using System;
using System.Diagnostics;
using System.Runtime.InteropServices;
using System.Windows.Forms;
using ACS.SPiiPlusNET;
using HexcalMC.Base;
using HexcalMC.Properties;

// ACS .NET Library

namespace HexcalMC
{
	public partial class Motion : System.Windows.Forms.Form
	{
		private const int MaxAxisCount = 32;
		private const int MaxBufferCnt = 64;

		private const int MaxUiLimitCnt = 8;
		private const int MaxUiIoCnt = 8;
		private readonly Api _acs;
		private Axis[] _mArrAxisList;
		private Array _mArrReadVector;

		private bool _mBConnected;
		private Button[] _mBtnOutput;
		private Label[] _mLblInput;


		private Label[] _mLblLeftLimit; //左限位
		private Label[] _mLblOutput;
		private Label[] _mLblRightLimit; //右限位
		private double _mLfRPos, _mLfFPos, _mLfPe, _mLfFvel; //参考位置，反馈位置 位置误差 反馈速度 double类型

		// For update values
		private MotorStates _mNMotorState; //运动状态
		private ProgramStates _mNProgramState; //程序状态

		private int _mNTotalAxis;
		private int _mNTotalBuffer;
		private int _mNValues, _mNOutputState;
		private object _mObjReadVar;

		public Motion(Api api)
		{
			InitializeComponent();

			_acs = api; //初始化 ACS运动控制类

			// Register Event 注册时间
			_acs.PHYSICALMOTIONEND += ACS_PHYSICALMOTIONEND;
			_acs.PROGRAMEND += ACS_PROGRAMEND;
		}

		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);
				Debug.WriteLine(ex.Message);
			}
		}

		#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 ((_mNOutputState & 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)
			{
				Debug.WriteLine("btnSW_Click() Error\n" + ex);
			}
		}

		#endregion

		#region Initialize

		private void Form1_Load(object sender, EventArgs e)
		{
			btnOpen.Enabled = true;
			btnClose.Enabled = false;

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

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

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

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

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

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

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

			#region 副屏显示功能

			// Screen[] screens = Screen.AllScreens;
			// Screen secondaryScreen = screens.Length > 1 ? screens[1] : screens[0];  // 如果有多个屏幕，选择第二个屏幕作为副屏幕
			//
			// // 创建一个新的窗体实例
			// Form secondaryForm = new Form();
			//
			// // 设置窗体的位置和大小以适应副屏幕
			// secondaryForm.StartPosition = FormStartPosition.Manual;
			// secondaryForm.Location = secondaryScreen.Bounds.Location;
			// secondaryForm.Size = secondaryScreen.Bounds.Size;
			//
			// // 可选：设置副屏窗体的标题、样式等其他属性
			// secondaryForm.Text = "副屏窗体";
			// // ... 其他属性设置
			//
			// // 显示副屏窗体
			// secondaryForm.Show();

			#endregion
		}

		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 (_acs.IsConnected)
				{
					DebugDfn.AddLogText("运动平台已连接");
				}
				else
				{
					// 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)
				}

				_mBConnected = 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)");
				_mNTotalAxis = 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)
				_mArrAxisList = new Axis[_mNTotalAxis + 1];
				//for (i = 0; i < _mNTotalAxis; i++)
				//{
				//	cboAxisNo.Items.Add(i.ToString());
				//	_mArrAxisList[i] = (Axis)i;
				//}

				// Insert '-1' at the last
				_mArrAxisList[_mNTotalAxis] = Axis.ACSC_NONE;
				cboAxisNo.SelectedIndex = 0;

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

				strTemp = _acs.Transaction("?SYSINFO(10)");
				_mNTotalBuffer = Convert.ToInt32(strTemp.Trim());
				for (i = 0; i < _mNTotalBuffer; 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);
				Debug.WriteLine("Connection fail" + comex.Message);

				_mBConnected = false;
			}

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

		private void BtnClose_Click(object sender, EventArgs e)
		{
			if (_mBConnected) _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(connectionList[index].Application) != 0)
						_acs.TerminateConnection(connectionList[index]);
				}
			}
			catch (Exception ex)
			{
				Debug.WriteLine(ex.ToString());
			}
		}

		#endregion

		#region Update UI data from Controller

		/// <summary>
		///     Update Motion Profile from Controller
		/// </summary>
		private void UpdateProfile()
		{
			if (_mBConnected)
			{
				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 void TmrMonitor_Tick(object sender, EventArgs e)
		{
			// Get selected axis number
			int iAxisNo = cboAxisNo.SelectedIndex;
			// Get selected buffer number
			int iBufferNo = cboBufferNo.SelectedIndex;

			if (_mBConnected)
			{
				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)
					_mNMotorState = _acs.GetMotorState((Axis)iAxisNo);

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

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

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

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

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

					txtRPOS.Text = string.Format("{0:0.0000}", _mLfRPos);
					txtFPOS.Text = string.Format("{0:0.0000}", _mLfFPos);
					txtPE.Text = string.Format("{0:0.0000}", _mLfPe);
					txtFVEL.Text = string.Format("{0:0.0000}", _mLfFvel);

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

					// Read left/right hardware limits state
					// ACSPL+ Variable : FAULT (integer)
					_mObjReadVar =
						_acs.ReadVariableAsVector("FAULT", ProgramBuffer.ACSC_NONE, 0, _mNTotalAxis - 1);
					if (_mObjReadVar != null)
					{
						_mArrReadVector = _mObjReadVar as Array;
						if (_mArrReadVector != null)
						{
							for (int i = 0; i < _mNTotalAxis; i++)
							{
								UpdateLimitState(i, (int)_mArrReadVector.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
					_mNValues = _acs.GetInputPort(0); // _ACS.ReadVariableAsVector("IN", -1, 0, 0, -1, -1);
					UpdateIoState(_mNValues, true);

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

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

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

			for (int i = 0; i < MaxUiIoCnt; i++)
			{
				if (isInput)
				{
					// Input state
					if ((value & bitUpCnt) != 0) _mLblInput[i].Image = Resources.On;
					else _mLblInput[i].Image = Resources.Off;
				}
				else
				{
					// Output state
					if ((value & bitUpCnt) != 0)
					{
						_mBtnOutput[i].Text = "OFF";
						_mLblOutput[i].Image = Resources.On;
					}
					else
					{
						_mBtnOutput[i].Text = "ON";
						_mLblOutput[i].Image = 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

		#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);
				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);
				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);
				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 (_mArrAxisList != null) _acs.HaltM(_mArrAxisList);
			}
			catch (Exception ex)
			{
				MessageBox.Show(ex.Message, "ERROR", MessageBoxButtons.OK, MessageBoxIcon.Error);
				Debug.WriteLine(ex.Message);
			}
		}

		#endregion

		#region JOG Command

		// Move negative direction
		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);
				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);
				Debug.WriteLine(ex.Message);
			}
		}

		// Stop JOG motion
		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);
				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)
			{
				Debug.WriteLine("TextBoxes_KeyPress() Error\n" + ex);
			}
		}

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

		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)
			{
				Debug.WriteLine("TextBoxes_Leave() Error\n" + ex);
			}
		}

		#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");
		}

		private 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
			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 btn_movepose_Click(object sender, EventArgs e)
		{
		}

		private void btn_start_Click(object sender, EventArgs e)
		{
		}

		private void btn_stop_Click(object sender, EventArgs e)
		{
		}

		private void btn_home_Click(object sender, EventArgs e)
		{
		}

		private void btn_X_left_Click(object sender, EventArgs e)
		{
		}

		private void btn_X_right_Click(object sender, EventArgs e)
		{
		}

		private void btn_Y_Forward_Click(object sender, EventArgs e)
		{
		}

		private void btn_Y_Back_Click(object sender, EventArgs e)
		{
		}

		private void btn_run_Click(object sender, EventArgs e)
		{
		}

		private void btn_halt_Click(object sender, EventArgs e)
		{
		}

		private 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
			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 (_mBConnected)
			{
				try
				{
					AppendTextToTextBox("> " + txtCommand.Text.Trim());
					temp = _acs.Transaction(txtCommand.Text.Trim());
				}
				catch (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
	}
}