
        public void ConfigureRFIDPorts(IEnumerable<int> ports, PortMode mode = PortMode.IOLAutostart)
        {
            if (ports == null)
                throw new ArgumentNullException(nameof(ports));

            var list = ports.Distinct().OrderBy(p => p).ToList();
            if (list.Count == 0)
                throw new ArgumentException("至少选择一个端口");

            foreach (int p in list)
            {
                if (p < 1 || p > 8)
                    throw new ArgumentException($"端口号无效: {p}，必须在1-8之间");
            }

            try
            {
                var config = ReadConfiguration();
                foreach (int port in list)
                    ApplyPortMode(config, port, mode);

                WriteConfiguration(config);
                SetEnabledPorts(list);
                OnLog?.Invoke($"端口 [{string.Join(",", list)}] 已配置为 {mode}");
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"批量配置端口失败: {ex.Message}");
                throw;
            }
        }

        private static void ApplyPortMode(SIG350Configuration config, int port, PortMode mode)
        {
            config.PortMode[port - 1] = (byte)mode;
            config.IQBehavior[port - 1] = (byte)IQBehavior.NotSupported;
            config.ValidationBackup[port - 1] = 0;
            config.PortCycleTime[port - 1] = 0;
        }

        private SIG350Configuration ReadConfiguration()
        {
            byte[] data = ReadAssembly(ASSEMBLY_CONFIG);
            if (data == null || data.Length < CONFIG_PORT_SIZE)
                throw new InvalidOperationException($"读取配置失败，长度={data?.Length ?? 0}，至少需要 {CONFIG_PORT_SIZE}");

            return ParseConfiguration(data);
        }

        private void WriteConfiguration(SIG350Configuration config)
        {
            if (config == null)
                throw new ArgumentNullException(nameof(config));

            // 按设备返回长度写回：>=130 用完整块，否则只写 EDS 规定的 80 字节端口配置
            int size = config.RawLength >= CONFIG_FULL_SIZE ? CONFIG_FULL_SIZE : CONFIG_PORT_SIZE;
            byte[] data = SerializeConfiguration(config, size);
            WriteAssembly(ASSEMBLY_CONFIG, data);
        }

        #endregion

        #region RFID 数据操作

        public void StartRFIDReading(int rpiMilliseconds = 10)
        {
            if (!_isConnected)
                throw new InvalidOperationException("未连接到SIG350");

            _lastRpiMs = Math.Max(1, rpiMilliseconds);

            if (_isIOModeActive)
                return;

            BeforeStartRfidReading?.Invoke();

            List<int> ports;
            lock (_ioSync)
                ports = _enabledPorts.OrderBy(p => p).ToList();

            if (ports.Count == 0)
                ports.Add(1);

            try
            {
                StartIOCommunication(rpiMilliseconds);
                EnablePortsOutput(ports);
                ApplyRfh5xxCommandForPorts(ports, oneShot: false);
                string modeText = _readOptions.Kind == RfidPayloadKind.Uid ? "Read UID" : "Auto-Read 用户区";
                OnLog?.Invoke($"RFID数据读取已启动 (端口: {string.Join(",", ports)}, RPI: {rpiMilliseconds}ms, 模式: {modeText})");
            }
            catch (Exception ex)
            {
                // ForwardOpen 已成功但后续失败时必须关掉，避免半开连接
                try { StopIOCommunication(); } catch { /* ignore */ }
                OnLog?.Invoke($"启动RFID读取失败: {ex.Message}");
                throw;
            }
        }

        public void StopRFIDReading()
        {
            try
            {
                if (_isIOModeActive)
                {
                    try { DisableAllPortOutputs(); }
                    catch { /* ignore */ }
                }
            }
            finally
            {
                StopIOCommunication();
                OnLog?.Invoke("RFID数据读取已停止");
            }
        }

        /// <summary>
        /// Autostart 模式下只需使能端口输出；不要向过程数据写入臆造命令字节，
        /// 以免覆盖 IO-Link 设备输出映像。
        /// </summary>
        private void EnablePortsOutput(IList<int> ports)
        {
            lock (_ioSync)
            {
                var output = CloneOutput(_lastOutput);
                for (int i = 0; i < 8; i++)
                {
                    output.OutputEnable[i] = 0;
                    Array.Clear(output.PortProcessData[i], 0, PROCESS_DATA_PER_PORT);
                }

                foreach (int port in ports)
                    output.OutputEnable[port - 1] = 1;

                WriteOtIoData(SerializeO2TData(output));
                _lastOutput = output;
            }
        }

        private void DisableAllPortOutputs()
        {
            lock (_ioSync)
            {
                var output = CloneOutput(_lastOutput);
                for (int i = 0; i < 8; i++)
                {
                    output.OutputEnable[i] = 0;
                    Array.Clear(output.PortProcessData[i], 0, PROCESS_DATA_PER_PORT);
                }
                WriteOtIoData(SerializeO2TData(output));
                _lastOutput = output;
            }
        }

        /// <summary>
        /// 使能端口并向 RFH5xx 下发 PDO 命令（Read UID / Auto-Read）。
        /// </summary>
        private void ApplyRfh5xxCommandForPorts(IList<int> ports, bool oneShot)
        {
            if (ports == null || ports.Count == 0)
                return;

            lock (_ioSync)
            {
                var output = CloneOutput(_lastOutput);
                foreach (int port in ports)
                {
                    output.OutputEnable[port - 1] = 1;
                    WriteRfh5xxPdoToPort(output, port, _readOptions, start: true);
                }
                SendOutputData(output);
                _lastOutput = output;
            }
        }

        private void ApplyRfh5xxCommandForPort(int port, bool oneShot, bool start)
        {
            lock (_ioSync)
            {
                var output = CloneOutput(_lastOutput);
                output.OutputEnable[port - 1] = 1;
                WriteRfh5xxPdoToPort(output, port, _readOptions, start);
                SendOutputData(output);
                _lastOutput = output;

            }
        }

        /// <summary>RFH5xx PDO：Byte0 bit0=START, bit5~7=CMD；用户区 Byte1=块数, Byte3=起始块。</summary>
        /// <summary>
        /// RFH5xx 正确 PDO 命令格式：Byte0 = 命令码
        /// Read UID = 5，Auto-Read 用户区 = 1，单次读用户区 = 3
        /// </summary>
        private static void WriteRfh5xxPdoToPort(O2TData output, int port, Rfh5xxReadOptions options, bool start)
        {
            var pdo = new byte[32];
            if (!start)
            {
                // 停止：首字节写 0
                Array.Copy(pdo, 0, output.PortProcessData[port - 1], 0, 32);
                return;
            }

            // 命令码直接写入 Byte0
            int cmd = options.Kind == RfidPayloadKind.Uid
                ? RFH5xxCmdReadUid    // 5
                : RFH5xxCmdAutoRead;  // 1
            pdo[0] = (byte)cmd;

            // 用户区配置：Byte1=块数，Byte3=起始块地址
            if (options.Kind == RfidPayloadKind.UserMemory)
            {
                pdo[1] = (byte)(options.UserBlockCount & 0x1F);
                pdo[3] = options.UserBlockAddress;
            }

            Array.Copy(pdo, 0, output.PortProcessData[port - 1], 0, 32);
        }

        public RFIDTagData ReadRFIDTag(int port, int timeoutMs = 1000, Rfh5xxReadOptions options = null)
        {
            if (port < 1 || port > 8)
                throw new ArgumentException("端口号必须在1-8之间");



            Rfh5xxReadOptions opts = options ?? GetReadOptions();

            try
            {
                if (!_isIOModeActive)
                    throw new InvalidOperationException("I/O通讯未启动，请先启动监听");

                // Read/ReadUID：翻转 START 触发一次（手册 8.3.1.2）
                ApplyRfh5xxCommandForPort(port, oneShot: opts.Kind == RfidPayloadKind.UserMemory, start: false);
                Thread.Sleep(50);
                ApplyRfh5xxCommandForPort(port, oneShot: opts.Kind == RfidPayloadKind.UserMemory, start: true);
                DateTime startTime = DateTime.Now;
                while ((DateTime.Now - startTime).TotalMilliseconds < timeoutMs)
                {
                    var input = ReadInputData();
                    var tag = TryExtractTag(input, port, opts);
                    if (tag != null)
                        return tag;

                    Thread.Sleep(10);
                }

                return null;
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"读取RFID标签失败: {ex.Message}");
                throw;
            }
            finally
            {

            }
        }



        [Obsolete("RFH5xx 请使用 ReadRFIDTag；此方法保留兼容。")]
        public void SendRFIDCommand(int port, RFIDCommand command, byte[] data = null)
        {
            if (port < 1 || port > 8)
                throw new ArgumentException("端口号必须在1-8之间");

            try
            {
                lock (_ioSync)
                {
                    var output = CloneOutput(_lastOutput);
                    output.OutputEnable[port - 1] = 1;

                    Array.Clear(output.PortProcessData[port - 1], 0, PROCESS_DATA_PER_PORT);

                    if (data != null && data.Length > 0)
                    {
                        int copyLen = Math.Min(PROCESS_DATA_PER_PORT, data.Length);
                        Array.Copy(data, 0, output.PortProcessData[port - 1], 0, copyLen);
                    }

                    // 过程数据第 0 字节作为简易触发（具体含义取决于读写头）
                    if (command == RFIDCommand.StartRead)
                        output.PortProcessData[port - 1][0] = 0x85;
                    else if (command == RFIDCommand.StopRead)
                        output.PortProcessData[port - 1][0] = 0x00;

                    SendOutputData(output);
                    _lastOutput = output;
                }

                OnLog?.Invoke($"RFID命令已发送到端口 {port}: {command}");
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"发送RFID命令失败: {ex.Message}");
                throw;
            }
        }

        public RFIDTagData ReadRFIDTag(int port, int timeoutMs = 1000)
        {
            return ReadRFIDTag(port, timeoutMs, null);
        }

        private RFIDTagData TryExtractTag(T2OData input, int port, Rfh5xxReadOptions options = null)
        {
            if (input == null || port < 1 || port > 8)
                return null;

            if (input.PortStatus == null || input.PortProcessData == null)
                return null;

            byte[] processData = input.PortProcessData[port - 1];
            if (processData == null)
                return null;

            byte status = input.PortStatus[port - 1];
            if ((status & IOL_STATUS_PQ_VALID) == 0)
                return null;

            byte[] tagData = ExtractRFIDData(processData, options ?? _readOptions);
            if (tagData == null || tagData.Length == 0)
                return null;

            return new RFIDTagData
            {
                Port = port,
                Data = tagData,
                Timestamp = DateTime.Now,
                Quality = status,
                PayloadKind = (options ?? _readOptions).Kind
            };
        }

        /// <summary>
        /// 从 IO-Link 32 字节 PDI 提取有效载荷（默认 RFH5xx，失败时尝试 RFU61x）。
        /// </summary>
        internal static byte[] ExtractRFIDData(byte[] processData, Rfh5xxReadOptions options = null)
        {
            if (processData == null || processData.Length == 0)
                return null;

            if (IsAllZero(processData))
                return null;

            if (options == null)
                options = new Rfh5xxReadOptions();

            byte[] rfh = ExtractRfh5xxPayload(processData, options);
            if (rfh != null && rfh.Length > 0)
                return rfh;

            return ExtractRfu61xPayload(processData);
        }

        /// <summary>RFH5xx：Tag=Byte0 bit2；UID=Byte4~11；用户区=Byte4 起。</summary>
        internal static byte[] ExtractRfh5xxPayload(byte[] pdi, Rfh5xxReadOptions options)
        {
            if (pdi == null || pdi.Length < 12 || options == null)
                return null;

            byte b0 = pdi[0];
            if ((b0 & RFH5xxTagPresent) == 0)
                return null;
            if ((b0 & RFH5xxFault) != 0)
                return null;

            if (options.Kind == RfidPayloadKind.Uid)
            {
                if (pdi.Length < 4 + RFH5xxUidLength)
                    return null;

                byte[] uid = new byte[RFH5xxUidLength];
                Array.Copy(pdi, 4, uid, 0, RFH5xxUidLength);
                return IsAllZero(uid) ? null : uid;
            }

            int byteCount = options.UserBlockCount * options.UserBlockSizeBytes;
            if (byteCount <= 0)
                return null;
            byteCount = Math.Min(RFH5xxMaxUserPayload, Math.Min(byteCount, pdi.Length - 4));

            byte[] user = new byte[byteCount];
            Array.Copy(pdi, 4, user, 0, byteCount);
            return IsAllZero(user) ? null : user;
        }

        private static byte[] ExtractRfu61xPayload(byte[] processData)
        {
            if (processData.Length >= RFU_DATA_OFFSET + 1)
            {
                bool tagPresent = (processData[0] & RFU_TAG_PRESENT) != 0;
                int epcLen = processData[RFU_LENGTH_INDEX];

                if (tagPresent)
                {
                    if (epcLen <= 0 || epcLen > RFU_MAX_EPC_LEN || epcLen > processData.Length - RFU_DATA_OFFSET)
                        return null;

                    if (IsAllZero(processData, RFU_DATA_OFFSET, epcLen))
                        return null;

                    byte[] epc = new byte[epcLen];
                    Array.Copy(processData, RFU_DATA_OFFSET, epc, 0, epcLen);
                    return epc;
                }

                // TagPresent=0 且 Length=0：RFU 空闲帧（无芯片），忽略状态/RSSI 噪声
                if (epcLen == 0)
                    return null;
            }

            // 2) 其它设备：仅接受「首字节=长度 + 后面全是填充0」且长度合理（>=4）
            int dataLength = processData[0];
            if (dataLength >= 4 && dataLength < processData.Length)
            {
                int payloadEnd = 1 + dataLength;
                if (payloadEnd <= processData.Length
                     && IsAllZero(processData, payloadEnd, processData.Length - payloadEnd)
                     && !IsAllZero(processData, 1, dataLength))
                {
                    byte[] result = new byte[dataLength];
                    Array.Copy(processData, 1, result, 0, dataLength);
                    return result;
                }
            }

            // 不再把“去尾零后的任意非零过程数据”当作标签
            return null;
        }

        private static bool IsAllZero(byte[] data)
        {
            return IsAllZero(data, 0, data.Length);
        }

        private static bool IsAllZero(byte[] data, int offset, int count)
        {
            if (data == null || count <= 0)
                return true;
            int end = Math.Min(data.Length, offset + count);
            for (int i = offset; i < end; i++)
            {
                if (data[i] != 0)
                    return false;
            }
            return true;
        }

        #endregion

        #region I/O通讯 (隐式消息)

        private void StartIOCommunication(int rpiMilliseconds = 10)
        {
            if (!_isConnected)
                throw new InvalidOperationException("未连接到SIG350");

            if (_isIOModeActive)
                return;

            try
            {
                // RPI：界面单位是 ms，协议单位是 μs。至少 1ms，避免 Max(1000, ms) 把 10ms 误变成 1 秒。
                int rpiMs = Math.Max(1, rpiMilliseconds);
                uint rpiMicroseconds = (uint)rpiMs * 1000u;

                _client.O_T_InstanceID = (byte)ASSEMBLY_O2T;
                _client.T_O_InstanceID = (byte)ASSEMBLY_T2O;
                _client.O_T_Length = (ushort)IO_ASSEMBLY_SIZE;
                _client.T_O_Length = (ushort)IO_ASSEMBLY_SIZE;
                _client.O_T_RealTimeFormat = RealTimeFormat.Header32Bit;
                _client.T_O_RealTimeFormat = RealTimeFormat.Modeless;
                _client.O_T_OwnerRedundant = false;
                _client.T_O_OwnerRedundant = false;
                _client.O_T_Priority = Priority.Scheduled;
                _client.T_O_Priority = Priority.Scheduled;
                _client.O_T_VariableLength = false;
                _client.T_O_VariableLength = false;
                _client.O_T_ConnectionType = ConnectionType.Point_to_Point;
                _client.T_O_ConnectionType = ConnectionType.Point_to_Point;
                _client.RequestedPacketRate_O_T = rpiMicroseconds;
                _client.RequestedPacketRate_T_O = rpiMicroseconds;
                // 使用空配置实例，端口配置已通过显式 Assembly 102 写入
                _client.ConfigurationAssemblyInstanceID = 1;
                _client.ForwardOpen();

                // 初始化输出缓冲区（必须通过 setter 写回，getter 返回的是 Clone）
                lock (_ioSync)
                {
                    _lastOutput = new O2TData();
                    WriteOtIoData(SerializeO2TData(_lastOutput));
                }

                _isIOModeActive = true;
                _ioCancelToken = new CancellationTokenSource();
                _ioReceiveTask = Task.Run(() => IOReceiveLoop(_ioCancelToken.Token));

                OnLog?.Invoke($"I/O通讯已启动 (O2T/T2O={IO_ASSEMBLY_SIZE}字节, RPI={rpiMs}ms)");
            }
            catch (Exception ex)
            {
                _isIOModeActive = false;
                OnLog?.Invoke($"启动I/O通讯失败: {ex.Message}");
                throw;
            }
        }

        private void StopIOCommunication()
        {
            if (!_isIOModeActive)
                return;

            try
            {
                _ioCancelToken?.Cancel();
                try { _ioReceiveTask?.Wait(3000); }
                catch (AggregateException) { /* ignore cancel */ }

                try { _client.ForwardClose(); }
                catch (Exception ex) { OnLog?.Invoke($"ForwardClose: {ex.Message}"); }
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"停止I/O通讯异常: {ex.Message}");
            }
            finally
            {
                _isIOModeActive = false;
                _ioCancelToken?.Dispose();
                _ioCancelToken = null;
                _ioReceiveTask = null;
            }
        }

        private void IOReceiveLoop(CancellationToken token)
        {
            // 按端口记录上次上报指纹，标签离开后清掉，相同标签再次进入仍可上报
            var lastByPort = new string[8];

            while (!token.IsCancellationRequested && _isIOModeActive)
            {
                try
                {
                    var input = TryReadInputData();
                    if (input == null)
                    {
                        Thread.Sleep(10);
                        continue;
                    }
                    try
                    {
                        // 显式读取一次输入Assembly，验证设备响应
                        byte[] test = _client.AssemblyObject.getInstance(ASSEMBLY_T2O);
                        if (test == null || test.Length == 0)
                            throw new Exception("Assembly读取为空");
                    }
                    catch
                    {
                        OnLog?.Invoke("心跳检测失败，IO连接已断开");
                        StopIOCommunication();
                        CleanupSessionOnly();
                        OnConnectReceive?.Invoke(false);
                        break;
                    }
                    var changedTags = new List<RFIDTagData>();

                    for (int port = 1; port <= 8; port++)
                    {
                        if (!IsPortEnabled(port))
                        {
                            lastByPort[port - 1] = null;
                            continue;
                        }

                        var tag = TryExtractTag(input, port, _readOptions);
                        if (tag == null)
                        {
                            lastByPort[port - 1] = null;
                            continue;
                        }

                        string fingerprint = tag.ToHexString();
                        if (fingerprint == lastByPort[port - 1])
                            continue;

                        lastByPort[port - 1] = fingerprint;
                        changedTags.Add(tag);
                    }

                    if (changedTags.Count > 0)
                    {
                        var args = new RFIDTagDataEventArgs(input, changedTags);
                        OnTagDataReceived?.Invoke(this, args);
                    }

                    Thread.Sleep(10);
                }
                catch (Exception ex)
                {
                    if (token.IsCancellationRequested)
                        break;

                    OnLog?.Invoke($"接收I/O数据异常: {ex.Message}");
                    OnError?.Invoke(this, ex);
                    Thread.Sleep(100);
                }
            }
        }

        private void SendOutputData(O2TData outputData)
        {
            if (!_isIOModeActive)
                throw new InvalidOperationException("I/O通讯未启动");

            // 调用方若已持有 _ioSync，Monitor 可重入；此处统一走 setter 写回
            byte[] data = SerializeO2TData(outputData);
            lock (_ioSync)
            {
                WriteOtIoData(data);
            }
        }

        /// <summary>
        /// EEIP.NetStandard 的 O_T_IOData getter 返回 Clone，
        /// 直接改下标或 Array.Copy 到 getter 结果都不会写回内部缓冲区，必须走 setter。
        /// </summary>
        private void WriteOtIoData(byte[] data)
        {
            if (data == null)
                throw new ArgumentNullException(nameof(data));

            _client.O_T_IOData = data;
        }

        /// <summary>
        /// 尝试读取输入；缓冲区尚未就绪时返回 null，避免接收循环狂抛异常。
        /// </summary>
        private T2OData TryReadInputData()
        {
            if (!_isIOModeActive)
                return null;

            byte[] data = _client.T_O_IOData;
            if (data == null || data.Length < IO_ASSEMBLY_SIZE)
                return null;

            var parsed = ParseT2OData(data);
            lock (_ioSync)
                _lastInput = parsed;
            return parsed;
        }

        private T2OData ReadInputData()
        {
            if (!_isIOModeActive)
                throw new InvalidOperationException("I/O通讯未启动");

            var parsed = TryReadInputData();
            if (parsed == null)
                throw new InvalidOperationException("T2O 数据尚未就绪或长度不足");

            return parsed;
        }

        #endregion

        #region 数据序列化/反序列化

        private static T2OData ParseT2OData(byte[] data)
        {
            if (data == null || data.Length < IO_ASSEMBLY_SIZE)
                throw new ArgumentException($"输入数据无效，需要 {IO_ASSEMBLY_SIZE} 字节，实际 {data?.Length ?? 0}");

            var result = new T2OData();
            int offset = 0;

            result.DIStatus = data[offset++];
            offset++; // Reserved
            result.DIData = BitConverter.ToUInt16(data, offset);
            offset += 2;

            for (int port = 0; port < 8; port++)
            {
                result.PortStatus[port] = data[offset++];
                offset++; // Reserved
                Array.Copy(data, offset, result.PortProcessData[port], 0, PROCESS_DATA_PER_PORT);
                offset += PROCESS_DATA_PER_PORT;
            }

            return result;
        }

        private static byte[] SerializeO2TData(O2TData data)
        {
            if (data == null)
                throw new ArgumentNullException(nameof(data));

            // 手册: 4 + 8×(OutputEnable + Reserved + 32 PD) = 276
            byte[] result = new byte[IO_ASSEMBLY_SIZE];
            int offset = 0;

            result[offset++] = data.DOStatus;
            result[offset++] = 0; // Reserved
            byte[] doBytes = BitConverter.GetBytes(data.DOData);
            result[offset++] = doBytes[0];
            result[offset++] = doBytes[1];

            for (int port = 0; port < 8; port++)
            {
                result[offset++] = data.OutputEnable != null && port < data.OutputEnable.Length
                    ? data.OutputEnable[port]
                    : (byte)0;
                result[offset++] = 0; // Reserved

                if (data.PortProcessData != null
                     && port < data.PortProcessData.Length
                     && data.PortProcessData[port] != null)
                {
                    int copyLen = Math.Min(PROCESS_DATA_PER_PORT, data.PortProcessData[port].Length);
                    Array.Copy(data.PortProcessData[port], 0, result, offset, copyLen);
                }
                offset += PROCESS_DATA_PER_PORT;
            }

            return result;
        }

        private static SIG350Configuration ParseConfiguration(byte[] data)
        {
            if (data == null || data.Length < CONFIG_PORT_SIZE)
                throw new ArgumentException($"配置数据无效，至少需要 {CONFIG_PORT_SIZE} 字节");

            var config = new SIG350Configuration { RawLength = data.Length };
            int offset = 0;

            for (int port = 0; port < 8; port++)
            {
                config.PortMode[port] = data[offset++];
                config.ValidationBackup[port] = data[offset++];
                config.IQBehavior[port] = data[offset++];
                config.PortCycleTime[port] = data[offset++];
                config.VendorID[port] = BitConverter.ToUInt16(data, offset);
                offset += 2;
                // Device ID：手册为 UDINT，有效 24 bit
                config.DeviceID[port] = BitConverter.ToUInt32(data, offset) & 0x00FFFFFF;
                offset += 4;
            }

            // 完整配置 130 字节：layout + substitute + 8×6 DIO（中间无 Reserved）
            if (data.Length >= CONFIG_FULL_SIZE)
            {
                config.DIOProcessDataLayout = data[offset++];
                config.DOSubstituteMode = data[offset++];

                for (int port = 0; port < 8; port++)
                {
                    config.DI_IQPinPolarity[port] = data[offset++];
                    config.DI_CQPinPolarity[port] = data[offset++];
                    config.DI_IQPinSignalFilter[port] = data[offset++];
                    config.DI_CQPinSignalFilter[port] = data[offset++];
                    config.DO_IQPinMode[port] = data[offset++];
                    config.DO_CQPinMode[port] = data[offset++];
                }
            }

            return config;
        }

        private static byte[] SerializeConfiguration(SIG350Configuration config, int size)
        {
            if (size != CONFIG_PORT_SIZE && size != CONFIG_FULL_SIZE)
                size = size >= CONFIG_FULL_SIZE ? CONFIG_FULL_SIZE : CONFIG_PORT_SIZE;

            byte[] data = new byte[size];
            int offset = 0;

            for (int port = 0; port < 8; port++)
            {
                data[offset++] = config.PortMode[port];
                data[offset++] = config.ValidationBackup[port];
                data[offset++] = config.IQBehavior[port];
                data[offset++] = config.PortCycleTime[port];
                BitConverter.GetBytes(config.VendorID[port]).CopyTo(data, offset);
                offset += 2;
                BitConverter.GetBytes(config.DeviceID[port]).CopyTo(data, offset);
                offset += 4;
            }

            if (size >= CONFIG_FULL_SIZE)
            {
                data[offset++] = config.DIOProcessDataLayout;
                data[offset++] = config.DOSubstituteMode;

                for (int port = 0; port < 8; port++)
                {
                    data[offset++] = config.DI_IQPinPolarity[port];
                    data[offset++] = config.DI_CQPinPolarity[port];
                    data[offset++] = config.DI_IQPinSignalFilter[port];
                    data[offset++] = config.DI_CQPinSignalFilter[port];
                    data[offset++] = config.DO_IQPinMode[port];
                    data[offset++] = config.DO_CQPinMode[port];
                }
            }

            return data;
        }

        private byte[] ReadAssembly(ushort assemblyId)
        {
            byte[] data = _client.AssemblyObject.getInstance(assemblyId);
            OnLog?.Invoke($"读取 Assembly {assemblyId}: {data?.Length ?? 0} 字节");
            return data;
        }

        private void WriteAssembly(ushort assemblyId, byte[] data)
        {
            _client.AssemblyObject.setInstance(assemblyId, data);
            OnLog?.Invoke($"写入 Assembly {assemblyId}: {data?.Length ?? 0} 字节");
        }

        private static O2TData CloneOutput(O2TData src)
        {
            var dst = new O2TData
            {
                DOStatus = src.DOStatus,
                DOData = src.DOData
            };
            Array.Copy(src.OutputEnable, dst.OutputEnable, 8);
            for (int i = 0; i < 8; i++)
                Array.Copy(src.PortProcessData[i], dst.PortProcessData[i], PROCESS_DATA_PER_PORT);
            return dst;
        }

        #endregion

        #region 资源清理

        /// <summary>仅释放 EIP 会话，保留自动重连能力</summary>
        private void CleanupSessionOnly()
        {
            try
            {
                if (_isIOModeActive)
                    StopIOCommunication();

                if (_isConnected)
                {
                    try { _client.UnRegisterSession(); }
                    catch (Exception ex) { OnLog?.Invoke($"UnRegisterSession: {ex.Message}"); }
                    _isConnected = false;
                    OnLog?.Invoke("EIP 会话已释放");
                }
            }
            catch (Exception ex)
            {
                OnLog?.Invoke($"EIP 会话释放异常: {ex.Message}");
            }
        }

        private void CleanupResources()
        {
            CleanupSessionOnly();
        }

        public void Dispose()
        {
            _disposed = true;
            _autoReconnectEnabled = false;
            StopReconnectLoop();
            CleanupResources();
            GC.SuppressFinalize(this);
        }

        #endregion
    }

    #region 枚举定义

    public enum IOConnectionType
    {
        ExclusiveOwner,
        InputOnly,
        ListenOnly
    }

    public enum PortMode
    {
        Deactivated = 0,
        IOLManual = 1,
        IOLAutostart = 2,
        DigitalInput = 3,
        DigitalOutput = 4
    }

    public enum IQBehavior
    {
        NotSupported = 0,
        DigitalInput = 1,
        DigitalOutput = 2
    }

    public enum RfidPayloadKind
    {
        /// <summary>RFH5xx Read UID（PDI Byte4~11，8 字节）</summary>
        Uid,
        /// <summary>RFH5xx 用户存储区（PDI Byte4 起，块地址/块数在 PDO 配置）</summary>
        UserMemory
    }

    /// <summary>RFH5xx 读取参数（SICK 操作说明 8.3.1）。</summary>
    public class Rfh5xxReadOptions
    {
        public RfidPayloadKind Kind { get; set; } = RfidPayloadKind.Uid;
        /// <summary>用户区起始块号（PDO Byte3）</summary>
        public byte UserBlockAddress { get; set; }
        /// <summary>读取块数量（PDO Byte1，1~31）</summary>
        public int UserBlockCount { get; set; } = 4;
        /// <summary>每块字节数：ICODE 多为 4，部分 IC 为 8</summary>
        public int UserBlockSizeBytes { get; set; } = 4;

        public Rfh5xxReadOptions Clone()
        {
            return new Rfh5xxReadOptions
            {
                Kind = Kind,
                UserBlockAddress = UserBlockAddress,
                UserBlockCount = UserBlockCount,
                UserBlockSizeBytes = UserBlockSizeBytes
            };
        }
    }

    public enum RFIDCommand
    {
        StartRead,
        StopRead,
        Write,
        Reset
    }

    #endregion

    #region 数据结构

    public class T2OData
    {
        public byte DIStatus { get; set; }
        public ushort DIData { get; set; }
        public byte[] PortStatus { get; set; } = new byte[8];
        public byte[][] PortProcessData { get; set; } = new byte[8][];

        public T2OData()
        {
            for (int i = 0; i < 8; i++)
                PortProcessData[i] = new byte[32];
        }
    }

    public class O2TData
    {
        public byte DOStatus { get; set; }
        public ushort DOData { get; set; }
        public byte[] OutputEnable { get; set; } = new byte[8];
        public byte[][] PortProcessData { get; set; } = new byte[8][];

        public O2TData()
        {
            for (int i = 0; i < 8; i++)
                PortProcessData[i] = new byte[32];
        }
    }

    public class SIG350Configuration
    {
        /// <summary>设备实际返回的配置长度（80 或 130）</summary>
        public int RawLength { get; set; }

        public byte[] PortMode { get; set; } = new byte[8];
        public byte[] ValidationBackup { get; set; } = new byte[8];
        public byte[] IQBehavior { get; set; } = new byte[8];
        public byte[] PortCycleTime { get; set; } = new byte[8];
        public ushort[] VendorID { get; set; } = new ushort[8];
        public uint[] DeviceID { get; set; } = new uint[8];
        public byte DIOProcessDataLayout { get; set; }
        public byte DOSubstituteMode { get; set; }
        public byte[] DI_CQPinPolarity { get; set; } = new byte[8];
        public byte[] DI_CQPinSignalFilter { get; set; } = new byte[8];
        public byte[] DI_IQPinPolarity { get; set; } = new byte[8];
        public byte[] DI_IQPinSignalFilter { get; set; } = new byte[8];
        public byte[] DO_IQPinMode { get; set; } = new byte[8];
        public byte[] DO_CQPinMode { get; set; } = new byte[8];
    }

    public class RFIDTagData
    {
        public int Port { get; set; }
        public byte[] Data { get; set; }
        public DateTime Timestamp { get; set; }
        public byte Quality { get; set; }
        public RfidPayloadKind PayloadKind { get; set; } = RfidPayloadKind.Uid;

        public string ToHexString()
        {
            if (Data == null) return string.Empty;
            return BitConverter.ToString(Data).Replace("-", " ");
        }

        public string ToASCIIString()
        {
            if (Data == null) return string.Empty;
            return Encoding.ASCII.GetString(Data);
        }

        public string ToUTF8String()
        {
            if (Data == null) return string.Empty;
            return Encoding.UTF8.GetString(Data);
        }
    }

    public class RFIDTagDataEventArgs : EventArgs
    {
        public T2OData Data { get; }
        public List<RFIDTagData> Tags { get; } = new List<RFIDTagData>();

        public RFIDTagDataEventArgs(T2OData data)
            : this(data, null)
        {
        }

        public RFIDTagDataEventArgs(T2OData data, IEnumerable<RFIDTagData> tags)
        {
            Data = data;

            if (tags != null)
            {
                Tags.AddRange(tags);
                return;
            }

            if (data == null || data.PortStatus == null || data.PortProcessData == null)
                return;

            for (int port = 0; port < 8; port++)
            {
                byte status = data.PortStatus[port];
                // 与 TryExtractTag 一致：必须 PQ 有效
                if ((status & 0x80) == 0)
                    continue;

                byte[] processData = data.PortProcessData[port];
                byte[] tagBytes = SIG350RFIDClient.ExtractRFIDData(processData, new Rfh5xxReadOptions());
                if (tagBytes == null || tagBytes.Length == 0)
                    continue;

                Tags.Add(new RFIDTagData
                {
                    Port = port + 1,
                    Data = tagBytes,
                    Timestamp = DateTime.Now,
                    Quality = status
                });
            }
        }
    }

    #endregion
}