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

using System.Runtime.InteropServices;
using ORiN2.interop.CAO;

namespace Project
{
    public partial class Form1 : Form
    {
        private CaoEngine caoEng;
        private CaoWorkspaces caoWss;
        private CaoWorkspace caoWs;
        
        // Robot objects
        private CaoController caoCtrl;  // Robot Controller
        private CaoRobot caoRobot;      // for Robot Motion
        private CaoVariable caoVal;     // for MachineRock SW
 
        public Form1()
        {
            InitializeComponent();
        }


        //-----------------------------Initialization----------------------------
        private void cmdInit_Click(object sender, EventArgs e)
        {
            // Create Engine
            caoEng = new CaoEngine();
            caoWss = caoEng.Workspaces;
            caoWs = caoWss.Item(0);

            cmdInit.Enabled = false;
            cmdConnectRobot.Enabled = true;
        }

        // ---------------------------------------------------------------
        // Connect with the Robot
        // ---------------------------------------------------------------
        private void cmdConnectRobot_Click(object sender, EventArgs e)
        {
            try
            {
                // Create object and connect with VRC
                caoCtrl = caoWs.AddController("Robot", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");

                caoRobot = caoCtrl.AddRobot("VS", "");

                // Valiable of status of Machine lock SW
                caoVal = caoCtrl.AddVariable("@LOCK","");

                // Turned on the Machine lock SW
                caoVal.Value = true;

                // Get armControl authority
                caoRobot.Execute("TakeArm", new object[] { 0, 1 });

                // Start motor（The motor cannot start when the machine lock is true）

                //caoRobot.Execute("Motor", new object[] { 1, 0 });

                // Set the external movement speed of the robot
                caoRobot.Execute("ExtSpeed", new object[] { 50, 25, 25 });
                
                // Enable command buttons
                cmdConnectRobot.Enabled = false;
                cmdDisconnectRobot.Enabled = true;
                cmdMove.Enabled = true;
                cmdApproach.Enabled = true;
                cmdDepart.Enabled = true;
                cmdDraw.Enabled = true;
                cmdDriveAEx.Enabled = true;
                cmdDriveEx.Enabled = true;
                cmdSpeed.Enabled = true;
                cmdChangeTool.Enabled = true;
                cmdChangeWork.Enabled = true;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
        // ---------------------------------------------------------------
        // Disconnect from the Robot
        // ---------------------------------------------------------------
        private void cmdDisconnectRobot_Click(object sender, EventArgs e)
        {
            try
            {
                // Disconnect from the caoVal
                if (caoVal != null)
                {
                    Marshal.ReleaseComObject(caoVal);
                    caoVal = null;
                }

                // Disconnect from the Robot
                if (caoRobot != null)
                {
                    if (caoCtrl != null)
                    {
                        // Stop motor
                        //caoRobot.Execute("Motor", new object[]{ 0, 0 });

                        caoRobot.Execute("GiveArm", "");

                        CaoRobots robots = caoCtrl.Robots;
                        robots.Remove(caoRobot.Name);

                        Marshal.ReleaseComObject(caoRobot);
                        caoRobot = null;

                        Marshal.ReleaseComObject(robots);
                        robots = null;
                    }
                }

                // Disconnect from the controller
                if (caoCtrl != null)
                {
                    CaoControllers ctrls = caoWs.Controllers;
                    ctrls.Remove(caoCtrl.Name);

                    Marshal.ReleaseComObject(caoCtrl);
                    caoCtrl = null;

                    Marshal.ReleaseComObject(ctrls);
                    ctrls = null;
                }

                cmdConnectRobot.Enabled = true;
                cmdDisconnectRobot.Enabled = false;
                cmdMove.Enabled = false;
                cmdApproach.Enabled = false;
                cmdDepart.Enabled = false;
                cmdDraw.Enabled = false;
                cmdDriveAEx.Enabled = false;
                cmdDriveEx.Enabled = false;
                cmdSpeed.Enabled = false;
                cmdChangeTool.Enabled = false;
                cmdChangeWork.Enabled = false;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
  
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            try
            {
                cmdDisconnectRobot_Click(sender, e);

                // Delete CaoEngine
                if (caoWs != null)
                {                
                    Marshal.ReleaseComObject(caoWs);
                    caoWs = null;
                }

                if (caoWss != null)
                {                
                    Marshal.ReleaseComObject(caoWss);
                    caoWss = null;
                }

                if (caoEng != null)
                {               
                    Marshal.ReleaseComObject(caoEng);
                    caoEng = null;
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdMove_Click(object sender, EventArgs e)
        {
            try
            {
                // Move command
                //caoRobot.Move(1, "P11", "");
                //caoRobot.Move(1, "P12", "");

                // Move command
                caoRobot.Move(1, new object[] { new object[] { 524, 0, 330, 180, 0, 180, 5 }, "P", "@0" }, "");
                caoRobot.Move(1, "@P P( 535, -200, 250, 170, -5, 150, 5)", "");

                // Move command
                //caoRobot.Move(1, new object[] { new object[] { 0, 45, 90, 0, 45, 0 }, "J", "@0" }, "");
                //caoRobot.Move(1, "J(-22, 61, 76, 14, 48, -2)", "");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdApproach_Click(object sender, EventArgs e)
        {
            try
            {
                // Approach command
                //caoRobot.Execute("Approach", new object[] { 2, "P11", "@P 100" });

                // Approach command
                caoRobot.Execute("Approach", new object[] { 2, "P(524, 0, 330, 180, 0, 180, 5)", "@P 100" });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdDepart_Click(object sender, EventArgs e)
        {
            try
            {
                // Depart command
                caoRobot.Execute("Depart", new object[] { 2, "@P 100" });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdDraw_Click(object sender, EventArgs e)
        {
            try
            {
                // Draw command (X=50,Y=50,Z=50)
                caoRobot.Execute("Draw",  new object[] { 2, "V(50,50,50)" });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdDriveAEx_Click(object sender, EventArgs e)
        {
            try
            {
                // DriveAEx command
                caoRobot.Execute("DriveAEx", new object[] { "@P (1,10),(2,50),(3,75),(4,14),(5,55),(6,10)" });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdDriveEx_Click(object sender, EventArgs e)
        {
            try
            {
                // DriveEx command
                caoRobot.Execute("DriveEx", new object[] { "@P (1,10),(2,50),(3,75),(4,14),(5,55),(6,10)" });
                //caoRobot.Execute("DriveEx", new object[] { "@0 (1,-35)" });
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdSpeed_Click(object sender, EventArgs e)
        {
            try
            {
                // Speed command (Internal speed of 75%)
                caoRobot.Speed(-1, 75);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdChangeTool_Click(object sender, EventArgs e)
        {
            try
            {
                // Change Tool command (Tool1)
                caoRobot.Change("Tool1");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdChangeWork_Click(object sender, EventArgs e)
        {
            try
            {
                // Change Work command (Work1)
                caoRobot.Change("Work1");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
    }
}