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 Robot
{
    public partial class Form1 : Form
    {
        private CaoEngine caoEng;
        private CaoWorkspaces caoWss;
        private CaoWorkspace caoWs;

        private CaoController caoCtrl;
        private CaoTask caoTask;
        private CaoRobot caoRobot;
        private CaoVariable caoVarCurAng;
        private CaoVariable caoVarCurPos;
        private CaoVariable caoVarDummy;
        
        public Form1()
        {
            InitializeComponent();
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            btnDisconnect_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;
            }
        }
        
        private void btnInit_Click(object sender, EventArgs e)
        {
            //Create CAO Engine
            caoEng = new CaoEngine();
            caoWss = caoEng.Workspaces;
            caoWs = caoWss.Item(0);

            btnInit.Enabled = false;
            btnConnect.Enabled = true;
        }

        private void btnConnect_Click(object sender, EventArgs e)
        {
            try
            {
                // Connect Dummy.Robot Provider
                caoCtrl = caoWs.AddController("Robot", "CaoProv.Dummy.Robot", "", "");
                caoRobot = caoCtrl.AddRobot("Robot", "");
                caoTask = caoCtrl.AddTask("Prg1", "");
                caoVarCurAng = caoRobot.AddVariable("@CURRENT_ANGLE", "");
                caoVarCurPos = caoRobot.AddVariable("@CURRENT_POSITION", "");
                caoVarDummy = caoRobot.AddVariable("@DUMMY", "");

                // Enable command buttons
                btnConnect.Enabled = false;
                btnDisconnect.Enabled = true;
                btnReadCurAng.Enabled = true;
                btnReadCurPos.Enabled = true;
                btnReadDummy.Enabled = true;
                btnStart.Enabled = true;
                btnStop.Enabled = true;
            }
            catch (Exception ex)
            {
                btnDisconnect_Click(sender, e);
                MessageBox.Show(ex.Message);
            }
        }

        private void btnDisconnect_Click(object sender, EventArgs e)
        {
            if (caoVarDummy != null)
            {
                Marshal.ReleaseComObject(caoVarDummy);
                caoVarDummy = null;
            }

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

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

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


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


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

                Marshal.ReleaseComObject(caoCtrl);
                caoCtrl = null;

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

            // Disable command buttons
            btnConnect.Enabled = true;
            btnDisconnect.Enabled = false;
            btnReadCurAng.Enabled = false;
            btnReadCurPos.Enabled = false;
            btnReadDummy.Enabled = false;
            btnStart.Enabled = false;
            btnStop.Enabled = false;
        }

        private void btnReadCurAng_Click(object sender, EventArgs e)
        {
            try
            {
                lblDsp.Text = "";
                double[] dblVals = (double[])caoVarCurAng.Value;
                for (int i = 0; i < dblVals.Length - 1; i++)
                {
                    lblDsp.Text += dblVals[i].ToString("F1") + ", ";
                }
                lblDsp.Text += dblVals[dblVals.Length - 1].ToString("F1");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnReadCurPos_Click(object sender, EventArgs e)
        {
            try
            {
                lblDsp.Text = "";
                double[] dblVals = (double[])caoVarCurPos.Value;
                for (int i = 0; i < dblVals.Length - 1; i++)
                {
                    lblDsp.Text += dblVals[i].ToString("F1") + ", ";
                }
                lblDsp.Text += dblVals[dblVals.Length - 1].ToString("F1");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnReadDummy_Click(object sender, EventArgs e)
        {
            try
            {
                lblDsp.Text = "";
                double[] dblVals = (double[])caoVarDummy.Value;
                for (int i = 0; i < dblVals.Length - 1; i++)
                {
                    lblDsp.Text += dblVals[i].ToString("F1") + ", ";
                }
                lblDsp.Text += dblVals[dblVals.Length - 1].ToString("F1");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            try
            {
                // Start [1:One cycle execution, 2:Continuous execution, 3:Step forward]
                caoTask.Start(2, "");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            try
            {
                // Stop [0:Default stop, 1:Instant stop, 2:Step stop, 3:Cycle stop, 4:Initialized stop]
                caoTask.Stop(4, "");
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }
    }
}