using OnlineStore.DeviceLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace ACServoDriveTest
{
    public partial class FrmMoveTest : Form
    {
        public FrmMoveTest()
        {
            InitializeComponent();
        }
        private SerialBean bean;
        private void btnOpen_Click(object sender, EventArgs e)
        {
            string portName = comboBoxPortName.Text;
            int botelv = Convert.ToInt32(comboBoxBaudRate.Text);

            bean = new SerialBean(portName, 9600, Parity.Even, 8, StopBits.One);
            bool result = bean.openPort();
            if (!result)
            {
                MessageBox.Show("打开串口失败");
            }
            else
            {
                bean.DataReceived += DataReceived;
                formStatus(true);
                //写入block

                //block0=原点返回，正方向
                string str0 = "01104800 000408 00000420 00000000 ffff";
                SendStr(str0);
                //block1=原点返回，反方向
                string str1 = "01104804 000408 04000420 00000000 ffff";
                SendStr(str1);
                //block2=绝对位置运动
                string str2 = "01104808 000408 10000211EC78FFFF ffff";
                SendStr(str2);
                //block3=相对位置运动
                string str3 = "0110480C 000408 10000111EC78FFFF ffff";
                SendStr(str3);
                //block4=正方向匀速运动
                string str4 = "01104810 000408 10000311 00000000 ffff";
                SendStr(str4);
                //block5=反方向匀速运动
                string str5 = "01104814 000408 14000311 00000000 ffff";
                SendStr(str5);
                //block6=减速停止
                string str6 = "01104818 000408 00000500 00000000 ffff";
                SendStr(str6);

                //block7=紧急停止 
                string str7 = "0110481c 000408 00000510 00000000 ffff";
                SendStr(str7);


                //0106460001009D12
                //速度 V1 =100
                string v1 = "01064601  0064  ffff";
                SendStr(v1);
                //加速度 A1 =30
                string a1 = "01064611 001E  ffff";
                SendStr(a1);
                //减速度 D1=30
                string d1 = "01064621  001E  ffff";
                SendStr(d1);
 
                //原点返回高速 homeHighSpeed=100
                SendStr("0106 4637 0064 ffff");
                //原点返回抵速 homeLowSpeed=50
                SendStr("0106 4638 0032 ffff");
                //原点返回加速度=30
                SendStr("0106 4639 001E ffff");

            }
        }

        private void RunBlock(int index)
        {
            //运动
            byte[] data = ACCMDManager.GetWriteData(01, 06, "4414", index.ToString(), 2);
            SendData(data);

            //开始   
            byte[] data1 = ACCMDManager.GetWriteData(01, 05, ACCMDManager.STB_Addr, "0000", 2);
            SendData(data1);
            System.Threading.Thread.Sleep(100);
            byte[] data2 = ACCMDManager.GetWriteData(01, 05, ACCMDManager.STB_Addr, "ff00", 2);
            SendData(data2);
        }
        private void SendStr(string str)
        {
            byte[] data = SerialBean.StringToByte(str);
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(data);
            System.Threading.Thread.Sleep(100);
        }
        private void formStatus(bool p)
        {
            btnOpen.Enabled = !p;
            btnClose.Enabled = p;
            btnWrite.Enabled = p;
            btnAbsMove.Enabled = p;
            btnSpeedMove.Enabled = p;

            btnSdStop.Enabled = p;
            btnStop.Enabled = p;
            btnHomeMove.Enabled = p;
            btnRelMove.Enabled = p;
        }

        private void DataReceived(string portName, object sender, SerialDataReceivedEventArgs e, byte[] bits)
        {
            string strSend = "";
            for (int i = 0; i < bits.Length; i++)
            {
                strSend += string.Format("{0:X2} ", bits[i]);
            }
            this.richTextBox1.AppendText("收到数据：" + strSend + "\r\n");
            Console.WriteLine("收到数据：" + strSend);
            string str = "";
            string strFromat = "{0:X2}";
            if (bits[1].Equals(0x03) && bits.Length > 3)
            {
                int lenth = bits[2];
              
                if (PreReadAddr.Equals( ACCMDManager.TargetPostion))
                {
                    if (lenth == 4)
                    {
                        str = string.Format(strFromat, bits[5]) + string.Format(strFromat, bits[6]) + string.Format(strFromat, bits[3]) + string.Format(strFromat, bits[4]);
                        double value = Convert.ToInt32(str.Trim().Replace(" ",""), 16);
                        this.txtTargetPosition.Text = value.ToString();
                    }
                }
                else if (PreReadAddr.Equals(ACCMDManager.ActualPosition))
                {
                    if (lenth == 4)
                    {
                        str = string.Format(strFromat, bits[5]) + string.Format(strFromat, bits[6]) + string.Format(strFromat, bits[3]) + string.Format(strFromat, bits[4]);
                        double value = Convert.ToInt32(str.Trim().Replace(" ", ""), 16);
                        this.txtActualPosition.Text = value.ToString();
                    } 
                }
                else
                { 
                    for (int i = 3; i < 3 + lenth; i++)
                    {
                        str += string.Format("{0:X2} ", bits[i]);
                    }
                    str = str.Replace(" ", "");
                    double value = Convert.ToInt32(str, 16);
                    this.richTextBox1.AppendText("转换后结果：" + value + "\r\n");
                    Console.WriteLine("转换后结果：" + value);
                }
                //MessageBox.Show("收到数据："+value);
            }
            if (strSend.Equals(""))
            {
                return;
            }
        }

        private void btnClose_Click(object sender, EventArgs e)
        {
            bean.closePort();
            formStatus(false);
        }

        public void SendData(byte[] data)
        {
            if (data == null)
            {
                return;
            }
            string strSend = "";
            for (int i = 0; i < data.Length; i++)
            {
                strSend += string.Format("{0:X2} ", data[i]);
            }
            if (strSend.Equals(""))
            {
                return;
            }
            Console.WriteLine("写入数据：" + strSend);
            this.richTextBox1.AppendText("写入数据：" + strSend + "\r\n");
            bean.SendData(data, 0, data.Length);
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            formStatus(false);
            CheckForIllegalCrossThreadCalls = false;
            List<string> port = new List<string>(SerialPort.GetPortNames());
            comboBoxPortName.DataSource = port;

            List<int> boteList = new List<int>();
            boteList.Add(300);
            boteList.Add(600);
            boteList.Add(1200);
            boteList.Add(4800);
            boteList.Add(9600);
            boteList.Add(19200);
            boteList.Add(38400);
            boteList.Add(57600);
            boteList.Add(115200);
            boteList.Add(230400);
            comboBoxBaudRate.DataSource = boteList;
            comboBoxBaudRate.SelectedIndex = boteList.IndexOf(9600);
        }

        private void btnWrite_Click(object sender, EventArgs e)
        {
            string addr = (txtWAddr.Text);
            string data = (txtWData.Text);
            byte cmd = Convert.ToByte(txtCmd.Text);
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void btnClear_Click(object sender, EventArgs e)
        {
            this.richTextBox1.Text = "";
        }

        private void btnRelMove_Click(object sender, EventArgs e)
        {
            int position = Convert.ToInt32(txtPosition.Text);
            byte[] positionData = SerialBean.StringToByte(position.ToString("X8"));
            byte[] data = SerialBean.StringToByte("0110480C 000408 10000111EC78FFFF ffff");
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(data);
            System.Threading.Thread.Sleep(100);
            //运动
            data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "3", 2);
            SendData(data);
            Thread.Sleep(100);
            OpenSTB();
        }

        private void btnHomeMove_Click(object sender, EventArgs e)
        {
            int speed = Convert.ToInt32(txtSpeed.Text);
            byte[] date = ACCMDManager.GetWriteData(01, 06, "4637", string.Format("{0:X2}", Math.Abs(speed)), 2);
            if (speed > 0)
            {
                byte[] data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "0", 2);
                SendData(data);
            }
            else
            {
                byte[] data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "1", 2);
                SendData(data);
            }
            Thread.Sleep(100);
            OpenSTB();
        }

        private void btnSpeedMove_Click(object sender, EventArgs e)
        {
            int speed = Convert.ToInt32(txtSpeed.Text);
            byte[] data = ACCMDManager.GetWriteData(1, 06, "4601", string.Format("{0:X2}", Math.Abs( speed)) , 2);
            if (speed > 0)
            {
                data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "4", 2);
                SendData(data);
            }
            else
            {
                data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "5", 2);
                SendData(data);
            }
            Thread.Sleep(100);
            OpenSTB();
        }

        private void btnAbsMove_Click(object sender, EventArgs e)
        {
            int position = Convert.ToInt32(txtPosition.Text, 10);
            byte[] positionData = SerialBean.StringToByte(position.ToString("X8"));
            byte[] data = SerialBean.StringToByte("01104808 000408 10000211 EC78FFFF ffff");
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;

            if (positionData.Length == 4)
            {
                data[11] = positionData[2];
                data[12] = positionData[3];
                data[13] = positionData[0];
                data[14] = positionData[1];
            }
            else if (positionData.Length == 3)
            {
                data[11] = positionData[1];
                data[12] = positionData[2];
                data[13] = 0x00;
                data[14] = positionData[0];
            }
            else if (positionData.Length == 2)
            {
                data[11] = positionData[0];
                data[12] = positionData[1];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            else if (positionData.Length == 1)
            {
                data[11] = 0x00;
                data[12] = positionData[0];
                data[13] = 0x00;
                data[14] = 0x00;
            }
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(data);
            System.Threading.Thread.Sleep(100);
            data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, "2", 2);
            SendData(data);
            Thread.Sleep(100);
            OpenSTB();
        }

        private void btnSend_Click(object sender, EventArgs e)
        {
            string str = txtSendStr.Text;
            byte[] data = SerialBean.StringToByte(str);
            data[data.Length - 1] = 0x00;
            data[data.Length - 2] = 0x00;
            data = ACCMDManager.buildCheckData(data, data.Length - 2);
            SendData(data);

        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            //RunBlock(6);
            string addr = ACCMDManager.Stop_Addr;
            string data = "FF00";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);

            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void btnSdStop_Click(object sender, EventArgs e)
        {
            // RunBlock(7);
            string addr = ACCMDManager.SDStop_Addr;
            string data = "FF00";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void btnServoOn_Click(object sender, EventArgs e)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "FF00";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void btnServoOff_Click(object sender, EventArgs e)
        {
            string addr = ACCMDManager.ServerOn_Addr;
            string data = "0000";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }
        private void OpenSTB()
        {
            string addr = ACCMDManager.STB_Addr;
            string data = "FF00";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
            System.Threading.Thread.Sleep(1000);
            data = "0000";
            dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }
        private void button2_Click(object sender, EventArgs e)
        {
            OpenSTB();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            string addr = ACCMDManager.STB_Addr;
            string data = "0000";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void btnUpdateBlock_Click(object sender, EventArgs e)
        {
            int num = Convert.ToInt32(txtNo.Text);
            byte[] data = ACCMDManager.GetWriteData(01, 06, ACCMDManager.BlockNo, num.ToString(), 2);
            SendData(data);
        }

        private void button4_Click(object sender, EventArgs e)
        {
            string addr = ACCMDManager.Clear_Alarm_Addr;
            string data = "FF00";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
            System.Threading.Thread.Sleep(1000);
            
              data = "0000";
         
            dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }

        private void button3_Click(object sender, EventArgs e)
        {
            string addr = ACCMDManager.Clear_Alarm_Addr;
            string data = "0000";
            byte cmd = 0x05;
            int slvAddr = Convert.ToInt32(txtAddr.Text);
            int length = Convert.ToInt32(txtLength.Text);
            byte[] dataArray = ACCMDManager.GetWriteData(slvAddr, cmd, addr, data, length);
            SendData(dataArray);
        }
        private string PreReadAddr = "";
        private void btnReadPosition_Click(object sender, EventArgs e)
        {
            PreReadAddr = ACCMDManager.TargetPostion;
            byte[] dataArray = ACCMDManager.GetWriteData(01, 03, ACCMDManager.TargetPostion, "0000", 2);
            SendData(dataArray); 
        }

        private void btnGetActualPosition_Click(object sender, EventArgs e)
        { 
            PreReadAddr = ACCMDManager.ActualPosition;
            byte[] dataArray = ACCMDManager.GetWriteData(01, 03, ACCMDManager.ActualPosition, "0000", 2);
            SendData(dataArray); 
        }
    }
}