using Rs.Motion.Base;
using Rs.Motion.GugaoEcat;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using Rs.Motion;
using System.Threading;

namespace Rs.MotionPlat
{
    public partial class Form1 : Form
    {

        private IAxis Axis1
        {
            get
            {
                return GugaoCardManager.Instance.GetCard(0).GetAxis(1);
            }
        }
        public Form1()
        {
            InitializeComponent();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            ErrorCode errcode = GugaoCardManager.Instance.Init();
            if(errcode== ErrorCode.Ok)
            {
                timer1.Enabled = true;
                richTextBox1.AppendText("卡初始化成功\r\n");
            }
            else
                richTextBox1.AppendText("卡初始化失败\r\n");
           
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            
        }

        private void button2_Click(object sender, EventArgs e)
        {
            ErrorCode errcode;
            ICard card = GugaoCardManager.Instance.GetCard(0);
            IAxis axis = card.GetAxis(1);
            axis.IsEnable(out bool bEnable);
            if(bEnable)
            {
                errcode = axis.Disable();
            }
            else
                errcode = axis.Enable();
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            Axis1.GetPrfPosition(out double prfPos);
            textBox1.Text = prfPos.ToString();
            Axis1.GetEncoderPosition(out double encPos);
            textBox2.Text = encPos.ToString();

            Axis1.IsEnable(out bool bEnable);
            if (bEnable)
                btnSevon.BackColor = Color.Lime;
            else
                btnSevon.BackColor = SystemColors.Control;

            Axis1.GetPelStatus(out bool bP);
            if (bP)
                btnPositive.BackColor = Color.Lime;
            else
                btnPositive.BackColor = SystemColors.Control;

            Axis1.GetNelStatus(out bool bN);
            if (bN)
                btnNagetive.BackColor = Color.Lime;
            else
                btnNagetive.BackColor = SystemColors.Control;

            Axis1.GetAlarmStatus(out bool bAlarm);
            if (bAlarm)
                btnAlarm.BackColor = Color.Lime;
            else
                btnAlarm.BackColor = SystemColors.Control;

            Axis1.GetOrgStatus(out bool bOrg);
            if (bOrg)
                btnHome.BackColor = Color.Lime;
            else
                btnHome.BackColor = SystemColors.Control;

        }

        private void button5_MouseDown(object sender, MouseEventArgs e)
        {
            ErrorCode errorCode = Axis1.MoveJog(1, 5);
            if(errorCode> ErrorCode.Ok)
            {
                richTextBox1.AppendText($"运动失败{errorCode}");
            }
        }

        private void button5_MouseUp(object sender, MouseEventArgs e)
        {
            ErrorCode errorCode = Axis1.Stop();
            if (errorCode > ErrorCode.Ok)
            {
                richTextBox1.AppendText($"停止{errorCode}");
            }
        }

        private void button4_MouseDown(object sender, MouseEventArgs e)
        {
            ErrorCode errorCode = Axis1.MoveJog(0, 5);
            if (errorCode > ErrorCode.Ok)
            {
                richTextBox1.AppendText($"运动失败{errorCode}");
            }
        }

        private void button4_MouseUp(object sender, MouseEventArgs e)
        {
            ErrorCode errorCode = Axis1.Stop();
            if (errorCode > ErrorCode.Ok)
            {
                richTextBox1.AppendText($"停止{errorCode}");
            }
        }

        private void button6_Click(object sender, EventArgs e)
        {
            int step = 0;
            Task.Run(() => {

                while (true)
                {
                    switch(step)
                    {
                        case 0:
                            Axis1.MovePos(startpos, vel);
                            step++;
                            break;
                        case 1:
                            Axis1.IsStop(out bool bStop);
                            if (bStop)
                            {
                                Thread.Sleep(200);
                                step++;
                            }
                            break;
                        case 2:
                            Axis1.MovePos(endpos, vel);
                            step++;
                            break;
                        case 3:
                            Axis1.IsStop(out bool bStoped);
                            if (bStoped)
                            {
                                Thread.Sleep(200);
                                step = 0;
                            }
                            break;
                    }
                }
            });
        }


        double startpos = -50;
        double endpos = -170;
        int vel = 50;
        private void textBox3_MouseUp(object sender, MouseEventArgs e)
        {
            
        }

        private void textBox4_MouseUp(object sender, MouseEventArgs e)
        {
            
        }

        private void textBox5_MouseUp(object sender, MouseEventArgs e)
        {
            
        }

        private void textBox4_KeyUp(object sender, KeyEventArgs e)
        {
            if(e.KeyCode== Keys.Enter)
                startpos = double.Parse(textBox4.Text);
        }

        private void textBox5_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
                endpos = double.Parse(textBox5.Text);
        }

        private void textBox3_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
                vel = int.Parse(textBox3.Text);
        }
    }
}