using ACS.SPiiPlusNET;
using HexcalMC.Hexcal;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Text;
using System.Windows.Forms;
using HexcalMC.Base;
using HexcalMC.Form;

namespace HexcalMC
{
	public partial class MainFrom : Telerik.WinControls.UI.RadRibbonForm
	{
		#region hexcal变量区

		private TcpIpServer m_tcpIpServer; //创建tcpserver，用于接收hexcal传来的指令，并解析传递平台
		private bool m_bHexcalConnected = false;

		#endregion

		#region 运动平台变量区

		private Api _ACS;

		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

		#endregion

		public MainFrom()
		{
			InitializeComponent();
		}


		private void MainFrom_Load(object sender, EventArgs e)
		{
			this.FormBorderStyle = FormBorderStyle.FixedSingle; // 设置窗体边框样式为固定大小
			this.MaximizeBox = false; // 禁用窗体的最大化按钮


			double[] dataX = new double[] { 1, 2, 3, 4, 5 };
			double[] dataY = new double[] { 1, 4, 9, 16, 25 };

			formsPlot1.Plot.AddScatter(dataX, dataY);
			formsPlot1.Refresh();

			//启动界面刷新
			timer_RefreshUI.Start();
		}

		#region hexcal软件相关

		private void StartServer()
		{
			//启动服务器，并获取数据，解析
			m_tcpIpServer = new TcpIpServer("100.0.0.1", Convert.ToString(1234));
			try
			{
				//启动监听
				if (m_tcpIpServer.StartListen())
				{
					//绑定两个事件 OnRaisedStatus 和OnRaisedMessage
					m_tcpIpServer.OnRaisedMessage += ReceiveMessage;
					m_tcpIpServer.OnRaisedStatus += ReceiveStatus;
					DebugDfn.AddLogText("TCP服务端启动成功 ");
				}
				else
				{
					MessageBox.Show("TCP服务端启动失败，请检查网络连接，重新打开软件", "异常", MessageBoxButtons.OK, MessageBoxIcon.Error);
				}
			}
			catch (Exception ex)
			{
				DebugDfn.AddLogText("启动TCP服务端异常" + ex.ToString());
			}
		}

		private void ReceiveMessage(string ClientIP, string Msg) //接收的内容
		{
			//打印ClientIP 和 Msg
			DebugDfn.AddLogText("接收到" + ClientIP + ": " + Msg);

			//根据源地址的不同，执行不同处理
			//如果 ClientIP 来自L2系统的话，执行解析
			switch (ClientIP)
			{
				case "172.19.153.80": //L2系统

					//解析处理数据
					ParseHexcalPacket(Msg);

					break;
				case "127.0.0.1": //模拟长宽系统

					break;
			}
		}

		private void ParseHexcalPacket(string Msg) //编写一个Hexcal协议解析函数
		{
			//根据不同的指令进行解析，3个层次，不合法，故障，最后是正常
			//判断Msg的长度，如果不是指定长度，直接返回


			if (Msg.Length != 8) return;

			//判断是否含有故障ERROR字样
			if (Msg.Contains("ERROR")) return;

			//指令解析

			string[] tokens = Msg.Split(',');
			foreach (string token in tokens)
			{
				Console.WriteLine(token);
			}

			//可能涉及到 将指令提取并单独处理的问题
			if (string.Equals("CMMTYP", Msg))
			{
				SendMsgToHexcal("CMMTYP   MA 19617, FDC       V15.00,      6  6  2    , 0");
			}
			else if (string.Equals("VERSION", Msg)) //版本号
			{
				SendMsgToHexcal("00-000-000-00000 FDC V51.04.0000 DATE: 12/21/22 TIME: 12:50:55");
			}
			else if (string.Equals("^B", Msg)) //查询状态
			{
				//todo 启动指令
			}
			else if (string.Equals("SHOW MAXSTROKESW", Msg)) //最大行程
			{
				SendMsgToHexcal("MAXSTROKESW 233.200000,346.500000,15.100000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("00000003", Msg)) //最小行程
			{
				SendMsgToHexcal("MINSTROKESW -68.800000,-55.500000,-286.900000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("SHOW MAXVEL", Msg)) //最大速度
			{
				SendMsgToHexcal("MAXVEL 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("SHOW MAXACC", Msg)) //最大加速度
			{
				SendMsgToHexcal(
					"MAXACC  300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("SHOW TEMPCOMPTYPE", Msg)) //温度补偿，温度补偿 >1 表示支持温度补偿
			{
				SendMsgToHexcal("TEMPCOMPTYPE 1");
			}
			else if (string.Equals("READTP", Msg))
			{
				SendMsgToHexcal("READTP 0.000000");
			}
			else if (string.Equals("SHOW SENSWKP", Msg))
			{
				SendMsgToHexcal("X_ SENSWKP 4,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
			}
			else if (string.Equals("SHOW X_SENSAXIS", Msg))
			{
				SendMsgToHexcal("X_SENSAXIS 6,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
			}
			else if (string.Equals("SHOW Y_SENSAXIS", Msg))
			{
				SendMsgToHexcal("Y_SENSAXIS 2,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
			}
			else if (string.Equals("SHOW Z_SENSAXIS", Msg))
			{
				SendMsgToHexcal("Z_SENSAXIS 7,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0");
			}
			else if (string.Equals("SHOW MOVPAR", Msg)) //获取速度
			{
				SendMsgToHexcal(
					"MOVPAR 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.00000 0,0.000000");
			}
			else if (string.Equals("MOVPAR 300.0,300.0,300.0,0.0,0.0,0.0", Msg)) //设置速度 xyz 轴的速度
			{
				SendMsgToHexcal("%");
			}
			else if (string.Equals("SHOW MAXVEL", Msg))
			{
				SendMsgToHexcal("MAXVEL 300.000000,300.000000,300.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("SHOW ACCEL", Msg)) //获取加速
			{
				SendMsgToHexcal(
					"ACCEL 1000.000000,1000.000000,1000.000000,0.000000,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("ACCEL 1000.0,1000.0,1000.0", Msg)) //设置加速度
			{
				SendMsgToHexcal("%");
			}
			else if (string.Equals(
				         "PRBPIN 0.000000,0.000000,0.000000,0.000000,0.000000, 0.000000,0.000000,0.000000,0.000000,0.000000,0.000000, 0.000000",
				         Msg))
			{
				SendMsgToHexcal("%");
			}
			else if (string.Equals("ENABLE TEMP", Msg))
			{
				SendMsgToHexcal("");
			}
			else if (string.Equals("WKPPAR 20,0.0000115,20", Msg))
			{
				SendMsgToHexcal("");
			}
			else if (string.Equals("SCLTMP", Msg))
			{
				SendMsgToHexcal("");
			}
			else if (string.Equals("MOVABS 167.553848,-55.400002,-208.548203,0.000000", Msg)) //移动指令
			{
				SendMsgToHexcal("%");
			}
			else if (string.Equals("GETPOS", Msg)) //获取位置
			{
				SendMsgToHexcal("POS 167.553898,-55.400421,-208.548678,0.000000,0.000000,0.000000,0.000000");
			}
			else if (string.Equals("SHOW ESTOP", Msg))
			{
				SendMsgToHexcal("ESTOP FALSE");
			}
			else if (string.Equals("", Msg))
			{
			}
			else
			{
				//todo 未知指令
			}
		}

		private void ReceiveStatus(TcpIpServer.EnumTcpIpServer iType, string Msg)
		{
			//记录到日志
			DebugDfn.AddLogText(iType + " : " + Msg);
		}

		private void SendMsgToHexcal(string Msg)
		{
			//发送数据
			m_tcpIpServer.SendMessageToAllClients(Msg);
		}

		#endregion

		#region ACS平台相关

		private void btnEnable_Click(object sender, EventArgs e) //使能所有轴
		{
			Axis[] AxisList = new Axis[]
			{
				Axis.ACSC_AXIS_0, Axis.ACSC_AXIS_1, Axis.ACSC_AXIS_4, Axis.ACSC_NONE
			}; //!!!! Important !! Must insert '-1' at the last
			_ACS.EnableM(AxisList);
		}

		private void btnDisable_Click(object sender, EventArgs e) //轴取消
		{
			// Disable all of axes
			_ACS.DisableAll();
		}

		private void tmrMonitor_Tick(object sender, EventArgs e) //用于刷新状态
		{
			int iAxisNo = cboAxisNo.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); //参考位置
					rtb_xPos.Text = String.Format("{0:0.0000}", m_lfFPos); //反馈位置
					// txtPE.Text = String.Format("{0:0.0000}", m_lfPE); //实际速度
					// txtFVEL.Text = String.Format("{0:0.0000}", m_lfFVEL);//位置误差


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


		private void btn_ACSStart_Click(object sender, EventArgs e) //连接
		{
			btn_ACSStart.Enabled = false;
			btn_ACSStop.Enabled = true;


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

		private void btn_ACSStop_Click(object sender, EventArgs e) //断开连接
		{
			if (m_bConnected) _ACS.CloseComm();

			tmrMonitor.Stop();

			btn_ACSStart.Enabled = true;
			btn_ACSStop.Enabled = false;
		}

		private void MainFrom_FormClosed(object sender, FormClosedEventArgs e)
		{
			timer_RefreshUI.Stop();
		}

		private void UpdateLimitState(int axisNo, int fault) //刷新限位
		{
			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;
			}
		}

		#endregion

		#region 菜单栏

		private void rtb_motion_Click(object sender, EventArgs e) //ACS调试页面
		{
			Motion motion = new Motion();
			motion.Show();
		}

		private void rtb_about_Click(object sender, EventArgs e) //关于界面
		{
			AboutBox mAboutBox = new AboutBox();
			mAboutBox.Show();
		}

		private void timer_RefreshUI_Tick(object sender, EventArgs e) //UI刷新
		{
			//状态灯刷新
			lamp_acs.State = m_bConnected ? LampColor.Green : LampColor.Silver;
			lamp_hexcal.State = m_bHexcalConnected ? LampColor.Green : LampColor.Silver;

			//时间栏 
			//获取当前时间，构造形如 精确到秒,例如 2023-10-08 16:01:23
			rle_timer.Text = "当前时间: " + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
		}

		#endregion
	}
}