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

namespace Test_AzinMotion
{
    public partial class Form1 : Form
    {
        arDev.AzinAxt.MOT mot;
        arUtil.Log log;
        Setting setting;
        public Form1()
        {
            InitializeComponent();
            mot = new arDev.AzinAxt.MOT();
            mot.Init();

            log = new arUtil.Log();
            setting = new Setting();
            setting.Load();

            log.RaiseMsg += Log_RaiseMsg;
            this.FormClosed += Form1_FormClosed;
        }

        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            log.Flush();
            mot.Dispose();
        }

        private void Log_RaiseMsg(DateTime LogTime, string TypeStr, string Message)
        {
            this.logTextBox1.AddMsg(LogTime, TypeStr, Message);
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            log.Add("프로그램 시작");
            if (mot.IsInit == false) log.AddE("모션 초기화 실패(" + mot.errorMessage + ")");
            else log.Add("모션 초기화 성공");
            this.jogController1.MotionObject = mot;
            this.jogController1.arAxis = 0;
            tmDisplay.Start();
            tblFG.setItemEnable(true);
        }

        private void emulatorToolStripMenuItem_Click(object sender, EventArgs e)
        {
            var f = new arDev.AzinAxt.Emulator.fEmulatorM(5, this.mot);
            mot.Emulator(f.devM);
            f.Show();
        }

        private void tmDisplay_Tick(object sender, EventArgs e)
        {
            lbInit.Text = mot.IsInit ? "Init:OK" : "Init:Error(" + mot.errorMessage + ")";
            lbInit.ForeColor = mot.IsInit ? Color.Black : Color.Red;
            jogController1.UpdateInfo();
            jogController1.Invalidate();
            if (mot.IsInit == false)
            {
                //if (this.tblFG.Enabled == true) tblFG.Enabled = false;
            }
            else
            {
                //if (tblFG.Enabled == false) tblFG.Enabled = true;

                //각축별 기본 상태를 표시해준다.
                for (int axis = 0; axis < 5; axis++)
                {
                    this.tblFG.setValue(axis + 1, 0, mot.isSERVOON[axis] ? "title" : "orange");
                    this.tblFG.setTitle(axis + 1, 1, string.Format("{0}mm", mot.dCMDPOS[axis]));
                    this.tblFG.setTitle(axis + 1, 2, string.Format("{0}mm", mot.dACTPOS[axis]));
                    this.tblFG.setValue(axis + 1, 3, mot.isOrg[axis] ? "blue" : "gray");  //MotStatus_Home[axis].BackColor = Pub.mot.isOrg[axis] ? Color.Lime : sbBackColor;
                    this.tblFG.setValue(axis + 1, 4, mot.isLimitN[axis] ? "red" : "gray");  //MotStatus_NLIM[axis].BackColor = Pub.mot.isLimitN[axis] ? Color.Red : sbBackColor;
                    this.tblFG.setValue(axis + 1, 5, mot.isLimitP[axis] ? "red" : "gray");  //MotStatus_PLIM[axis].BackColor = Pub.mot.isLimitP[axis] ? Color.Red : sbBackColor;
                    this.tblFG.setValue(axis + 1, 6, mot.isINP[axis] ? "blue" : "gray");  //MotStatus_INP[axis].BackColor = Pub.mot.isINP[axis] ? Color.Lime : sbBackColor;
                    this.tblFG.setValue(axis + 1, 7, mot.isSERVOAlarm[axis] ? "red" : "gray");  //MotStatus_ALM[axis].BackColor = Pub.mot.isSERVOAlarm[axis] ? Color.Lime : sbBackColor;
                    this.tblFG.setValue(axis + 1, 8, mot.isHomeSet[axis] ? "green" : "gray");  //MotStatus_SVON[axis].BackColor = Pub.mot.isHomeSet[axis] ? Color.Lime : Color.Magenta;
                }
            }
            this.tblFG.Invalidate();
        }

        private void tblFG_ItemClick(object sender, arDev.AzinAxt.GridView.ItemClickEventArgs e)
        {
            if(e.Item.row > 0)
            {
                jogController1.arAxis = e.Item.row - 1;
                jogController1.Invalidate();
            }
        }
    }
}