using gts;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static gts.mc_pulse;

namespace Gugao.FunTest
{
    public partial class Form1 : Form
    {
        short cardnum = 1;
        short ret = 0;
        public Form1()
        {
            InitializeComponent();
        }

        private void btnOpen_Click(object sender, EventArgs e)
        {
            ret = mc_pulse.GT_Open(cardnum, 0,0);
            AddText($"ret = {ret}");
            if(ret==0)
            {
                ret = mc_pulse.GT_LoadConfig(cardnum, "gugao1.cfg");
                if(ret==0)
                {
                    timer1.Enabled = true;

                    //ret = mc_pulse.GT_LmtsOff(cardnum, 3, 0);
                    //AddText($"ret = {ret}");

                    mc_pulse.GT_ClrSts(cardnum, short.Parse(cboxAxis.SelectedItem.ToString()), 1);
                }
               
            }
        }

        private void btnDisablePlimit_Click(object sender, EventArgs e)
        {
            ret=  mc_pulse.GT_LmtsOff(cardnum, short.Parse(cboxAxis.SelectedItem.ToString()), 0);
            AddText($"ret = {ret}");
        }

        private void AddText(string text)
        {
            txtLog.AppendText(text+"\r\n");
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            cboxAxis.SelectedIndex = 0;
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            





            ret = mc_pulse.GT_GetSts(cardnum, short.Parse(cboxAxis.SelectedItem.ToString()), out int pSts, 1, out uint pClock);
            if(ret==0)
            {
                if((pSts >> 1 & 0x01)==1)
                {
                    btnAlarm.BackColor= Color.Red;
                }
                else
                {
                    btnAlarm.BackColor = SystemColors.Window;
                }

                if ((pSts >> 5 & 0x01) == 1)
                {
                    btnPlimitTrigger.BackColor = Color.Red;
                }
                else
                {
                    btnPlimitTrigger.BackColor = SystemColors.Window;
                }

                if ((pSts >> 6 & 0x01) == 1)
                {
                    btnNlimitTrigger.BackColor = Color.Red;
                }
                else
                {
                    btnNlimitTrigger.BackColor = SystemColors.Window;
                }

                if ((pSts >> 9 & 0x01) == 1)
                {
                    btnServo.BackColor = Color.Red;
                }
                else
                {
                    btnServo.BackColor = SystemColors.Window;
                }

                mc_pulse.GT_GetDi(cardnum, mc_pulse.MC_LIMIT_POSITIVE, out int pValue);

                int v = ((pValue >> (short.Parse(cboxAxis.SelectedItem.ToString()) - 1)) & 0x01);
                if(v==1)
                {
                    btnPlimit.BackColor = Color.Red;
                }
                else
                {
                    btnPlimit.BackColor= SystemColors.Window;
                }

                mc_pulse.GT_GetDi(cardnum, mc_pulse.MC_LIMIT_NEGATIVE, out pValue);

                v = ((pValue >> (short.Parse(cboxAxis.SelectedItem.ToString()) - 1)) & 0x01);
                if (v == 1)
                {
                    btnNlimit.BackColor = Color.Red;
                }
                else
                {
                    btnNlimit.BackColor = SystemColors.Window;
                }

            }
        }

        private void btnClear_Click(object sender, EventArgs e)
        {
            mc_pulse.GT_ClrSts(cardnum, short.Parse(cboxAxis.SelectedItem.ToString()),1);
        }

        private void btnEnablePlimit_Click(object sender, EventArgs e)
        {
            ret = mc_pulse.GT_LmtsOn(cardnum, short.Parse(cboxAxis.SelectedItem.ToString()), 0);
            AddText($"ret = {ret}");
        }

        private void button3_Click(object sender, EventArgs e)
        {
            short axisID = short.Parse(cboxAxis.SelectedItem.ToString());
            mc_pulse.GT_ZeroPos(cardnum, axisID, 1);
            THomePrm homePrm;
            ret = mc_pulse.GT_GetHomePrm(cardnum, axisID, out homePrm);
            homePrm.mode = 20;
            homePrm.moveDir = -1;
            homePrm.indexDir = -1;
            homePrm.velHigh = 0.5;
            homePrm.velLow = 0.2;
            homePrm.acc = 0.05;
            homePrm.dec = 0.05;
            //homePrm.pad1_1 = 0;
            //homePrm.homeOffset = (int)dfHome_offset;
            homePrm.searchHomeDistance = 0;
            homePrm.searchIndexDistance = 0;
            homePrm.edge = 1;// (short)(Config.HomeOrgLogic == 0 ? 1 : 0);
            ret = mc_pulse.GT_GoHome(cardnum, axisID, ref homePrm);

            Task.Run(() => { 
                while (true)
                {
                    mc_pulse.GT_GetHomeStatus(cardnum, axisID, out mc_pulse.THomeStatus pHomeStatus);
                    string msg = $"run={pHomeStatus.run},stage={pHomeStatus.stage},err={pHomeStatus.error},capturePos={pHomeStatus.capturePos}";
                    Invoke(new Action(() => {
                        txtLog.AppendText(msg + "\r\n");
                        File.AppendAllText("d://log.txt", $"{msg}\r\n");    
                    }));
                    Thread.Sleep(10);
                    if (pHomeStatus.stage == 100)
                        break;
                }
            });
        }

        private void button4_Click(object sender, EventArgs e)
        {
            short axisID = short.Parse(cboxAxis.SelectedItem.ToString());
            mc_pulse.GT_AxisOn(cardnum, axisID);
        }

        private void button5_Click(object sender, EventArgs e)
        {
            short axisID = short.Parse(cboxAxis.SelectedItem.ToString());
            mc_pulse.GT_AxisOff(cardnum, axisID);
        }
    }
}