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

// for ORiN
using ORiN2.interop.CAO;

using System.Runtime.InteropServices;


namespace Task
{
    public partial class FrmTask : Form
    {
        // Cao objects
        private CaoEngine m_caoEng;
        private CaoWorkspaces m_caoWss;
        private CaoWorkspace m_caoWs;

        // Cao objects for controlling robot controller
        private CaoControllers m_caoCtrls;
        private CaoController m_caoCtrl;
        private CaoTasks m_caoTsks;
        
        public FrmTask()
        {
            InitializeComponent();
        }

        private void FrmTask_Load(object sender, EventArgs e)
        {
            // Initialize form
            cboParam.SelectedIndex = 0;
            cboStart.SelectedIndex = 0;
            cboStop.SelectedIndex = 0;

            try
            {
                // Create CaoEngine
                m_caoEng = new CaoEngine();
                //Get CaoWorkspaces
                m_caoWss = m_caoEng.Workspaces;
                // Get CaoWorkspace
                m_caoWs = m_caoEng.Workspaces.Item(0);
                // Get CaoControllers
                m_caoCtrls = m_caoWs.Controllers;
               
                // Initialize cao objects as null
                m_caoCtrl = null;
                m_caoTsks = null;

                //Button and timer off
                ControlEnabled(false);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        /*
         * Control components
         *  
         * bEnabled = true:  Enable components
         * bEnabled = false; Disable components
         * 
         */
        private void ControlEnabled(Boolean bEnable)
        {
            //timer on/off
            timer1.Enabled = bEnable;

            //button on/off
            btnRefresh.Enabled = bEnable;
            btnStart.Enabled = bEnable;
            btnStop.Enabled = bEnable;
        }

        private void FrmTask_FormClosing(object sender, FormClosingEventArgs e)
        {
            try
            {
                Disconnect();

                //Release Workspace 
                System.Runtime.InteropServices.Marshal.ReleaseComObject(m_caoWs);
                m_caoWs = null;
                //Release Workspaces
                System.Runtime.InteropServices.Marshal.ReleaseComObject(m_caoWss);
                m_caoWss = null;
                //Release Engine
                System.Runtime.InteropServices.Marshal.ReleaseComObject(m_caoEng);
                m_caoEng = null;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message); 
            }
        }
   

        private void btnExit_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void btnRefresh_Click(object sender, EventArgs e)
        {
            Refreshment();
        }


        private void Refreshment()
        {
            //reset caotasks
            foreach(CaoTask Tsk in m_caoTsks)
            {
                 m_caoTsks.Remove(Tsk.Index);
            }
            
            object[] names;
            names = (object[])m_caoCtrl.get_TaskNames("");
            for(int i = 0; i < names.Length ; i++)
            {
                //set task
                CaoTask caoTsk;
                caoTsk = m_caoCtrl.AddTask((string)names[i],"");

                String[] strArray = new String[] { "@STATUS", "@LINE_NO", "@CYCLE_TIME", "@PRIORITY" };
                foreach (String strName in strArray)
                {
                    CaoVariable caoVar = caoTsk.AddVariable(strName, "");
                    System.Runtime.InteropServices.Marshal.ReleaseComObject(caoVar);
                }

                System.Runtime.InteropServices.Marshal.ReleaseComObject(caoTsk);
            }

            dataTask.Rows.Clear();
            dataTask.Rows.Add(names.Length);
            
            timer1_Tick(new object(), new EventArgs());
        }


        // Connect controller
        private void btnConn_Click(object sender, EventArgs e)
        {
            try
            {
                string sConn;

                Disconnect();

                sConn = cboParam.Text;

                m_caoCtrl = m_caoWs.AddController("", "CaoProv.DENSO.RC8", "", sConn);
                m_caoTsks = m_caoCtrl.Tasks;
                Refreshment();

                ControlEnabled(true);   // Enable components
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }
                
        // Disconnect controller
        private void Disconnect()
        {
            try
            {
                if (m_caoTsks != null)
                {
                    m_caoTsks.Clear();
                    System.Runtime.InteropServices.Marshal.ReleaseComObject(m_caoTsks);
                    m_caoTsks = null;
                }

                // Release controller object
                if (m_caoCtrl != null)
                {
                    //OK
                    // 1. CaoControllersオブジェクトから対象コントローラの参照を取り除く
                    m_caoCtrls.Remove(m_caoCtrl.Name);

                    // 2. 対象コントローラの参照を取り除く
                    System.Runtime.InteropServices.Marshal.ReleaseComObject(m_caoCtrl);
                    m_caoCtrl = null;
                 }

                ControlEnabled(false);  // Disable components
                dataTask.Rows.Clear();
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        private void btnDisconn_Click(object sender, EventArgs e)
        {
            Disconnect();
        }


        // Task start
        private void btnStart_Click(object sender, EventArgs e)
        {
            try
            {      
                // Start mode 1: One cycle execution, 2: Continuous execution, 3: Step forward
                int Mode;
                Mode = cboStart.SelectedIndex + 1; // Add 1 because start mode begins with 1.

                CaoTask caoTsk;
                caoTsk = m_caoCtrl.Tasks.Item(dataTask.CurrentCell.RowIndex);
                caoTsk.Start(Mode, "");

                System.Runtime.InteropServices.Marshal.ReleaseComObject(caoTsk);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        // Task stop
        private void btnStop_Click(object sender, EventArgs e)
        {
            try
            {                
                // Stop mode 0: Default stop, 1: Instant stop, 2: Step stop, 3: Cycle stop, 4: Initialized stop
                int Mode;
                Mode = cboStop.SelectedIndex;

                CaoTask caoTsk;
                caoTsk = m_caoCtrl.Tasks.Item(dataTask.CurrentCell.RowIndex);
                caoTsk.Stop(Mode, "");

                System.Runtime.InteropServices.Marshal.ReleaseComObject(caoTsk);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        //Monitor the task status
        private void timer1_Tick(object sender, EventArgs e)
        {
            for (int i = 0; i < m_caoTsks.Count; i++)
            {
                CaoTask caoTsk;
                caoTsk = m_caoTsks.Item(i);
                dataTask.Rows[i].Cells[0].Value = caoTsk.Name;

                CaoVariables caoVars = caoTsk.Variables;

                for (int j = 0; j < caoVars.Count; j++)
                {
                    CaoVariable caoVar = caoVars.Item(j);
                    dataTask.Rows[i].Cells[j+1].Value = caoVar.Value;
                    System.Runtime.InteropServices.Marshal.ReleaseComObject(caoVar);
                }

                System.Runtime.InteropServices.Marshal.ReleaseComObject(caoVars);
                System.Runtime.InteropServices.Marshal.ReleaseComObject(caoTsk);
            }
        }
    }
}