using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.Motion.Base;
using Rs.MotionPlat.Commom;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class AxisMove : UserControl
    {
        BindingList<RunResult> bindList = new BindingList<RunResult>();
        public AxisMove()
        {
            InitializeComponent();
        }

        private IAxis m_axis;

        protected void CommonMoveDist_Click(object sender, EventArgs e)
        {
            Label lblNum = (Label)sender;
            txtMoveDist.Text = lblNum.Text;
            chkMoveStep.Checked = true;
        }

        protected void Calc_Click(object sender, EventArgs e)
        {
            chkMoveStep.Checked = true;
            Label lblNum = (Label)sender;
            if (lblNum.Text.ToLower() == "c")
            {
                txtMoveDist.Text = "";
            }
            else
            {
                if (lblNum.Text == ".")
                {
                    if (txtMoveDist.Text.IndexOf(".") == -1 && txtMoveDist.Text.Length > 0)
                        txtMoveDist.Text += ".";
                }
                else
                {
                    txtMoveDist.Text += lblNum.Text;
                }
            }
        }

        private void tbarSpeed_ValueChanged(object sender, EventArgs e)
        {
            lblSpeed.Text = $"{tbarSpeed.Value}%";
        }

        /// <summary>
        /// 绑定轴
        /// </summary>
        /// <param name="axis"></param>
        public void BindAxis(IAxis axis)
        {
            dataGridView1.AutoGenerateColumns = false;
            bindList.Clear();
            dataGridView1.DataSource = bindList;
            lblDriver.Visible = txtDriverPos.Visible = false;
            m_axis = axis;
            if(m_axis.Config.EnableEncoder==1)
            {
                m_axis.GetDriverPosition(out double driverPos);
                txtDriverPos.Text = driverPos.ToString("0.000");
                lblDriver.Visible = true;
                txtDriverPos.Visible = true;
            }
            timer1.Interval = 200;
            timer1.Enabled = true;

            label5.Visible = false;
            txtAuEncPos.Visible = false;
            if (m_axis != null && m_axis.Config.AssistEncoder > 0)
            {
                label5.Visible = true;
                txtAuEncPos.Visible = true;
            }
            txtAxisPelLimit.Text=axis.Config.PelSoftwarePosition.ToString("0.000");
            txtAxisNelLimit.Text = axis.Config.NelSoftwarePosition.ToString("0.000");
            if(m_axis!=null && !m_axis.Config.CanJogMove)
            {
                chkMoveStep.Checked = true;
                chkMoveStep.Enabled = false;
            }
            else
            {
                chkMoveStep.Enabled = true;
            }
        }

        private void btnServoOn_Click(object sender, EventArgs e)
        {
            if(m_axis!=null)
            {
                m_axis.Enable();
            }
        }

        private void btnServoOff_Click(object sender, EventArgs e)
        {
            if (m_axis != null)
            {
                m_axis.Disable();
            }
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            if(m_axis!=null)
            {
                if(m_axis.Config.NeedGoHome==0)
                {
                    btnGoHome.Visible = false;
                }
                else
                {
                    btnGoHome.Visible = true;
                }
                ErrorCode errCode;
                m_axis.GetPrfPosition(out double prfPos);
                txtPrfPos.Text = prfPos.ToString("0.000");
                m_axis.GetEncoderPosition(out double encPos);
                txtEncPos.Text = encPos.ToString("0.000");
                m_axis.GetAuEncoderPosition(out double auEncPos);
                txtAuEncPos.Text = auEncPos.ToString("0.000");
                if (m_axis.Config.EnableEncoder==1)
                {
                    m_axis.GetDriverPosition(out double driverPos);
                    txtDriverPos.Text = driverPos.ToString("0.000");
                }
                if(m_axis.HomeStatus== Motion.EHomeStatus.Finished && lblHomed.BackColor!=Color.Lime)
                    lblHomed.BackColor = Color.Lime;
                else if(m_axis.HomeStatus!= Motion.EHomeStatus.Finished)
                {
                    if (lblHomed.BackColor != Color.Silver)
                        lblHomed.BackColor = Color.Silver;
                }
                m_axis.GetAlarmStatus(out bool bAlarm);
                if (bAlarm && lblAxisAlarm.BackColor != Color.Lime)
                {
                    lblAxisAlarm.BackColor = Color.Lime;
                    btnClearAlarm.Visible = true;
                }
                    
                else if(bAlarm==false)
                {
                    if (lblAxisAlarm.BackColor != Color.Silver)
                    {
                        lblAxisAlarm.BackColor = Color.Silver;
                        btnClearAlarm.Visible = false;
                    }   
                }
                m_axis.IsEnable(out bool bServo);
                if (bServo && lblAxisServo.BackColor != Color.Lime)
                    lblAxisServo.BackColor = Color.Lime;
                else if(bServo==false)
                {
                    if (lblAxisServo.BackColor != Color.Silver)
                        lblAxisServo.BackColor = Color.Silver;
                }
                errCode = m_axis.IsStop(out bool bStop);
                if (!bStop && lblAxisMoving.BackColor != Color.Lime && errCode== ErrorCode.Ok)
                    lblAxisMoving.BackColor = Color.Lime;
                else if (bStop)
                {
                    if (lblAxisMoving.BackColor != Color.Silver)
                        lblAxisMoving.BackColor = Color.Silver;
                }
                m_axis.GetOrgStatus(out bool bOrg);
                if (bOrg && lblOrg.BackColor != Color.Lime)
                    lblOrg.BackColor = Color.Lime;
                else if (bOrg == false)
                {
                    if (lblOrg.BackColor != Color.Silver)
                        lblOrg.BackColor = Color.Silver;
                }

                m_axis.GetPelStatus(out bool bPel);
                if (bPel && lblPlimit.BackColor != Color.Lime)
                    lblPlimit.BackColor = Color.Lime;
                else if (bPel == false)
                {
                    if (lblPlimit.BackColor != Color.Silver)
                        lblPlimit.BackColor = Color.Silver;
                }

                m_axis.GetNelStatus(out bool bNel);
                if (bNel && lblNlimit.BackColor != Color.Lime)
                    lblNlimit.BackColor = Color.Lime;
                else if (bNel == false)
                {
                    if (lblNlimit.BackColor != Color.Silver)
                        lblNlimit.BackColor = Color.Silver;
                }
            }
        }

        private void Mouse_Down(object sender,MouseEventArgs e)
        {
            if(m_axis!=null)
            {
                double.TryParse(txtMoveDist.Text, out double moveDistance);
                int speed = tbarSpeed.Value;
                ButtonEx button = (ButtonEx)sender;
                if (chkMoveStep.Checked)//
                {
                    if (button.ShowText == "-")
                    {
                        moveDistance *= -1;
                    }
                   ErrorCode errCode = m_axis.MoveOffset(moveDistance, speed);
                    AddMessage(errCode.ToString());
                }
                else
                {
                    short dir = 1;
                    if (button.ShowText == "-")
                        dir = 0;
                    ErrorCode errCode = m_axis.MoveJog(dir, speed);
                    AddMessage(errCode.ToString());
                }
            }
            
        }

        private void Mouse_Up(object sender,MouseEventArgs e)
        {
            if (m_axis != null && chkMoveStep.Checked==false)
            {
                m_axis.Stop();
            }
        }

        private void btnGoHome_Click(object sender, EventArgs e)
        {
            if(m_axis!=null)
            {
                bool gohome = true;
                if(m_axis.Config.AbsoluteEncoder==1)
                {
                    DialogResult dr = MessageBox.Show($"{m_axis.Config.AxisName}轴为绝对值编码器，确定设置当前位置为零点位吗？", "Question?", MessageBoxButtons.OKCancel, MessageBoxIcon.Question);
                    if(dr!= DialogResult.OK)
                    {
                        gohome = false;
                    }
                }
                if(gohome)
                {
                    ErrorCode errCode = m_axis.Home();
                    AddMessage(errCode.ToString());
                }
            }
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            if(m_axis!=null)
            {
                ErrorCode errCode = m_axis.Stop();
                m_axis.Abort_Go_Home();
                AddMessage(errCode.ToString());
            }
        }

        void AddMessage(string msg)
        {
            if (bindList.Count > 10)
                bindList.RemoveAt(bindList.Count - 1);
            bindList.Insert(0, new RunResult() {
                Time = DateTime.Now.ToString("HH:ss:mm fff"),
                Result = msg
            });
        }

        private void lblAxisAlarm_Click(object sender, EventArgs e)
        {
            if(m_axis != null)
            {
                ErrorCode errCode = m_axis.ClearAlarm();
                AddMessage(errCode.ToString());
            }
        }

        private void AxisMove_Load(object sender, EventArgs e)
        {
            //MessageBox.Show(Thread.CurrentThread.CurrentUICulture.DisplayName);
            if(Thread.CurrentThread.CurrentUICulture.Name=="zh-CN")
            {
                ControlLanguageHelper.SetDefaultLanguage("zh-CN");
            }
            else
            {
                ControlLanguageHelper.SetDefaultLanguage("en-US");
            }
            ControlLanguageHelper.LoadLanguage(this, this.GetType());
        }

        private void btnClearAlarm_Click(object sender, EventArgs e)
        {
            if (m_axis != null)
            {
                ErrorCode errCode = m_axis.ClearAlarm();
                AddMessage(errCode.ToString());
            }
        }
    }

    public class RunResult
    {
        public string Time { get; set; }
        public string Result { get; set; }
    }
}