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

using ACS.SPiiPlusNET;      // ACS .NET Library
using System.Runtime.InteropServices;

namespace ACS_DotNET_Library_Advanced_Demo
{
	public partial class MainForm : Form
	{
		private Api _ACS;

		private const int MAX_AXIS_COUNT = 32;
		private const int MAX_BUFFER_CNT = 64;

		private const int MAX_UI_LIMIT_CNT = 8;
		private const int MAX_UI_IO_CNT = 8;

		private int m_nTotalAxis = 0;
		private int m_nTotalBuffer = 0;
		private Axis[] m_arrAxisList = null;

		private bool m_bConnected = false;

		// For update values
		private MotorStates m_nMotorState;  //运动状态
		private ProgramStates m_nProgramState; //程序状态
		private object m_objReadVar = null;
		private Array m_arrReadVector = null;
		private double m_lfRPos, m_lfFPos, m_lfPE, m_lfFVEL; //参考位置，反馈位置 位置误差 反馈速度 double类型
		private int m_nValues, m_nOutputState;

		
		private Label[] m_lblLeftLimit; //左限位
		private Label[] m_lblRightLimit;//右限位
		private Label[] m_lblInput;
		private Label[] m_lblOutput;
		private Button[] m_btnOutput;

	

		//定一个point结构体，用于存储点的坐标
		public struct Point
		{
			public double x;
			public double y;
			public double z;
		}
		//定义一个point结构体的列表，用于存储多个点的坐标
		public List<Point> pointList = new List<Point>();
		//定一个point结构体的对象
			public Point point = new Point();


		// 记录标志位
		private bool record = false;
		private bool record_last = false; //上一次的记录标志位


		public MainForm()
		{
			InitializeComponent();

			_ACS = new Api(); //初始化 ACS运动控制类

			// Register Event 注册时间
			_ACS.PHYSICALMOTIONEND += _ACS_PHYSICALMOTIONEND;
			_ACS.PROGRAMEND += _ACS_PROGRAMEND;
		}

		#region Initialize
		private void Form1_Load(object sender, EventArgs e)
		{
			rdoTCP.Checked = true;
			btnOpen.Enabled = true;
			btnClose.Enabled = false;

			m_lblLeftLimit = new Label[MAX_UI_LIMIT_CNT]; //左限位
			m_lblLeftLimit[0] = lblLL0;
			m_lblLeftLimit[1] = lblLL1;
			m_lblLeftLimit[2] = lblLL2;
			m_lblLeftLimit[3] = lblLL3;
			m_lblLeftLimit[4] = lblLL4;
			m_lblLeftLimit[5] = lblLL5;
			m_lblLeftLimit[6] = lblLL6;
			m_lblLeftLimit[7] = lblLL7;

			m_lblRightLimit = new Label[MAX_UI_LIMIT_CNT];//有限位
			m_lblRightLimit[0] = lblRL0;
			m_lblRightLimit[1] = lblRL1;
			m_lblRightLimit[2] = lblRL2;
			m_lblRightLimit[3] = lblRL3;
			m_lblRightLimit[4] = lblRL4;
			m_lblRightLimit[5] = lblRL5;
			m_lblRightLimit[6] = lblRL6;
			m_lblRightLimit[7] = lblRL7;

			m_lblInput = new Label[MAX_UI_IO_CNT];
			m_lblInput[0] = lblIN0;
			m_lblInput[1] = lblIN1;
			m_lblInput[2] = lblIN2;
			m_lblInput[3] = lblIN3;
			m_lblInput[4] = lblIN4;
			m_lblInput[5] = lblIN5;
			m_lblInput[6] = lblIN6;
			m_lblInput[7] = lblIN7;

			m_lblOutput = new Label[MAX_UI_IO_CNT];
			m_lblOutput[0] = lblOUT0;
			m_lblOutput[1] = lblOUT1;
			m_lblOutput[2] = lblOUT2;
			m_lblOutput[3] = lblOUT3;
			m_lblOutput[4] = lblOUT4;
			m_lblOutput[5] = lblOUT5;
			m_lblOutput[6] = lblOUT6;
			m_lblOutput[7] = lblOUT7;

			m_btnOutput = new Button[MAX_UI_IO_CNT];
			m_btnOutput[0] = btnSW0;
			m_btnOutput[1] = btnSW1;
			m_btnOutput[2] = btnSW2;
			m_btnOutput[3] = btnSW3;
			m_btnOutput[4] = btnSW4;
			m_btnOutput[5] = btnSW5;
			m_btnOutput[6] = btnSW6;
			m_btnOutput[7] = btnSW7;

			//m_nFault = new int[MAX_AXIS_COUNT];
			//Array.Clear(m_nFault, 0, MAX_AXIS_COUNT);
			m_nOutputState = 0;

			// Clear connection list from SPiiPlus UserMode-Driver (UMD)
			//TernminateUMD_Connection();
		}

		private void rdoTCP_CheckedChanged(object sender, EventArgs e)
		{
			txtIP.Enabled = true;
			txtPort.Enabled = true;
		}

		private void rdoSimu_CheckedChanged(object sender, EventArgs e)
		{
			txtIP.Enabled = false;
			txtPort.Enabled = false;
		}
		#endregion

		#region Communication - Open / Close
		private void btnOpen_Click(object sender, EventArgs e)
		{
			string strTemp;
			int i;
			//double lfTemp = 0.0f;

			try
			{
				if (rdoTCP.Checked)
				{
					// TCP/IP (Ethernet) 
					_ACS.OpenCommEthernetTCP(
						txtIP.Text,                             // IP Address (Default : 10.0.0.100)
						Convert.ToInt32(txtPort.Text.Trim()));    // TCP/IP Port nubmer (default : 701)

				}
				else if (rdoSimu.Checked)
				{
					// Simmulation mode
					_ACS.OpenCommSimulator();
				}
				m_bConnected = true;

				// Get Total number of axes
				// Using Transaction function : return string text from controller, we need to convert to integer value
				strTemp = _ACS.Transaction("?SYSINFO(13)");
				m_nTotalAxis = Convert.ToInt32(strTemp.Trim());

				// Using Sysinfo function
				//_ACS.GetSysInfo(_ACS.ACSC_SYS_NAXES_KEY, out lfTemp);

				// When we are using multi axes command (ex) ToPointM, HaltM, ...), we need to allocate the array size more 1.
				// Because of the last delimeter (-1)
				m_arrAxisList = new Axis[m_nTotalAxis + 1];
				for (i = 0; i < m_nTotalAxis; i++)
				{
					cboAxisNo.Items.Add(i.ToString());
					m_arrAxisList[i] = (Axis)i;
				}
				// Insert '-1' at the last
				m_arrAxisList[m_nTotalAxis] = Axis.ACSC_NONE;
				cboAxisNo.SelectedIndex = 0;

				// Update current motion paramter to UI.
				UpdateProfile();

				strTemp = _ACS.Transaction("?SYSINFO(10)");
				m_nTotalBuffer = Convert.ToInt32(strTemp.Trim());
				for (i = 0; i < m_nTotalBuffer; i++) { cboBufferNo.Items.Add(i.ToString()); }
				cboBufferNo.SelectedIndex = 0;

				btnOpen.Enabled = false;
				btnClose.Enabled = true;

				// Set updating timer
				tmrMonitor.Interval = 50;
				tmrMonitor.Start();
			}

			catch (COMException comex)
			{
				MessageBox.Show("Connection fail", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine("Connection fail" + comex.Message);

				m_bConnected = false;
				return;
			}

			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}

		private void btnClose_Click(object sender, EventArgs e)
		{
			if (m_bConnected) _ACS.CloseComm();

			tmrMonitor.Stop();

			btnOpen.Enabled = true;
			btnClose.Enabled = false;
		}


		/// <summary>
		/// Terminate connections from SPiiPlus User Mode Driver
		/// 终止来自 SPiiPlus 用户模式驱动程序的连接
		///  - Maximum connections up to 10 in UMD
		/// </summary>
		private void TernminateUMD_Connection()
		{
			try
			{
				string terminateExceptionConnName = "ACS.Framework.exe";

				ACSC_CONNECTION_DESC[] connectionList = _ACS.GetConnectionsList();
				for (int index = 0; index < connectionList.Length; index++)
				{

					if (terminateExceptionConnName.CompareTo((string)connectionList[index].Application) != 0)
						_ACS.TerminateConnection(connectionList[index]);
				}
			}
			catch (Exception ex)
			{
				System.Diagnostics.Debug.WriteLine(ex.ToString());
			}
		}
		#endregion

		#region Update UI data from Controller
		/// <summary>
		/// Update Motion Profile from Controller
		/// </summary>
		private void UpdateProfile()
		{
			if (m_bConnected)
			{
				txtVel.Text = _ACS.GetVelocity((Axis)cboAxisNo.SelectedIndex).ToString();
				txtAcc.Text = _ACS.GetAcceleration((Axis)cboAxisNo.SelectedIndex).ToString();
				txtDec.Text = _ACS.GetDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
				txtKdec.Text = _ACS.GetKillDeceleration((Axis)cboAxisNo.SelectedIndex).ToString();
				txtJerk.Text = _ACS.GetJerk((Axis)cboAxisNo.SelectedIndex).ToString();
			}
		}

		private void cboAxisNo_SelectedIndexChanged(object sender, EventArgs e)
		{
			UpdateProfile();
		}
		

		private bool record_action = false;
		private void tmrMonitor_Tick(object sender, EventArgs e)
		{
			// Get selected axis number
			int iAxisNo = cboAxisNo.SelectedIndex;
			// Get selected buffer number
			int iBufferNo = cboBufferNo.SelectedIndex;

			if (m_bConnected)
			{
				try
				{
					// Instruction 1. Using library functions - acsc_GetFPosition, acsc_GetRPosition, ....
					// Instruction 2. Read ACS variable - Already defined almost things (FPOS, RPOS, ...)
					//                Motion parameters and state is array (Max length is total number of axes)
					//
					// * Library function can read only 1 axis information, so if you want to read several axes, you have to call the function many times.
					//   (This may cause communication delay.)
					//   Recommand (if you want to read many axes) : read/write variable using ReadVariable, ReadVariableScalar, ReadVariableVector, ReadVariableMatrix

					//   
					// Get Motor State 
					// ACSPL+ Variable : MST (integer)
					m_nMotorState = _ACS.GetMotorState((Axis)iAxisNo);

					// Returned value is integer, you need to use bitmaks 
					if ((m_nMotorState & MotorStates.ACSC_MST_MOVE) != 0) lblMoving.Image = Properties.Resources.On; else lblMoving.Image = Properties.Resources.Off; // 运动中
					if ((m_nMotorState & MotorStates.ACSC_MST_INPOS) != 0) lblInPos.Image = Properties.Resources.On; else lblInPos.Image = Properties.Resources.Off;    // 就位
					if ((m_nMotorState & MotorStates.ACSC_MST_ACC) != 0) lblAcc.Image = Properties.Resources.On; else lblAcc.Image = Properties.Resources.Off;          // 加速
					if ((m_nMotorState & MotorStates.ACSC_MST_ENABLE) != 0) lblEnable.Image = Properties.Resources.On; else lblEnable.Image = Properties.Resources.Off; // 使能

					// Reference position
					// ACSPL+ Variable : RPOS (real)
					m_lfRPos = _ACS.GetRPosition((Axis)iAxisNo); // 参考位置

					// Feedback position (Encoder value)
					// ACSPL+ Variable : FPO (real)
					m_lfFPos = _ACS.GetFPosition((Axis)iAxisNo); //反馈位置 

					// PE (Position Error)
					// There is no function in library. We need to use ReadVariable function
					m_lfPE = (double)_ACS.ReadVariable("PE", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //位置误差

					// Feedback Velocity
					m_lfFVEL = (double)_ACS.ReadVariable("FVEL", ProgramBuffer.ACSC_NONE, iAxisNo, iAxisNo); //实际速度

					txtRPOS.Text = String.Format("{0:0.0000}", m_lfRPos);
					txtFPOS.Text = String.Format("{0:0.0000}", m_lfFPos);
					txtPE.Text = String.Format("{0:0.0000}", m_lfPE);
					txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);

					// Program State 运动状态
					// State : Compiled, Running, Suspended, Autoroutine is running (ON syntax)
					// 
					// ACSPL+ Variable : PST (integer)
					m_nProgramState = _ACS.GetProgramState((ProgramBuffer)iBufferNo);
					if ((m_nProgramState & ProgramStates.ACSC_PST_RUN) != 0)
					{
						lblPRG_Status_LED.Image = Properties.Resources.On;
						lblPRG_Status.Text = "Running";
					}
					else
					{
						lblPRG_Status_LED.Image = Properties.Resources.Off;
						lblPRG_Status.Text = "Stop";
					}

					// Read left/right hardware limits state
					// ACSPL+ Variable : FAULT (integer)
					m_objReadVar = _ACS.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, m_nTotalAxis - 1, -1, -1);
					if (m_objReadVar != null)
					{
						m_arrReadVector = m_objReadVar as Array;
						if (m_arrReadVector != null)
						{
							for (int i = 0; i < m_nTotalAxis; i++)
							{
								UpdateLimitState(i, (int)m_arrReadVector.GetValue(i));
							}
						}
					}

					// Read digital input/output (Port means all of bits)
					// If you want to read only 1 bit (not an integer), use "GetInput" function
					m_nValues = _ACS.GetInputPort(0);           // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
					UpdateIOState(m_nValues, true);

					m_nOutputState = _ACS.GetOutputPort(0);     // _ACS.ReadVariableAsVector("OUT", -1, 0, 0, -1, -1);
					UpdateIOState(m_nOutputState, false);
				}
				catch (Exception ex)
				{
					MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
					System.Diagnostics.Debug.WriteLine(ex.Message);
				}

				//编写代码，刷新0,1，8轴的位置
				point.x = _ACS.GetRPosition((Axis)0); //参考位置
				point.y = _ACS.GetRPosition((Axis)1); //参考位置
				point.z = _ACS.GetRPosition((Axis)8); //参考位置

				//对 point 保留3位小数
				label54.Text = point.x.ToString("0.000");
				label55.Text = point.y.ToString("0.000");
				label56.Text = point.z.ToString("0.000");

				if (record_action)
				{
					pointList.Add(point);
				}

				if (!record_last  && record) //从未记录到记录
				{
					lstLog.Items.Add("开始记录");
					record_action = true;

				}

				//从记录到未记录
				if (record_last && !record)
				{
					lstLog.Items.Add("停止记录");

					record_action = false;


					//定义文件保存位置 D:/11.txt
					string path = "D:/11.txt";
					{
						StreamWriter sw = new StreamWriter(path);
						foreach (Point p in pointList)
						{
							sw.WriteLine(p.x.ToString("0.000") + " " + p.y.ToString("0.000") + " " + p.z.ToString("0.000"));
						}
						sw.Close();
					}
					pointList.Clear();//清空数据
					lstLog.Items.Add("保存完成");

				}




				//更新记录标志位
				record_last = record;

			}
		}

		// Update limit state
		private void UpdateLimitState(int axisNo, int fault)
		{
			if (axisNo < MAX_UI_LIMIT_CNT)
			{
				if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_LL) != 0) m_lblLeftLimit[axisNo].Image = Properties.Resources.Error; else m_lblLeftLimit[axisNo].Image = Properties.Resources.Off;
				if ((fault & (int)SafetyControlMasks.ACSC_SAFETY_RL) != 0) m_lblRightLimit[axisNo].Image = Properties.Resources.Error; else m_lblRightLimit[axisNo].Image = Properties.Resources.Off;
			}
		}

		// Update general I/O stae
		private void UpdateIOState(int value, bool isInput)
		{
			int bitUpCnt = 0x01;

			for (int i = 0; i < MAX_UI_IO_CNT; i++)
			{
				if (isInput)
				{
					// Input state
					if ((value & bitUpCnt) != 0) m_lblInput[i].Image = Properties.Resources.On;
					else m_lblInput[i].Image = Properties.Resources.Off;
				}
				else
				{
					// Output state
					if ((value & bitUpCnt) != 0)
					{
						m_btnOutput[i].Text = "OFF";
						m_lblOutput[i].Image = Properties.Resources.On;
					}
					else
					{
						m_btnOutput[i].Text = "ON";
						m_lblOutput[i].Image = Properties.Resources.Off;
					}
				}

				// 0x01 => 0x02 => 0x04 => 0x08 ... increase bit number
				bitUpCnt = (0x01) << (i + 1);
			}
		}
		#endregion

		#region Motor Enable / Disable
		private void btnEnable_Click(object sender, EventArgs e)
		{
			// Enable selected axis
			_ACS.Enable((Axis)cboAxisNo.SelectedIndex);

			// If you want to enable several axes, 
			// 
			// Ex) Eanble three axes (0, 1, 6)
			//
			// int[] AxisList = new int[] { 0, 1, 6, -1 };      !!!! Important !! Must insert '-1' at the last
			// _ACS.EnableM(AxisList);
		}

		private void btnDisable_Click(object sender, EventArgs e)
		{
			// Disable selected axis
			_ACS.Disable((Axis)cboAxisNo.SelectedIndex);
			// Disable multi axes : DisableM(int[] axisList)
		}

		private void btnDisableAll_Click(object sender, EventArgs e)
		{
			// Disable all of axes
			_ACS.DisableAll();
		}
		#endregion

		private void btnSetZero_Click(object sender, EventArgs e)
		{
			// Change current poisition as you want
			// SetFPosition(Axis number, new position)
			_ACS.SetFPosition((Axis)cboAxisNo.SelectedIndex, 0);
		}

		#region Move to absolute position
		private void btnPTP_Click(object sender, EventArgs e)
		{
			double lfTargetPos = 0.0f;
			try
			{
				if (txtPTP_Pos.Text.Length > 0)
				{
					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
					_ACS.ToPoint(
						0,                          // '0' - Absolute position
						(Axis)cboAxisNo.SelectedIndex,  // Axis number
						lfTargetPos                 // Target position
						);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}
		#endregion

		#region Move to relative position (from current position)
		private void btnPTP_R_Neg_Click(object sender, EventArgs e)
		{
			double lfTargetPos = 0.0f;
			try
			{
				if (txtPTP_Pos.Text.Length > 0)
				{
					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
					if (lfTargetPos > 0) lfTargetPos = lfTargetPos * (-1);      // Target position (from current position, step move)

					_ACS.ToPoint(
						MotionFlags.ACSC_AMF_RELATIVE,      // Flat
						(Axis)cboAxisNo.SelectedIndex,      // Axis number
						lfTargetPos                         // Move distance
						);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}

		private void btnPTP_R_Pos_Click(object sender, EventArgs e)
		{
			double lfTargetPos = 0.0f;
			try
			{
				if (txtPTP_Pos.Text.Length > 0)
				{
					lfTargetPos = Convert.ToDouble(txtPTP_Pos.Text);
					if (lfTargetPos < 0) lfTargetPos = lfTargetPos * (-1);

					_ACS.ToPoint(MotionFlags.ACSC_AMF_RELATIVE, (Axis)cboAxisNo.SelectedIndex, lfTargetPos);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}
		#endregion

		#region Stop motion using deceleration (halt command)
		private void btnHalt_Click(object sender, EventArgs e)
		{
			try
			{
				_ACS.Halt((Axis)cboAxisNo.SelectedIndex); //使用 halt 命令减速
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}

		private void btnHallAll_Click(object sender, EventArgs e)
		{
			try
			{
				// There is no halt all command, so you need to user HaltM function
				// 
				// ex) You want to stop 0, 2, 5 axis
				//     int[] m_arrAxisList = new int[] { 0, 2, 5, -1 };
				// 
				if (m_arrAxisList != null) _ACS.HaltM(m_arrAxisList);
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}
		#endregion

		#region JOG Command
	
		private void btnJogNeg_MouseDown(object sender, MouseEventArgs e)
		{
			double lfVelocity = 0.0f;

			try
			{
				if (chkUseVel.Checked)
				{
					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
					if (lfVelocity > 0) lfVelocity = lfVelocity * (-1);     // Negative direction : Using - (minus) velocity

					_ACS.Jog(
						MotionFlags.ACSC_AMF_VELOCITY,      // Velocity flag 速度标志
						(Axis)cboAxisNo.SelectedIndex,      // Axis number
						lfVelocity                          // Velocity
						);
				}
				else
				{
					_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_NEGATIVE_DIRECTION);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}

		private void btnJogPos_MouseDown(object sender, MouseEventArgs e)
		{
			double lfVelocity = 0.0f;

			try
			{
				if (chkUseVel.Checked)
				{
					lfVelocity = Convert.ToDouble(txtJogVel.Text.Trim());
					if (lfVelocity < 0) lfVelocity = lfVelocity * (-1);

					_ACS.Jog(MotionFlags.ACSC_AMF_VELOCITY, (Axis)cboAxisNo.SelectedIndex, lfVelocity);
				}
				else
				{
					_ACS.Jog(0, (Axis)cboAxisNo.SelectedIndex, (double)GlobalDirection.ACSC_POSITIVE_DIRECTION);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}
	
		private void btnJog_MouseUp(object sender, MouseEventArgs e)
		{
			_ACS.Halt((Axis)cboAxisNo.SelectedIndex);
		}
		#endregion

		#region Run/Stop Buffer Program
		private void btnRunBuffer_Click(object sender, EventArgs e)
		{
			string temp;

			try
			{
				if (txtLabelName.Text.Length > 0)
				{
					temp = txtLabelName.Text.ToUpper();
					// Allow _ (Under bar) or A ~ Z characters
					if (temp[0] != 0x5F && (temp[0] < 0x41 || temp[0] > 0x5A))
					{
						MessageBox.Show("Wrong 'Label' name inputed.", "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Information);
						return;
					}

					// Run buffer program from label position
					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, txtLabelName.Text.Trim());
				}
				else
				{
					// Run buffer program from first line
					_ACS.RunBuffer((ProgramBuffer)cboBufferNo.SelectedIndex, null);
				}
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				System.Diagnostics.Debug.WriteLine(ex.Message);
			}
		}

		private void btnStopBuffer_Click(object sender, EventArgs e)
		{
			// Stop program
			_ACS.StopBuffer((ProgramBuffer)cboBufferNo.SelectedIndex);
		}
		#endregion

		#region Change motion profile
		private void TextBoxes_KeyPress(object sender, KeyPressEventArgs e)
		{
			try
			{
				double lfTemp = 0.0f;
				TextBox textBox = sender as TextBox;
				if (textBox != null)
				{
					// Allow numbers (0 ~ 9), . (DOT), Backspace
					if ((e.KeyChar >= 0x30 && e.KeyChar <= 0x39) || e.KeyChar == 0x2E || e.KeyChar == 0x08 || e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
					{
						if ((e.KeyChar == 0x2E) && (textBox.Text.Contains(Convert.ToString(0x2E)))) e.KeyChar = (char)0x00;
						if (e.KeyChar == (char)Keys.Return || e.KeyChar == (char)Keys.Enter)
						{
							e.Handled = true;

							lfTemp = Convert.ToDouble(textBox.Text.Trim());
							switch (textBox.TabIndex)
							{
								// Immediately change value (On the fly) : SetVelocityImm() 
								// Affect next motion	: SetVelocity()	

								case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
								case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
								case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
								case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
								case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
							}

							textBox.SelectAll();
						}
					}
					else e.KeyChar = (char)0x00;
				}
			}
			catch (Exception ex)
			{
				System.Diagnostics.Debug.WriteLine("TextBoxes_KeyPress() Error\n" + ex.ToString());
			}
		}

		private void TextBoxes_Enter(object sender, EventArgs e)
		{
			try
			{
				TextBox textBox = sender as TextBox;
				if (textBox != null) textBox.SelectAll();
			}
			catch (Exception ex)
			{
				System.Diagnostics.Debug.WriteLine("TextBoxes_Enter() Error\n" + ex.ToString());
			}
		}

		private void TextBoxes_Leave(object sender, EventArgs e)
		{
			try
			{
				double lfTemp = 0.0f;

				TextBox textBox = sender as TextBox;
				if (textBox == null) return;

				lfTemp = Convert.ToDouble(textBox.Text.Trim());
				switch (textBox.TabIndex)
				{
					case 0: _ACS.SetVelocityImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
					case 1: _ACS.SetAccelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
					case 2: _ACS.SetDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
					case 3: _ACS.SetKillDecelerationImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
					case 4: _ACS.SetJerkImm((Axis)cboAxisNo.SelectedIndex, lfTemp); break;
				}

				textBox.SelectAll();
			}
			catch (Exception ex)
			{
				System.Diagnostics.Debug.WriteLine("TextBoxes_Leave() Error\n" + ex.ToString());
			}
		}
		#endregion

		#region On and Off General Output
		private void btnSW_Click(object sender, EventArgs e)
		{
			int nBitNo = 0x01;

			try
			{
				Button btn = sender as Button;
				if (btn == null) return;

				nBitNo = btn.TabIndex;
				nBitNo = (0x01) << nBitNo; //左移几位

				if ((m_nOutputState & nBitNo) != 0)
				{
					// Set only 1 bit
					_ACS.SetOutput(
						0,              // Port number
						btn.TabIndex,   // Bit number
						0               // 0 = OFF, 1 = ON
						);

					// If your I/O device is EtherCAT type, you cannot use this function
					// You can use WriteVariable function and Command function   
					// 
					// Ex) If EtherCAT mapped variable is 'EC_DOUT'
					//     Want to ON bit '3'
					//     _ACS.Command("EC_DOUT.3=1");
				}
				else
				{
					_ACS.SetOutput(0, btn.TabIndex, 1);
				}
			}
			catch (Exception ex)
			{
				System.Diagnostics.Debug.WriteLine("btnSW_Click() Error\n" + ex.ToString());
			}
		}
		#endregion

		#region Event 
		private void btnEventMotionEnd_Click(object sender, EventArgs e)
		{
			//_ACS.PHYSICALMOTIONEND +=_ACS_PHYSICALMOTIONEND;
			_ACS.EnableEvent(Interrupts.ACSC_INTR_PHYSICAL_MOTION_END);
			lstLog.Items.Add("PHYSICAL_MOTION_END event enabled");
		}

		void _ACS_PHYSICALMOTIONEND(AxisMasks axis)
		{
			int bit = 0x01;
			int axisNo = 0;
			// Param value is bit number 
			// Bit Number = Axis Number
			for (int i = 0; i < 64; i++)
			{
				if ((int)axis == bit)
				{
					axisNo = i;
					break;
				}
				bit = bit << 1;
			}

			// Add log to ListBox
			this.Invoke((MethodInvoker)delegate
			{
				lstLog.Items.Add(String.Format(" - Axis {0}, Stoppped", axisNo));
				lstLog.SelectedIndex = lstLog.Items.Count - 1;
			});

		}

		private void btnEventProgramEnd_Click(object sender, EventArgs e)
		{
			//_ACS.PROGRAMEND += _ACS_PROGRAMEND;
			_ACS.EnableEvent(Interrupts.ACSC_INTR_PROGRAM_END);
			lstLog.Items.Add("PROGRAM_END event enabled");
		}

		private void button8_Click(object sender, EventArgs e)
		{

		}

		private void button9_Click(object sender, EventArgs e)
		{

		}



		void _ACS_PROGRAMEND(BufferMasks buffer)
		{
			int bit = 0x01;
			int bufferNo = 0;
			// Param value is bit number 
			// Bit Number = Axis Number
			for (int i = 0; i < 32; i++)
			{
				if ((int)buffer == bit)
				{
					bufferNo = i;
					break;
				}
				bit = bit << 1;
			}

			// Add log to ListBox
			this.Invoke((MethodInvoker)delegate
			{
				lstLog.Items.Add(String.Format(" - Buffer {0}, Stoppped", bufferNo));
				lstLog.SelectedIndex = lstLog.Items.Count - 1;
			});
		}
		#endregion

		#region Communication Termial - Using Transaction function
		private void txtCommand_KeyPress(object sender, KeyPressEventArgs e)
		{
			if (e.KeyChar == (char)Keys.Enter)
				btnSend.PerformClick();
		}

		private void btnSend_Click(object sender, EventArgs e)
		{
			string temp = string.Empty;
			if (m_bConnected)
			{
				try
				{
					AppendTextToTextBox("> " + txtCommand.Text.Trim());
					temp = _ACS.Transaction(txtCommand.Text.Trim());
				}
				catch (ACS.SPiiPlusNET.ACSException ex)
				{
					temp = String.Format("?{0}", ex.ErrorCode);
				}
				finally
				{
					if (temp.Length > 0)
					{
						AppendTextToTextBox(temp);
						AppendTextToTextBox(":");
					}
				}

				txtCommand.Focus();
				txtCommand.SelectAll();
			}
		}

		private void AppendTextToTextBox(string text)
		{
			rtxtTerminal.AppendText(text);
			rtxtTerminal.AppendText(Environment.NewLine);
			rtxtTerminal.ScrollToCaret();
		}
		#endregion


		#region 三轴插补运动

		private void button11_Click(object sender, EventArgs e) //MultiPointM 方法
		{
			lstLog.Items.Add("MultiPointM");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
			double[] points = { 0, 0 };
			_ACS.EnableM(axes); // Enable axis 0 and 1
								// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
			// Create multi-point motion of axis 0 and 1 with default
			// velocity without
			// dwell in the points
			//_ACS.MultiPointM(MotionFlags.ACSC_NONE, axes, 0);
			// Add some points
			for (int index = 0; index < 5; index++)
			{

				points[0] = 100 * index;
				points[1] = 100 * index;
				//_ACS.AddPointM(axes, points);

				_ACS.ToPointM(MotionFlags.ACSC_AMF_VELOCITY,axes, points);
				//将点添加到 lstLog.Items
				lstLog.Items.Add("points[0]:" + points[0].ToString() + "points[1]:" + points[1].ToString());
		
			}
			lstLog.Items.Add("结束添加");
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);
			lstLog.Items.Add("执行");
			record=true;
		}



		private void button12_Click(object sender, EventArgs e) //SplineM 方法
		{
			lstLog.Items.Add("SplineM");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
			double[] points = { 0, 0 ,0};
			_ACS.EnableM(axes); // Enable axes 0 and 1
								
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);

			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);


			// Create the arbitrary path motion to axes 0 and 1 with
			// uniform interval 10 ms use a cubic interpolation
			// between the specified points
			_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC, axes, 1000);

			// Add some points
			// 定义三维点列表
			int[,] pointsArray = new int[,]
			{
				{ 0, 0, 0 },
				{ 10, 20, -10 },
				{ 20, 30, -40 },
				{ 30, 50, -20 },
				{ 40, 70, -30 },
				{ 50, 80, -50 },
				{ 60, 70, -60 },
				{ 70, 50, -70 },
				{ 80, 30, -80 },
				{ 90, 10, -90 }
			};

			// 遍历列表并添加点
			for (int index = 0; index < pointsArray.GetLength(0); index++)
			{

				double[] speed = { 100,100,100};
				points[0] = pointsArray[index, 0];
				points[1] = pointsArray[index, 1];
				points[2] = pointsArray[index, 2];

				// 使用AddPVPointM方法添加点
				_ACS.AddPVPointM(axes, points, speed);

				// 将点信息添加到lstLog.Items
				lstLog.Items.Add($"points[0]: {points[0]} points[1]: {points[1]} points[2]: {points[2]}");
			}

			//_ACS.GoM(axes);
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);

			//_ACS.GoM(axes);


			record = true;

		}

		

		private void button13_Click(object sender, EventArgs e) //AddPVTPointM 方法
		{
			lstLog.Items.Add("AddPVTPointM");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
			double[] points = { 0, 0 };
			_ACS.EnableM(axes); // Enable axes 0 and 1
								// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
			// PVT motion and uniform interval is not used
			_ACS.SplineM(MotionFlags.ACSC_AMF_CUBIC |
			MotionFlags.ACSC_AMF_VARTIME, axes, 0);
			// Add some points
			for (int index = 0; index < 5; index++)
			{
				points[0] = 100 * index; // 0, 100, 200, 300, 400
				points[1] = 50 * index; // 0, 200, 400, 600, 800
				_ACS.AddPVTPointM(axes, points, points, 1000);
			}
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);


			record = true;


		}

		private void button14_Click(object sender, EventArgs e)//SegmentLine，平面内
		{
			lstLog.Items.Add("SegmentLine");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_8, Axis.ACSC_NONE };
			double[] points = { 0, 0, 0 };
			_ACS.EnableM(axes); // Enable axes 0 and 1
								// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.SegmentedMotion(MotionFlags.ACSC_AMF_VELOCITY, axes, points);

			lstLog.Items.Add("SegmentLine 1");
			points[0] = 500;
			points[1] = -100;
			//points[2] = -100;
			_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);
			_ACS.Stopper(axes); //平滑

			points[0] = 200;
			points[1] = -200;
			//points[2] = -200;
			_ACS.SegmentLine(MotionFlags.ACSC_NONE, axes, points, Api.ACSC_NONE, Api.ACSC_NONE, null, null, Api.ACSC_NONE, null);

			_ACS.EndSequenceM(axes);
		}

		private void button18_Click(object sender, EventArgs e)
		{
			record = true;
		}

		private void button19_Click(object sender, EventArgs e)
		{
			lstLog.Items.Add("停止记录");
			record = false;
		}

		private void button10_Click(object sender, EventArgs e)
		{

		}

		private void button20_Click(object sender, EventArgs e)//MultiPointM
		{
			lstLog.Items.Add("MultiPointM");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE };
			double[] points = { 0, 0 };
			_ACS.EnableM(axes); // Enable axes 0 and 1
								// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
			// Create multi-point motion with default velocity without
			// dwell
			_ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0);

			// Add some points
			for (int index = 0; index < 5; index++)
			{
				// Position and velocity for each point
				points[0] = 100 * index;
				points[1] = 100 * index;
				_ACS.ExtAddPointM(axes, points, 5000);
			}
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);
		}

		private void button15_Click(object sender, EventArgs e) //ExtLine
		{
			int timeout = 5000;

			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_AXIS_8,Axis.ACSC_NONE };
			double[] points = { 0, 0, 0 };
			// Create segmented motion,coordinates of the initial point
			// are(1000, 1000)
			_ACS.EnableM(axes);
			// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);

			// Wait axis 8 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);
			_ACS.Segment(MotionFlags.ACSC_NONE, axes, points);
			// Add line segment with final point (1000,-1000),vector
			// velocity 25000
			points[0] = 100;
			points[1] = 100;
			points[2] = -10;
			_ACS.ExtLine(axes, points, 25000);
			_ACS.Stopper(axes);
			// Add line segment with final point (-1000,-1000),vector
			// velocity 25000
			points[0] = 100;
			points[1] = 200;
			points[2] = -100;
			_ACS.ExtLine(axes, points, 25000);
			_ACS.Stopper(axes);
			// Add line segment with final point (-1000,1000),vector
			// velocity 25000
			points[0] = 200;
			points[1] = 200;
			points[2] = -200;
			_ACS.ExtLine(axes, points, 25000);
			_ACS.Stopper(axes);
			// Add line segment with final point (1000,1000), vector
			// velocity 25000
			points[0] = 200;
			points[1] = 100;
			points[2] = -100;
			_ACS.ExtLine(axes, points, 25000);
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);
		}

		private void button16_Click(object sender, EventArgs e) //BlendedLine
		{
			lstLog.Items.Add("BlendedLine ");

			int timeout = 5000;
			Axis[] Axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_NONE };
			_ACS.EnableM(Axes); // Enable axes 0 and 1
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_8, 1, timeout);

			double[] Point = { 100, 100 };
			_ACS.BlendedSegmentMotion(MotionFlags.ACSC_NONE, Axes,
	Point,//Starting point of motion
	1000, // Segment time
	500, // Segment Acceleration time
	200, // Segment jerk time
	0);// Waiting call




			double[] FinalPoint = { 300, 300};
			_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes,FinalPoint, 10000, 200, 300, 0);



			//增加第二个点（500,400）
			double[] FinalPoint2 = { 500, 400 };
			_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint2, 10000, 200, 300, 0);

			//增加第三个点（600,100）
			double[] FinalPoint3 = { 600, 100 };
			_ACS.BlendedLine(MotionFlags.ACSC_NONE, Axes, FinalPoint3, 10000, 200, 300, 0);


			_ACS.EndSequenceM(Axes);

			record =true;
		}

		private void button17_Click(object sender, EventArgs e) //ExtAddPointM 方法
		{
			lstLog.Items.Add("ExtAddPointM ");
			int timeout = 5000;
			Axis[] axes = { Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1,Axis.ACSC_NONE };
			double[] points = { 0, 0 };
			_ACS.EnableM(axes); // Enable axes 0 and 1
								// Wait axis 0 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_0, 1, timeout);
			// Wait axis 1 enabled during 5 sec
			_ACS.WaitMotorEnabled(Axis.ACSC_AXIS_1, 1, timeout);
			// Create multi-point motion with default velocity without
			// dwell
			_ACS.MultiPointM(MotionFlags.ACSC_AMF_VELOCITY, axes, 0);

			// Add some points
			for (int index = 0; index < 5; index++)
			{
				// Position and velocity for each point
				points[0] = 100 * index;
				points[1] = 100 * index;
				_ACS.ExtAddPointM(axes, points, 5000);
			}
			// Finish the motion
			// End of the multi-point motion
			_ACS.EndSequenceM(axes);

			record = true;
		}

		private void button1_Click(object sender, EventArgs e)
		{

		}

		#endregion






	}
}