using DeviceLibrary;
using Robot.UR;
using System;
using System.Drawing;
using System.Windows.Forms;

namespace URRobot
{
    public partial class UCURRobot : UserControl
    {
       public URRobotControl robotControl;
        public UCURRobot()
        {
            InitializeComponent();
            for (int i = 0; i <= 100; i++)
            {
                cmbRate.Items.Add(i);
            }
        }
        public void Init(URRobotControl rRobotControl)
        {
            this.robotControl = rRobotControl;
            this.robotControl.Register(RobotClient_RobotModeFun, RobotClient_SafetModeFun, RobotClient_URPointValue);
            cmbRate.SelectedIndex = robotControl.SpeedRate;
            timer1.Start();
        }
        public bool MoveOk()
        {
           return robotControl.MoveCmdOk();
        }
        private void RobotClient_URPointValue(URPointValue value)
        {
            if (!this.IsHandleCreated) return;
            this.Invoke(new Action(() =>
            {
                ShowPoint(value);
            }));
        }

        private void RobotClient_SafetModeFun(string mode)
        {
            if (!this.IsHandleCreated) return;
            this.Invoke(new Action(() => { lblSafeMode.Text = $"{mode}"; }));
        }

        private void RobotClient_RobotModeFun(string mode)
        {
            if (!this.IsHandleCreated) return;
            this.Invoke(new Action(() => { lblRobotMode.Text = $"{mode}"; }));
        }

        void ShowPoint(URPointValue point)
        {
            txtRobotX.Text = point.X.ToString();
            txtRobotY.Text = point.Y.ToString();
            txtRobotZ.Text = point.Z.ToString();
            lblRX.Text = point.RX.ToString();
            lblRY.Text = point.RY.ToString();
            lblRZ.Text = point.RZ.ToString();
        }
        public URPointValue GetPoint()
        {
            double x = getValue(txtRobotX);
            double y = getValue(txtRobotY);
            double z = getValue(txtRobotZ);
            double rx = getValue(lblRX);
            double ry = getValue(lblRY);
            double rz = getValue(lblRZ);
            return new URPointValue(x, y, z, rx, ry, rz);
        }
        public double getValue(Label textBox)
        {
            double.TryParse(textBox.Text, out double value);
            return value;
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!this.IsHandleCreated) return;
            try
            {
                this.Invoke(new Action(() =>
                {
                    ShowPoint(robotControl.GetLastPosition());
                    lbl29999.BackColor = robotControl.IsRun ? Color.Green : Color.Red;
                    lbl30003.BackColor = robotControl.Port3003Connected ? Color.Green : Color.Red;
                    lblCurCmd.Text = $"Cmd:{robotControl.CurCmd}";
                    lblCmdResponse.Text = $"Response:{robotControl.CurCmdReponse}";
                    lblRobot.BackColor = robotControl.ClientIsConnected ? Color.Green : Color.Red;
                    lblRobot.Text = robotControl.ClientIp;
                }));

            }
            catch { }
        }
        public bool IsConnected()
        {
            return robotControl.ClientIsConnected;
        }
        private void 启动机器人ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.StartRobot();
        }

        private void 重置机器人ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.Reset();
        }

        private void 关闭机器人ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.StopRobot();
        }

        private void cmbRate_SelectedIndexChanged(object sender, EventArgs e)
        {
            robotControl?.SetSpeedRate(cmbRate.SelectedIndex);
        }

        public void SendMoveCmd(int CmdIdx,int rate=50)
        {
            robotControl?.SendMoveCmd(CmdIdx, rate, true,RobotHelper.LoadRateParam[0]);
        }
        public bool IsSendCmdOk(int cmdIdx)
        {
           return robotControl?.IsSendCmdOk(cmdIdx)??false;
        }
        private void 启动程序ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.PlayProgram();
        }

        private void 暂停程序ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.PauseProgram();
        }

        private void 停止程序ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            robotControl?.StopProgram();
        }
    }
}