using System;
using System.Collections.Generic;
using System.Threading;
using ORiN2.ManagedCAO;

namespace Sample
{
    /// <summary>
    /// 川崎重工 Fシリーズコントローラプロバイダ サンプルプログラム
    /// </summary>
    /// <remarks>
    /// ・ プログラム開始時にtestというプログラムを実行開始
    /// ・ 1秒ごとに現在位置を取得してコンソールに表示
    /// ・ プログラム終了時にプログラムを停止
    /// </remarks>
    class Program
    {
        static string CTL_NAME = "SampleController";
        static string CTL_PROV = "CaoProv.Kawasaki.KRCC";
        // 接続先を自PCのPCASにしています。必要に応じて変更してください
        // static string CTL_OPTION = "CONN=TCP:127.0.0.1";
        //(変更例)実機の場合（IPアドレスに加え、ポートNoも設定）
        static string CTL_OPTION = "CONN=TCP:192.168.0.72:23";
        //static string CTL_OPTION = "CONN=TCP:192.168.0.11:23";
        static string SV_PATH = "C:\\temp\\orin\\FCON_DATA.pg";
        static string LD_PATH = "C:\\temp\\orin\\orin.pg";

        static void Main(string[] args)
        {
            // CCaoEngineの作成
            // using節を使うとスコープが切れたときに自動的にDisposeが呼び出されて解放される
            using (CCaoEngine engine = new CCaoEngine())
            {
                bool run_fg = true;
                while (run_fg)
                {
                    Console.WriteLine("-----------------------------------------------------------------");
                    Console.WriteLine("Controler Check ");
                    Console.WriteLine("");
                    Console.WriteLine("1:Variables check   2:Loop　Running Check  other: end");
                    Console.WriteLine("-----------------------------------------------------------------");

                    string key =Console.ReadLine();
                    if (int.TryParse(key,out int result))
                    {
                       switch(result)
                       {
                            case 1:
                                valiableCheck(engine);
                                break;

                            case 2:
                                loopCheck(engine);
                                break;

                            default:
                                run_fg = false;
                                break;
                        }
                    }
                    else
                    {
                        run_fg = false; 
                    }
                }

            }
        }

        static void valiableCheck(CCaoEngine engine)
        {
            System.Diagnostics.Process proc = System.Diagnostics.Process.GetCurrentProcess();
            proc.Refresh();
            CCaoController controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);

            //  System Valiable  Set & Read 

            CCaoVariable val_sName = controller.AddVariable("@MAKER_NAME", "");
            string s_val = val_sName.Value.ToString();
            Console.WriteLine($"@MAKER_NAME : [{s_val}] OK");

            CCaoVariable val_sVer = controller.AddVariable("@VERSION", "");
            s_val = val_sVer.Value.ToString();
            Console.WriteLine($"@VERSION : [{s_val}] OK");

            CCaoVariable val_sPosit = controller.AddVariable("@CURRENT_POSITION", "");
            double[] p_val = val_sPosit.Value as double[];
            s_val = "";
            for (int i = 0; i < p_val.Length; i++) s_val += $" {p_val[i]},";
            Console.WriteLine($"@CURRENT_POSITION : [{s_val}] OK");

            CCaoVariable val_sAngle = controller.AddVariable("@CURRENT_ANGLE", "");
            double[] a_val = val_sAngle.Value as double[];
            s_val = "";
            for (int i = 0; i < a_val.Length; i++) s_val += $" {a_val[i]},";
            Console.WriteLine($"@CURRENT_ANGLE : [{s_val}] OK");

            // User Valiable 
            // 下記はユーザ指定の変数の定義と  Get/Putの設定例です。
            //　必要に応じて参照してください

            //<Int型変数>
            //CCaoVariable val_uInt = controller.AddVariable("U_IntData", "Name=@IntData,Type=INT");
            //val_uInt.Value = 123;
            //s_val = val_uInt.Value.ToString();
            //Console.WriteLine($"U_IntData : [{s_val}] OK");


            //<REAL型変数>
            //CCaoVariable val_uReal = controller.AddVariable("U_RealData", "Name=RealData,Type=REAL");
            //val_uReal.Value = 123.4567;
            //s_val = val_uReal.Value.ToString();
            //Console.WriteLine($"U_RealData : [{s_val}] OK");


            //<STRING型変数>
            //CCaoVariable val_uStr = controller.AddVariable("U_StrData", "Name=$StrData,Type=STRING");
            //val_uStr.Value = "TEST_Data";
            //s_val = val_uStr.Value.ToString();
            //Console.WriteLine($"U_StrData : [{s_val}] OK");


            // < POSE型変数 >
            //CCaoVariable val_uPose = controller.AddVariable("#U_PosData", "Name=#PosData,Type=POSE");
            //List<double> inp_val = new List<double>() {1,2,3,4,5,6};
            //val_uPose.Value = (object)inp_val;
            //double[] put_val = val_uPose.Value as double[];
            //s_val = "";
            //for (int i = 0; i < put_val.Length; i++) s_val += $" {put_val[i]},";
            //Console.WriteLine($"@U_PosData : [{s_val}] OK");

        }

        static void loopCheck(CCaoEngine engine)
        {
            CCaoController controller;
            CCaoVariable variable;
            bool run_fg = true;
            int idx;
            System.Diagnostics.Process proc = System.Diagnostics.Process.GetCurrentProcess();
            while (run_fg)
            {
                Console.WriteLine("< 2.Loop Check >");
                Console.WriteLine("  1 - Controller add and remove.");
                Console.WriteLine("  2 - Variable add and remove.");
                Console.WriteLine("  3 - Variable get value.");
                Console.WriteLine("  4 - Program execute and abort.");
                Console.WriteLine("  5 - Program hold and continue.");
                Console.WriteLine("  6 - Set speed.");
                Console.WriteLine("  7 - Save.");
                Console.WriteLine("  8 - Load.");
                Console.WriteLine("  other - back to main");
                Console.WriteLine("--------------------------------------");
                Console.WriteLine("input {No} {count}");

                string keys = Console.ReadLine();
                string[] key = keys.Split(' ');

                if (key.Length < 2) return;
                if (!int.TryParse(key[0], out int ikey)) return;
                if (!int.TryParse(key[1], out int icnt)) return;
                proc.Refresh();
                Console.WriteLine($"Memory(.WorkingSet:{proc.WorkingSet64:N0} .VirtualMemory:{proc.VirtualMemorySize64:N0})");
                switch (ikey)
                {
                    case 1:

                        Console.WriteLine(" Controller add and remove start.");
                        // 仮想メモリ量 ex) 290,201,600
                        for (int i=0;i<icnt;i++)
                        {
                            Console.WriteLine($"CController Add Name:[{CTL_NAME}] ProvName:[{CTL_PROV}],Option :[{CTL_OPTION}]");
                            controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                            idx = controller.Index;
                            Thread.Sleep(100);
                            Console.WriteLine($"CController Renove:Name:[{CTL_NAME}]");
                            if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                            {
                                Console.WriteLine(" Remove error!");
                                run_fg = false;
                                break;
                            }
                            Console.WriteLine($"{i}: OK");
                            Thread.Sleep(100);

                        }
                        Console.WriteLine(" Controller add and remove fin.");
                        break;

                    case 2:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        idx = controller.Index;

                        Console.WriteLine(" Variable add and remove Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            Console.WriteLine("AddVariable Name:[tst_str], option:[Name =$tst_str, Type = STRING]");
                            variable =controller.AddVariable("tst_str", "Name=$tst_str,Type=STRING");
                            Thread.Sleep(100);
                            Console.WriteLine("RemoveVariable Name:[tst_str]");
                            controller.Variables.Remove("tst_str");
                            Thread.Sleep(100);
                            Console.WriteLine($"{i}: OK");
                        }
                        Console.WriteLine(" Variable add and remove fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(idx))
                        {
                            Console.WriteLine(" Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 3:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        idx = controller.Index;
                        variable=controller.AddVariable("tst_str", "Name=$tst_str,Type=STRING");

                        Console.WriteLine(" Variable get value. Start.");
                        for (int i = 0; i < icnt; i++)
                        {

                            object str= variable.Value;
                            Console.WriteLine($"{i}:getValiable[tst_str] {str.ToString()}] OK");
                            Thread.Sleep(100);
                        }
                        Console.WriteLine(" Variable get value. fin.");
                        if (!controller.Variables.Remove("tst_str"))
                        {
                            Console.WriteLine(" Variable Remove error!");
                            return;
                        }
                        if (!engine.Workspaces[0].Controllers.Remove(idx))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 4:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);

                        Console.WriteLine(" Program execute and abort. Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            Console.WriteLine("Execute[orin]");
                            controller.Execute("Execute","orin");
                            Thread.Sleep(1000);
                            Console.WriteLine("Abort");
                            controller.Execute("Abort", "");
                            Thread.Sleep(1000);
                            Console.WriteLine($"{i}:OK");
                        }
                        Console.WriteLine(" Program execute and abort.. fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 5:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        object[] opt = { "orin", 5 };
                        controller.Execute("Execute", opt);
                        Console.WriteLine(" Program hold and continue. Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            Console.WriteLine("Hold");
                            controller.Execute("Hold", "");
                            Thread.Sleep(500);
                            Console.WriteLine("Continue");
                            controller.Execute("Continue", "");
                            Thread.Sleep(1000);
                            Console.WriteLine($"{i}:OK");
                        }
                        Console.WriteLine(" Program hold and continue. fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 6:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        Console.WriteLine(" Set speed. Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            controller.Execute("SetSpeed", 10);
                            Thread.Sleep(300);
                            Console.WriteLine($"{i}:SetSpeed OK");
                        }
                        Console.WriteLine(" Set speed. fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 7:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        Console.WriteLine(" Save. Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            controller.Execute("Save", SV_PATH);
                            Thread.Sleep(500);
                            Console.WriteLine($"{i}:Save:OK");
                        }
                        Console.WriteLine(" Save. fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    case 8:
                        controller = engine.Workspaces[0].AddController(CTL_NAME, CTL_PROV, null, CTL_OPTION);
                        Console.WriteLine(" Load. Start.");
                        for (int i = 0; i < icnt; i++)
                        {
                            controller.Execute("Save", LD_PATH);
                            Thread.Sleep(500);
                            Console.WriteLine($"{i}:Load: OK");
                        }
                        Console.WriteLine(" Load. fin.");
                        if (!engine.Workspaces[0].Controllers.Remove(CTL_NAME))
                        {
                            Console.WriteLine(" Controller Remove error!");
                            run_fg = false;
                        }
                        break;

                    default:
                        run_fg = false;
                        break;
                }
                proc.Refresh();
                Console.WriteLine($"Memory(.WorkingSet:{proc.WorkingSet64:N0} .VirtualMemory:{proc.VirtualMemorySize64:N0})");
            }
        }
    }
}