using ABB.Robotics.Controllers;
using ABB.Robotics.Controllers.Discovery;
using ABB.Robotics.Controllers.IOSystemDomain;
using ABB.Robotics.Controllers.RapidDomain;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;

namespace ABBRobotTest
{
    public class ABBRobotManager
    {

        private NetworkScanner scanner = null;
        // private Controller controller = null;
        private Task[] tasks = null;
        private NetworkWatcher networkwatcher = null;
        private Dictionary<string, Controller> controllerMap = new Dictionary<string, Controller>();
         
        public void LoadController()
        {
            this.scanner = new NetworkScanner();
            this.scanner.Scan();
            ControllerInfoCollection controllers = scanner.Controllers;
            int i = 0;
            foreach (ControllerInfo controllerInfo in controllers)
            {
                Controller con = ControllerFactory.CreateFrom(controllerInfo);
                con.Logon(UserInfo.DefaultUser);
                ControllerState state = con.State;
                controllerMap.Add(con.IPAddress.ToString(), con);
                // controller = con;
                i++; 
            }

            this.networkwatcher = new NetworkWatcher(scanner.Controllers);
            this.networkwatcher.Found += new EventHandler<NetworkWatcherEventArgs>(HandleFoundEvent);
            this.networkwatcher.Lost += new EventHandler<NetworkWatcherEventArgs>(HandleLostEvent);
            this.networkwatcher.EnableRaisingEvents = true;
        }

        private void HandleLostEvent(object sender, NetworkWatcherEventArgs e)
        { 
        }

        private void HandleFoundEvent(object sender, NetworkWatcherEventArgs e)
        {
            this.Invoke(new
            EventHandler<NetworkWatcherEventArgs>(AddControllerToListView),
            new Object[] { this, e });
        }

        private void Invoke(EventHandler<NetworkWatcherEventArgs> eventHandler, object[] v)
        {
            throw new NotImplementedException();
        }

        private void AddControllerToListView(object sender, NetworkWatcherEventArgs e)
        {
            //ControllerInfo controllerInfo = e.Controller; ListViewItem item
            // = new ListViewItem(controllerInfo.IPAddress.ToString());
            //item.SubItems.Add(controllerInfo.Id); item.SubItems.Add(controllerInfo.Availability.ToString()); item.SubItems.Add(controllerInfo.IsVirtual.ToString()); item.SubItems.Add(controllerInfo.SystemName); item.SubItems.Add(controllerInfo.Version.ToString()); item.SubItems.Add(controllerInfo.ControllerName); this.listView1.Items.Add(item); item.Tag
            //       = controllerInfo;
        }
        private void StartRobot(string ip)
        {
            try
            {
                Controller controller = GetControllerByIP(ip);
                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
                { 
                    tasks = controller.Rapid.GetTasks();
                    using (Mastership m = Mastership.Request(controller.Rapid))
                    {
                        tasks[0].SetProgramPointer("aaa", "main");
                        controller.State = ControllerState.MotorsOn;
                        controller.Rapid.Start();
                        //Perform operation
                        //tasks[0].Start();

                        m.Dispose();
                    } 
                }
                else
                {
                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
                }
            }
            catch (System.InvalidOperationException ex)
            {
                Console.WriteLine("Mastership is held by another client." + ex.Message);
            }
            catch (System.Exception ex)
            {
                Console.WriteLine("Unexpected error occurred: " + ex.Message);
            }
        }
        private void StopRobot(string ip)
        {
            try
            {
                Controller controller = GetControllerByIP(ip);
                if (controller != null && controller.OperatingMode == ControllerOperatingMode.Auto)
                {

                    tasks = controller.Rapid.GetTasks();
                    using (Mastership m = Mastership.Request(controller.Rapid))
                    {
                        //tasks[0].SetProgramPointer("aaa", "main");
                        //controller.State = ControllerState.MotorsOn;
                        //controller.Rapid.Start();
                        //Perform operation
                        //tasks[0].Start();
                        controller.Rapid.Stop();
                        m.Dispose();
                    }
                }
                else
                {
                    Console.WriteLine("Automatic mode is required to start execution from a remote client.");
                }
            }
            catch (System.InvalidOperationException ex)
            {
                Console.WriteLine("Mastership is held by another client." + ex.Message);
            }
            catch (System.Exception ex)
            {
                Console.WriteLine("Unexpected error occurred: " + ex.Message);
            }
        } 

        private void SetRobotSignal(string ip, string name)
        {
            Controller controller = GetControllerByIP(ip);
            if (controller != null)
            {
                // string name = comboBox1.Text;
                Signal singalValue = controller.IOSystem.GetSignal(name);
                DigitalSignal digitalSig = (DigitalSignal)singalValue;

                digitalSig.Set();
            }
        }

        private void ResetRobotSignal(string ip, string name)
        {
            Controller controller = GetControllerByIP(ip);
            if (controller != null)
            {
                //string name = comboBox1.Text;
                Signal singalValue = controller.IOSystem.GetSignal(name);
                DigitalSignal digitalSig = (DigitalSignal)singalValue;
                digitalSig.Reset();
            }
        }

        public string GetRobotState(string ip)

        {
            Controller controller = GetControllerByIP(ip);
            if (controller != null)
            { 
                ControllerState state = controller.State;
                return state.ToString(); 
            }
            return "";
        }

        private Controller GetControllerByIP(string ip)
        {
            if (controllerMap.ContainsKey(ip))
            {
                return controllerMap[ip];
            }
            return null;
        }


        private void DisposeControllers()
        {
            foreach (Controller con in controllerMap.Values)
            {
                con.Logoff();
                con.Dispose();
            }
            controllerMap.Clear();
        } 
    }
}