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;
using ORiN2.ManagedCAO;

namespace ES_GripperSample
{
    public partial class Form1 : Form
    {
        private CCaoEngine _eng;
        private CCaoWorkspace _ws;
        private CCaoController _ctrl;

        enum Status
        {
            Conected,
            Disconected
        }


        public Form1()
        {
            InitializeComponent();
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            // Create CaoEngine
            _eng = new CCaoEngine();

            // Create CaoWorkspace
            _ws = _eng.AddWorkspace("SampleWorkspace", "");

            ChangeEnable(Status.Disconected);
        }

        private void btnConnect_Click(object sender, EventArgs e)
        {
            // Create CaoController Option
            var optionString = "Conn=com:" + _nudCom.Value + ":" + _nudBaudrate.Value +",RatedTorque="+_nudRatedTorque.Value+",Timeout="+_nudTimeout.Value;

            try
            {
                // Create CaoController
                _ctrl = _ws.AddController("controller1", "CaoProv.Dai-ichiSeiko.ESTORQ", string.Empty, optionString);
                ChangeEnable(Status.Conected);
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, ex.Message);
            }
        }

        private void btnDisconnect_Click(object sender, EventArgs e)
        {
            try
            {
                // Delete CaoController
                if (_ctrl != null)
                {
                    _ws.Controllers.Remove(_ctrl.Index);
                    _ctrl = null;
                }

                ChangeEnable(Status.Disconected);
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, ex.Message);
            }
        }

        private void btnGetTorque_Click(object sender, EventArgs e)
        {
            try
            {
                var torque = (double)_ctrl.Execute("GetTorque", "");
                _txbTorqueValue.Text = torque.ToString("F3");
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, ex.Message);
            }
        }

        private void btnGetVersion_Click(object sender, EventArgs e)
        {
            try
            {
                _txbVersion.Text = _ctrl.Execute("GetDeviceVersion", "").ToString().Split(' ').ElementAt(2);
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, ex.Message);
            }
        }

        private void ChangeEnable(Status status)
        {
            if (status == Status.Conected)
            {
                _gbxExecute.Enabled = true;
                _btnConnect.Enabled = false;
                _btnDisconnect.Enabled = true;
            }
            else if (status == Status.Disconected)
            {
                _gbxExecute.Enabled = false;
                _btnConnect.Enabled = true;
                _btnDisconnect.Enabled = false;
            }
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            // Delete CaoController,
            _btnDisconnect.PerformClick();

            // Delete CaoWorkspace and CaoEngine
            try
            {
                if(_eng != null)
                {
                    _eng.Dispose();
                }
                _ws = null;
                _eng = null;
            }
            catch (Exception ex)
            {
                MessageBox.Show(this, ex.Message);
            }
        }
    }
}