using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using CoreUnit.Common;

namespace CoreUnit.Motion.UserControl
{
    public partial class SingleAxisHomeUserControl : System.Windows.Forms.UserControl
    {
        MotionUnit m_motionUnit = null;
        BackgroundWorkerUnit m_backgroundWorkerUnit = null;


        public SingleAxisHomeUserControl()
        {
            InitializeComponent();

            m_backgroundWorkerUnit = new BackgroundWorkerUnit(this, 300);
            m_backgroundWorkerUnit.evtDoWork += new BackgroundWorkerUnit.EventDoWork(UpdatePage);

        }
        private void UpdatePage()
        {
            try
            {
                uint rate = 0;
                if (m_motionUnit.GetHomeRate(comboBoxAxis.SelectedIndex, ref rate) == 0)
                {
                    if(rate ==0)
                    {
                        int alarmCode = 0;
                        m_motionUnit.GetServoAlarmCode(comboBoxAxis.SelectedIndex, ref alarmCode);
                        labelHomeStatus.Text = "Alarm : " + alarmCode;
                        progressBarHome.Value = (int)rate;
                    }
                    else if(rate == 100)
                    {
                        if(m_motionUnit.IsOriginComplete(comboBoxAxis.SelectedIndex))
                        {
                            labelHomeStatus.Text = "Home Complete";
                            progressBarHome.Value = (int)rate;
                        }
                        else
                        {
                            if(!m_motionUnit.IsServoOn(comboBoxAxis.SelectedIndex))
                            {
                                labelHomeStatus.Text = "Servo OFF";
                                progressBarHome.Value = 0;
                            }
                            else
                            {
                                labelHomeStatus.Text = "Need Home Searching";
                                progressBarHome.Value = 0;
                            }


                        }

                    }
                    else
                    {
                        labelHomeStatus.Text = "Step: " + rate +" /100";
                        progressBarHome.Value = (int)rate;
                    }
                } 
            }
            catch (System.Exception ex)
            {
                throw new System.Exception(string.Format("ERR_GET_MOTION_STATUS_FAIL_TO_UPDATE;ERROR MSG:{0}", ex.Message));
            }
        }


        public void Initialize(MotionUnit motionUnit)
        {
            m_motionUnit = motionUnit;

            comboBoxAxis.Items.Clear();


            foreach (Motion.InfoAxis axis in m_motionUnit.Axes)
            {
                comboBoxAxis.Items.Add(axis.AxisName);
            }

            if (comboBoxAxis.Items.Count != 0)
            {
                comboBoxAxis.SelectedIndex = 0;
            }



        }

        private void buttonPreviousAxis_Click(object sender, EventArgs e)
        {
            if (comboBoxAxis.SelectedIndex != 0)
            {
                int currentAxis = comboBoxAxis.SelectedIndex;
                comboBoxAxis.SelectedIndex = currentAxis - 1;
            }
        }

        private void buttonNextAxis_Click(object sender, EventArgs e)
        {
            if (comboBoxAxis.SelectedIndex < comboBoxAxis.Items.Count - 1)
            {
                int currentAxis = comboBoxAxis.SelectedIndex;
                comboBoxAxis.SelectedIndex = currentAxis + 1;
            }
        }

        private void SingleAxisStatusUserControl_VisibleChanged(object sender, EventArgs e)
        {
            if (Visible)
            {
                m_backgroundWorkerUnit.RunDoWork(sender);
            }
            else
            {
                m_backgroundWorkerUnit.StopDoWork();
            }
        }

        private void buttonHome_Click(object sender, EventArgs e)
        {
            int rv = m_motionUnit.HomeStart(comboBoxAxis.SelectedIndex);

            if (rv != 0)
            {
                labelHomeStatus.Text = rv.ToString();
            }
           
        }

        private void buttonStop_Click(object sender, EventArgs e)
        {
            m_motionUnit.StopSingleAxis(comboBoxAxis.SelectedIndex);
        }
    }
}