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 CaoVariable caoValI;    // for I (Variable)
        private CaoVariable caoValF;    // for F (Variable)
        private CaoVariable caoValD;    // for D (Variable)
        private CaoVariable caoValV;    // for V (Variable)
        private CaoVariable caoValP;    // for P (Variable)
        private CaoVariable caoValJ;    // for J (Variable)
        private CaoVariable caoValT;    // for T (Variable)
        private CaoVariable caoValS;    // for S (Variable)
        private CaoVariable caoValIO;   // for IO (Variable)
   
        public Form1()
        {
            InitializeComponent();
        }


        //-----------------------------Initialization----------------------------
        private void cmdInit_Click(object sender, EventArgs e)
        {
            //CreateEngine
            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");
           
                // Create object of valiable(I,F,D,V,P,J,T,S,IO)
                caoValI = caoCtrl.AddVariable("I1", "");
                caoValF = caoCtrl.AddVariable("F1", "");
                caoValD = caoCtrl.AddVariable("D1", "");
                caoValV = caoCtrl.AddVariable("V1", "");
                caoValP = caoCtrl.AddVariable("P1", "");
                caoValJ = caoCtrl.AddVariable("J1", "");
                caoValT = caoCtrl.AddVariable("T1", "");
                caoValS = caoCtrl.AddVariable("S1", "");
                caoValIO = caoCtrl.AddVariable("IO128", "");

                // Enable command buttons
                cmdConnectRobot.Enabled = false;
                cmdDisconnectRobot.Enabled = true;
                cmdValI_Read.Enabled = true;
                cmdValF_Read.Enabled = true;
                cmdValD_Read.Enabled = true;
                cmdValV_Read.Enabled = true;
                cmdValP_Read.Enabled = true;
                cmdValJ_Read.Enabled = true;
                cmdValT_Read.Enabled = true;
                cmdValS_Read.Enabled = true;
                cmdValIO_Read.Enabled = true;
                cmdValI_Write.Enabled = true;
                cmdValF_Write.Enabled = true;
                cmdValD_Write.Enabled = true;
                cmdValV_Write.Enabled = true;
                cmdValP_Write.Enabled = true;
                cmdValJ_Write.Enabled = true;
                cmdValT_Write.Enabled = true;
                cmdValS_Write.Enabled = true;
                cmdValIO_Write.Enabled = true;
            }
            catch (Exception ex)
            {
                cmdDisconnectRobot_Click(sender, e);
                MessageBox.Show(ex.Message.ToString());
            }
        }
        
        // ---------------------------------------------------------------
        // disconnect from the Robot
        // ---------------------------------------------------------------
        private void cmdDisconnectRobot_Click(object sender, EventArgs e)
        {
            if (caoValI != null)
            {
                Marshal.ReleaseComObject(caoValI);
                caoValI = null;
            }
            if (caoValF != null)
            {
                Marshal.ReleaseComObject(caoValF);
                caoValF = null;
            }
            if (caoValD != null)
            {
                Marshal.ReleaseComObject(caoValD);
                caoValD = null;
            }
            if (caoValV != null)
            {
                Marshal.ReleaseComObject(caoValV);
                caoValV = null;
            }
            if (caoValP != null)
            {
                Marshal.ReleaseComObject(caoValP);
                caoValP = null;
            }
            if (caoValJ != null)
            {
                Marshal.ReleaseComObject(caoValJ);
                caoValJ = null;
            }
            if (caoValT != null)
            {
                Marshal.ReleaseComObject(caoValT);
                caoValT = null;
            }
            if (caoValS != null)
            {
                Marshal.ReleaseComObject(caoValS);
                caoValS = null;
            }
            if (caoValIO != null)
            {
                Marshal.ReleaseComObject(caoValIO);
                caoValIO = 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;
            }

            // Disable command buttons
            cmdConnectRobot.Enabled = true;
            cmdDisconnectRobot.Enabled = false;
            cmdValI_Read.Enabled = false;
            cmdValF_Read.Enabled = false;
            cmdValD_Read.Enabled = false;
            cmdValV_Read.Enabled = false;
            cmdValP_Read.Enabled = false;
            cmdValJ_Read.Enabled = false;
            cmdValT_Read.Enabled = false;
            cmdValS_Read.Enabled = false;
            cmdValIO_Read.Enabled = false;
            cmdValI_Write.Enabled = false;
            cmdValF_Write.Enabled = false;
            cmdValD_Write.Enabled = false;
            cmdValV_Write.Enabled = false;
            cmdValP_Write.Enabled = false;
            cmdValJ_Write.Enabled = false;
            cmdValT_Write.Enabled = false;
            cmdValS_Write.Enabled = false;
            cmdValIO_Write.Enabled = false;
        }

        private void cmdValI_Read_Click(object sender, EventArgs e)
        {
            try
            {
                //Reading of "I variable"
                lblDsp.Text = caoValI.Value.ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValI_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "I variable"
                caoValI.Value = 1;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValF_Read_Click(object sender, EventArgs e)
        {
            try
            {
                //Reading of "F variable"
                lblDsp.Text = caoValF.Value.ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValF_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "F variable"
                caoValF.Value = 1.23f;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValD_Read_Click(object sender, EventArgs e)
        {
            try
            {
                //Reading of "D variable"
                lblDsp.Text = caoValD.Value.ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValD_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "D variable"
                caoValD.Value = 0.123456789;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValV_Read_Click(object sender, EventArgs e)
        {
            try
            {
                // Reading of "V variable"
                Single[] varV = (Single[])caoValV.Value;

                lblDsp.Text = varV[0].ToString() + "," + varV[1].ToString() + "," + varV[2].ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValV_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "V variable"
                caoValV.Value = new Single[] { 100, 200, 300 };
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValP_Read_Click(object sender, EventArgs e)
        {
            try
            {
                // Reading of "P variable"
                Single[] varP = (Single[])caoValP.Value;

                lblDsp.Text = varP[0].ToString() + "," + varP[1].ToString() + "," + varP[2].ToString() + "," + varP[3].ToString() + 
                                "," + varP[4].ToString() + "," + varP[5].ToString() + "," + varP[6].ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValP_Write_Click(object sender, EventArgs e)
        {
            try
            {
                // Writing of "P variable"               
                caoValP.Value = new Single[] { 500, 0, 350, 180, 0, 180, 5 };
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValJ_Read_Click(object sender, EventArgs e)
        {
            try
            {
                // Reading of "J variable"
                Single[] varJ = (Single[])caoValJ.Value;

                lblDsp.Text = varJ[0].ToString() + "," + varJ[1].ToString() + "," + varJ[2].ToString() +
                                "," + varJ[3].ToString() + "," + varJ[4].ToString() + "," + varJ[5].ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValJ_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "J variable"
                caoValJ.Value = new Single[] { 0, 39.52f, 95.71f, 0, 44.77f, 0 };
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValT_Read_Click(object sender, EventArgs e)
        {
            try
            {
                // Reading of "T variable"
                Single[] varT = (Single[])caoValT.Value;

                lblDsp.Text = varT[0].ToString() + "," + varT[1].ToString() + "," + varT[2].ToString() +
                                "," + varT[3].ToString() + "," + varT[4].ToString() + "," + varT[5].ToString() +
                                "," + varT[6].ToString() + "," + varT[7].ToString() + "," + varT[8].ToString() + "," + varT[9].ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValT_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "T variable"
                caoValT.Value = new Single[] { 500, 0, 300, 0, 1, 0, 0, 0, -1, 5 };
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValS_Read_Click(object sender, EventArgs e)
        {
            try
            {
                //Reading of "S variable"
                lblDsp.Text = (string)caoValS.Value;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValS_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "S variable"
                caoValS.Value = "DENSO ROBOT";
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValIO_Read_Click(object sender, EventArgs e)
        {
            try
            {
                //Reading of "IO variable"
                lblDsp.Text = caoValIO.Value.ToString();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void cmdValIO_Write_Click(object sender, EventArgs e)
        {
            try
            {
                //Writing of "IO variable"
                caoValIO.Value = true;  // On
                //caoValIO.Value = false; // Off
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
  
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            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;
            }
        }
    }
}