using System;
using System.Collections.Generic;
using System.Linq;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using HSI_SEVENOCEAN_EF1_CsTest;
using HSI_SEVENOCEAN_EF1_CsTest.HSI;

namespace HSI_SEVENOCEAN_EF1_CsTest
{
  class Program
  {
    private static Interface.PEventCallback _eventCallback;



    static void Main(string[] args)
    {
      uint major = Def.HSI_APIVersionMajor;
      uint minjor = Def.HSI_APIVersionMinor;
      var rStatus = Interface.GetInterfaceVersion(ref major, ref minjor);
      Console.WriteLine("Interface.GetInterfaceVersion:{0}", rStatus);
      Console.WriteLine("Version:{0}.{1}", major, minjor);
      var mainIntPtr = User32Api.GetCurrentWindowHandle();
      rStatus = Interface.Startup(mainIntPtr, false);
      Console.WriteLine("Interface.Startup:{0}", rStatus);

      Interface.HsiCallback=new Interface.PEventCallback(Interface.EventCallback);
      rStatus = Interface.SetEventCallback(Interface.HsiCallback);
      Console.WriteLine("SetEventCallback:{0}", rStatus);

      //if (Motion.IsActive(true))
      {
        rStatus = Motion.Startup(true);
        Console.WriteLine("Motion.Startup:{0}", rStatus);

        var bHomed = true;
        rStatus = Motion.IsHomed(ref bHomed);
        Console.WriteLine("Motion.IsHomed:{0}", rStatus);
        var bexit = false;
        double SpeedGear = 1.0;
        var dPos = new double[3];
        do
        {
          var info = Console.ReadKey();
          double dTime = 0;
          switch (info.Key)
          {
            case ConsoleKey.P:
              dPos[0] += 10.0;
              dPos[1] += 10.0;
              rStatus = Motion.SetPositionXyz(Def.HSI_MOTION_AXIS_ALL, dPos[0], dPos[1], dPos[2], Def.HSI_MOTION_MOVE_TYPE.HSI_MOTION_MOVE_NOWAIT, 0.0);

              break;
            case ConsoleKey.Enter:
              rStatus = Motion.GetPositionXyz(Def.HSI_MOTION_AXIS_ALL, ref dPos[0], ref dPos[1], ref dPos[2], ref dTime);
              Console.WriteLine("Motion.GetPositionXyz:{0}", rStatus);
              Console.WriteLine("Motion.XYZ:{0},{1},{2}", dPos[0], dPos[1], dPos[2]);
              break;
            case ConsoleKey.Escape:
              bexit = true;
              break;
            case ConsoleKey.Spacebar:
              rStatus = Motion.StopJog();
              Console.WriteLine("Motion.StopJog:{0}", rStatus);
              break;
            case ConsoleKey.NumPad1:
            case ConsoleKey.D1:
              SpeedGear = 1.0;
              Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
              break;
            case ConsoleKey.NumPad2:
            case ConsoleKey.D2:
              SpeedGear = 2.0;
              Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
              break;
            case ConsoleKey.NumPad3:
            case ConsoleKey.D3:
              SpeedGear = 3.0;
              Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
              break;
            case ConsoleKey.NumPad4:
            case ConsoleKey.D4:
              SpeedGear = 4.0;
              Console.WriteLine("Motion.SpeedGera:{0}", SpeedGear);
              break;
            case ConsoleKey.LeftArrow:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, -SpeedGear);
              Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
              break;
            case ConsoleKey.RightArrow:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_X, SpeedGear);
              Console.WriteLine("Motion.Jog(X,{1}):{0}", rStatus, SpeedGear);
              break;
            case ConsoleKey.DownArrow:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, -SpeedGear);
              Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
              break;
            case ConsoleKey.UpArrow:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Y, SpeedGear);
              Console.WriteLine("Motion.Jog(Y,{1}):{0}", rStatus, SpeedGear);
              break;
            case ConsoleKey.PageUp:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, SpeedGear);
              Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
              break;
            case ConsoleKey.PageDown:
              rStatus = Motion.Jog((uint)Def.HSI_MOTION_AXIS_TYPE.HSI_MOTION_AXIS_Z, -SpeedGear);
              Console.WriteLine("Motion.Jog(Z,{1}):{0}", rStatus, SpeedGear);
              break;
            default:
              Console.WriteLine("Invalid");
              break;
          }
        } while (!bexit);




        rStatus = Motion.Shutdown();
        Console.WriteLine("Motion.Startup:{0}", rStatus);
      }


      rStatus = Interface.Shutdown();
      Console.WriteLine("Interface.Shutdown:{0}", rStatus);

      Console.WriteLine();
      Console.WriteLine("Press any key to exit...");
      Console.ReadKey();
    }
  }
}