using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;

using System.Runtime.InteropServices;
using PUSICANLibrary;
using System.Threading;
using System.Reflection;
using TSA_V.Common;

namespace PUSICANTest
{


    public partial class MainForm : Form
    { 
        public static MainForm mainform = null;
        public void Trace(string str)
        {
            textBoxLog.AppendText(str + "\r\n");     // 追加文本，并且使得光标定位到插入地方。
            textBoxLog.ScrollToCaret();
            textBoxLog.Focus();//获取焦点
            textBoxLog.Select(textBoxLog.TextLength, 0);//光标定位到文本最后
            textBoxLog.ScrollToCaret();//滚动到光标处
        }

        public void StatusTimer(object source, System.Timers.ElapsedEventArgs e)
        {
            SLAVE_STATUS status = new SLAVE_STATUS();
            PUSICANControl.PUSICO_GetNodeStatus(Convert.ToUInt32(textBoxAddress.Text), ref status);
            textBoxStatus.Text = PUSICANControl. GetStatus((uint)status); 
        }
         
        public MainForm()
        {
            CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            mainform = this;
         
            comboAdapter.DataSource = PUSICANControl.getAdapterList();
            comboAdapter.SelectedIndex = 0;

            comboBaud.DataSource = PUSICANControl.getBoauList();
            comboBaud.SelectedIndex = 4;

            comboDataType.SelectedIndex = 6;
            cmbXiFen.DataSource = PUSICANControl.getXifenList();
            System.Timers.Timer t = new System.Timers.Timer(1000);
            t.Elapsed += new System.Timers.ElapsedEventHandler(StatusTimer);
            t.AutoReset = true;
            t.Enabled = true;
            PUSICANControl.PUSICO_SetEventCallback(PUSICANControl. evencb);
        } 
        private void open_Click(object sender, EventArgs e)
        {
            string result = PUSICANControl.Open(comboAdapter.SelectedIndex, comboBaud.SelectedIndex, textBoxIP.Text, FormUtil.GetIntValue( textBoxPort.Text));
            if (result.Equals(""))
            {
                Trace("打开端口成功.");
                btnOpen.Enabled = false;
                btnClose.Enabled = true;
                comboAdapter.Enabled = false;
                comboBaud.Enabled = false;
                textBoxIP.Enabled = false;
                textBoxPort.Enabled = false;
            }
            else
            {
                Trace("打开端口失败！");
                btnOpen.Enabled = true;
                btnClose.Enabled = false;
                comboAdapter.Enabled = true;
                comboBaud.Enabled = true;
                if (comboAdapter.SelectedIndex == 7)  //周立功USBCAN-E-U
                {
                    textBoxIP.Enabled = true;
                    textBoxPort.Enabled = true;
                }
            } 
        }  
        private void Close_Click(object sender, EventArgs e)
        {
            PUSICANControl.Close();
            btnOpen.Enabled = true;
            btnClose.Enabled = false;
            comboAdapter.Enabled = true;
            comboBaud.Enabled = true;
            Trace("关闭端口.");
        }

        private void btnAddNode_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_AddNode(Convert.ToUInt32(textBoxAddress.Text));
            Trace("添加节点" + textBoxAddress.Text);
        }

        private void btnRemoveNode_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_RemoveNode(Convert.ToUInt32(textBoxAddress.Text));
            Trace("移除节点" + textBoxAddress.Text);
        } 
        private void btnStartNode_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_SetNodeState(Convert.ToUInt32(textBoxAddress.Text), SLAVE_MANAGEMENT.SLAVE_START);
        }

        private void btnStopNode_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_SetNodeState(Convert.ToUInt32(textBoxAddress.Text), SLAVE_MANAGEMENT.SLAVE_STOP);
        }

        private void btnResetComm_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_SetNodeState(Convert.ToUInt32(textBoxAddress.Text), SLAVE_MANAGEMENT.SLAVE_RESET_CONNECTION);
        }

        private void btnResetNode_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_SetNodeState(Convert.ToUInt32(textBoxAddress.Text), SLAVE_MANAGEMENT.SLAVE_RESET);
        }

        private void btnEnterPreOper_Click(object sender, EventArgs e)
        {
            PUSICANControl.PUSICO_SetNodeState(Convert.ToUInt32(textBoxAddress.Text), SLAVE_MANAGEMENT.SLAVE_PRE_OPERATIONAL);
        }
        private DATA_TYPE IndexToDataType(uint index, out uint datalen)
        {
            DATA_TYPE datatype = DATA_TYPE.DT_INT32;
            datalen = 4;
            switch (comboDataType.SelectedIndex)
            {
                case 0:
                    datatype = DATA_TYPE.DT_BOOL;
                    datalen = 1;
                    break;
                case 1:
                    datatype = DATA_TYPE.DT_INT8;
                    datalen = 1;
                    break;
                case 2:
                    datatype = DATA_TYPE.DT_INT16;
                    datalen = 2;
                    break;
                case 3:
                    datatype = DATA_TYPE.DT_INT32;
                    datalen = 4;
                    break;
                case 4:
                    datatype = DATA_TYPE.DT_UINT8;
                    datalen = 1;
                    break;
                case 5:
                    datatype = DATA_TYPE.DT_UINT16;
                    datalen = 2;
                    break;
                case 6:
                    datatype = DATA_TYPE.DT_UINT32;
                    datalen = 4;
                    break;
                case 7:
                    datatype = DATA_TYPE.DT_VISIBLE_STRING;
                    datalen = 255;
                    break;
                default:
                    break;
            }
            return datatype;
        }
        private void btnReadSDO_Click(object sender, EventArgs e)
        {
            btnReadSDO.Enabled = false;
            GetSdoParam();
            index = Convert.ToUInt32(cmbSdoList.Text.Substring(0, 4), 16);
            Trace("read sdo:0x" + cmbSdoList.Text.Substring(0, 4) + "," + textBoxSubIndex.Text);
            if (PUSIResult.RET_SUCCESS == PUSICANControl.PUSICO_ReadSDO(nodeid, index, subindex, data, datatype, ref datalen, 1000))
            {
                LogData(data, datalen);
                textBoxValue.Text = BitConverter.ToUInt32(data, 0).ToString();

            }
            else
            {
                Trace("read sdo fail!!");
            }
            btnReadSDO.Enabled = true;
        }
        private void btnWriteSDO_Click(object sender, EventArgs e)
        {
            btnWriteSDO.Enabled = false;
            GetSdoParam();
          
            uint value = Convert.ToUInt32(textBoxValue.Text);
            data = BitConverter.GetBytes(value);
            index = Convert.ToUInt32(cmbSdoList.Text.Substring(0, 4), 16);
            Trace("write sdo:0x" + cmbSdoList.Text.Substring(0, 4) + "," + textBoxSubIndex.Text);

            if (PUSIResult.RET_SUCCESS == PUSICANControl.PUSICO_WriteSDO (nodeid, index, subindex, data, datatype, datalen, timeOut))
            {
                Trace("write sdo ok.");
            }
            else
            {
                Trace("write sdo fail!!");
            }
            btnWriteSDO.Enabled = true;
        }

        private void comboAdapter_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (comboAdapter.SelectedIndex == 7)
            {
                textBoxIP.Enabled = true;
                textBoxPort.Enabled = true;
            }
            else
            {
                textBoxIP.Enabled = false;
                textBoxPort.Enabled = false;
            }
        }

        private void MainForm_Load(object sender, EventArgs e)
        {
            if (comboAdapter.Items.Count > 4)
            {
                comboAdapter.SelectedIndex = 4;
            }

            cmbSdoList.DataSource = getSDOList();
            cmbSdoList.SelectedIndex = 0;
        }

        private List<object> getSDOList()
        {
            List<object> objs = new List<object>();
            //获取所有枚举集合
            objs.Add("6003__最大速度");
            objs.Add("6004__相对运动");
            objs.Add("601C__绝对运动");
            objs.Add("6003__最大速度");
            objs.Add("6020__终止运动指令");
            objs.Add("600C__电机位置");

            objs.Add("6002__转动方向_U8");
            objs.Add("6005__工作模式_U8");
            objs.Add("6000__错误状态_U8");
            objs.Add("6001__控制器状态_U8");
            objs.Add("600F_外部紧急停止_RECORD");
            return objs;
        }
        private uint nodeid;
        private uint index;
        private uint subindex;
        private DATA_TYPE datatype;
        private uint timeOut = 1000;
        private byte[] data = new byte[10];
        uint datalen;
        private void btnReadAll_Click(object sender, EventArgs e)
        {
            //GetSdoParam();
            this.txtGetPosition.Text = PUSICANControl.GetPosition(nodeid).ToString();
            this.nudMaxSpeed.Text = PUSICANControl.GetMaxSpeed(nodeid).ToString();
            this.nudAddSpeed.Text = PUSICANControl.GetAddSpeed(nodeid).ToString();
            this.nudDelSpeed.Text = PUSICANControl.GetDelSpeed(nodeid).ToString();
            this.nudStartSpeed.Text = PUSICANControl.GetStartSpeed(nodeid).ToString();
            this.nudStopSpeed.Text = PUSICANControl.GetStopSpeed(nodeid).ToString(); 
            this.cmbXiFen.SelectedIndex = PUSICANControl.getXifenList().IndexOf(PUSICANControl.GetMicroStepping(nodeid).ToString());
            this.nudFengzhi.Text = PUSICANControl.GetMaxPhaseCurrent(nodeid).ToString();
            this.nudShuaijian.Text = PUSICANControl.GetDelPhaseCurrent(nodeid).ToString();
        }

        private void LogData(byte[] data, uint datalen)
        {
            string strdata = string.Empty;
            StringBuilder strB = new StringBuilder();
            for (int i = 0; i < datalen; i++)
            {
                strB.Append(data[i].ToString("X2") + " ");
            }
            strdata = strB.ToString();
            Trace(strdata);
        }

        private void GetSdoParam()
        {
            data = new byte[10];
            for (int i = 0; i < 10; i++)
            {
                data[i] = 0;
            }
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            index = Convert.ToUInt32(textBoxIndex.Text, 16);
            subindex = Convert.ToUInt32(textBoxSubIndex.Text);
            datatype = IndexToDataType((uint)comboDataType.SelectedIndex, out datalen);
        }
        private void cleardata()
        {
            data = new byte[10];
            for (int i = 0; i < 10; i++)
            {
                data[i] = 0;
            }
        }
        private void btnWriteAll_Click(object sender, EventArgs e)
        {
            //GetSdoParam(); 
            nodeid = Convert.ToUInt32(textBoxAddress.Text); 
            int value = Convert.ToInt32(this.nudAddSpeed.Value);
            PUSICANControl.SetAddSpeed(nodeid, value);
            value = FormUtil.GetIntValue(this.txtGetPosition);
            PUSICANControl.SetPosition(nodeid, value);
           
            value =  (int)this.nudDelSpeed.Value;
            PUSICANControl.SetDelSpeed(nodeid, value); 
            value = (int)this.nudStartSpeed.Value;
            PUSICANControl.SetStartSpeed(nodeid, value); 
            value = (int)this.nudStopSpeed.Value;
            PUSICANControl.SetStopSpeed(nodeid, value);   
            value = Convert.ToInt32(this.cmbXiFen.Text);
            PUSICANControl.SetMicroStepping(nodeid, value);                
         
            value =Convert.ToInt32(this.nudMaxSpeed.Text);
            PUSICANControl.SetMaxSpeed(nodeid, value); 

            value = Convert.ToInt32(this.nudShuaijian.Text);
            PUSICANControl.SetDelPhaseCurrent(nodeid, value);

            value = Convert.ToInt32(this.nudFengzhi.Text);
            PUSICANControl.SetMaxPhaseCurrent(nodeid, value); 
        }

        private void lkSetMaxSpeed_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        { 
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.MaxSpeed, Convert.ToInt32(this.nudMaxSpeed.Text)))
            {
                Trace("write CAN_Address.MaxSpeed sdo ok.");
            }
        }

        private void btnStartMove_Click(object sender, EventArgs e)
        {
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            int position = FormUtil.GetIntValue(txtPosition);
            PUSICANControl.RelMove(nodeid, position);  
             
        } 
        private void btnStopMove_Click(object sender, EventArgs e)
        {
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            PUSICANControl.StopMove(nodeid); 
        } 
        private void cmbTargetType_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbTargetType.SelectedIndex >= 0)
            {
                nodeid = Convert.ToUInt32(textBoxAddress.Text);  
                if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveDirection, cmbTargetType.SelectedIndex))
                {
                    Trace("write CAN_Address.MoveDirection sdo ok.");
                }
            }
        }

        private void cmbMoveType_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (this.cmbMoveType.SelectedIndex >= 0)
            {
                nodeid = Convert.ToUInt32(textBoxAddress.Text);  
                if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.MoveType, this.cmbMoveType.SelectedIndex))
                {
                    Trace("write CAN_Address.MoveType sdo ok.");
                }
            }
        }

        private void btnAbsMove_Click(object sender, EventArgs e)
        { 
            //绝对运动  
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            int position = FormUtil.GetIntValue(txtPosition);
            PUSICANControl.AbsMove(nodeid, position);
            //if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.AbsoluteMove, Convert.ToInt32(txtPosition.Text)) )
            //{
            //    Trace("write CAN_Address.AbsoluteMove sdo ok.");
            //}
        }

        private void btnGetStatus_Click(object sender, EventArgs e)
        {
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            int value = 0;
            if (PUSIResult.RET_SUCCESS == PUSICANControl.ReadSDO(nodeid, CAN_Address.ControlStatus, out value))
            {
                string str = Convert.ToString(value, 2).PadLeft(5, '0');

                lblControlStatus.Text = ("状态：外部停止3:[" + str.Substring(0, 1) + "],busy状态:[" + str.Substring(1, 1) + "],堵转状态:["
                    + str.Substring(2, 1) + "],外部停止2:[" + str.Substring(3, 1) + "],外部停止1:[" + str.Substring(4, 1) + "]");
            }  
        }

        private void btnClearStatus_Click(object sender, EventArgs e)
        {
            nodeid = Convert.ToUInt32(textBoxAddress.Text);

            if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.ControlStatus, 1))
            {
                Trace("write CAN_Address.ControlStatus sdo ok.");
            }
        }

        private void btnSpeedMove_Click(object sender, EventArgs e)
        {
            nodeid = Convert.ToUInt32(textBoxAddress.Text);
            int speed = Convert.ToInt32(nudMaxSpeed.Text);
            PUSICANControl.VolMove(nodeid, speed);
            //PUSICANControl.WriteSDO(nodeid, CAN_Address.RelativeMove, speed);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            
            int speed = Convert.ToInt32(nudMaxSpeed.Text);
            PUSICANControl.VolMove(3, speed);
            PUSICANControl.VolMove(5, speed);
        }

         
    }
}