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;
        private CaoController caoCtrl;

        public Form1()
        {
            InitializeComponent();
            timerMeasure.Interval = 500;
        }

        // Form1起動時
        private void Form1_Load(object sender, EventArgs e)
        {
            try
            {
                // CAOエンジン生成
                caoEng = new CaoEngine();
                caoWss = caoEng.Workspaces;
                caoWs = caoWss.Item(0);
            }
            catch(Exception ex)
            {
                MessageBox.Show(ex.Message.ToString());
            }
        }

        // Form1を閉じたとき

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            btnDisconnectRobot_Click(sender, e);

            // CaoEngineを消去
            if(caoWs != null)
            {
                Marshal.ReleaseComObject(caoWs);
                caoWs = null;
            }
            if(caoWss != null)
            {
                Marshal.ReleaseComObject(caoWss);
                caoWss = null;
            }
            if(caoEng != null)
            {
                Marshal.ReleaseComObject(caoEng);
                caoEng = null;
            }
        }

        // Connectボタンの動作

        private void btnConnectRobot_Click(object sender, EventArgs e)
        {
            try
            {
                // コントローラに接続

                caoCtrl = caoWs.AddController("USBRH", "CaoProv.StrawberryLinux.USBRH2", "", "");

                // LED、ヒータをOFF
                int[] gLedNoState = new int[2] {0, 0};
                caoCtrl.Execute("ControlIO", gLedNoState);

                int[] rLedNoState = new int[2] {1, 0};
                caoCtrl.Execute("ControlIO", rLedNoState);

                caoCtrl.Execute("SetHeater", 0);

                // ボタンの動作 切り替わり
                btnConnect.Enabled = false;
                btnDisconnect.Enabled = true;
                btnVer.Enabled = true;
                btnMeasureStart.Enabled = true;
                btnMeasureStop.Enabled = false;
                btnGrnOn.Enabled = true;
                btnRedOn.Enabled = true;
                btnHtrOn.Enabled = true;
            }
            catch(Exception ex)
            {
                btnDisconnectRobot_Click(sender, e);
                MessageBox.Show("USBRHの接続に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to connect USBRH.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // Disconnectボタンの動作

        private void btnDisconnectRobot_Click(object sender, EventArgs e)
        {
            try
            {
                timerMeasure.Stop();

                if (caoCtrl != null)
                {
                    // LED、ヒータをOFF
                    int[] gLedNoState = new int[2] {0, 0};
                    caoCtrl.Execute("ControlIO", gLedNoState);

                    int[] rLedNoState = new int[2] {1, 0};
                    caoCtrl.Execute("ControlIO", rLedNoState);

                    caoCtrl.Execute("SetHeater", 0);

                    // コントローラから切断
                    CaoControllers ctrls = caoWs.Controllers;
                    ctrls.Remove(caoCtrl.Name);

                    Marshal.ReleaseComObject(caoCtrl);
                    caoCtrl = null;

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

                // ボタンの動作 切り替わり
                btnConnect.Enabled = true;
                btnDisconnect.Enabled = false;
                btnVer.Enabled = false;
                btnMeasureStart.Enabled = false;
                btnMeasureStop.Enabled = false;
                btnGrnOn.Enabled = false;
                btnGrnOff.Enabled = false;
                btnRedOn.Enabled = false;
                btnRedOff.Enabled = false;
                btnHtrOn.Enabled = false;
                btnHtrOff.Enabled = false;
            }
            catch(Exception ex)
            {
                MessageBox.Show("USBRHの切断に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to disconnect USBRH.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // バージョン情報の取得

        private void btnVer_Click(object sender, EventArgs e)
        {
            try
            {
                object ver;
                ver = caoCtrl.Execute("GetVers", "");
                MessageBox.Show("Firmware Version: " + ver.ToString(),
                                "Version Information", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
            catch (Exception ex)
            {
                MessageBox.Show("バージョン情報の取得に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to get Version Information.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // 緑色LED: ON
        private void btnGrnOn_Click(object sender, EventArgs e)
        {
            try
            {
                int[] ledNoState = new int[2] {0, 1};
                caoCtrl.Execute("ControlIO", ledNoState);

                btnGrnOn.Enabled = false;
                btnGrnOff.Enabled = true;
            }
            catch (Exception ex)
            {
                MessageBox.Show("LEDの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to turn Green LED ON.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // 緑色LED: OFF
        private void btnGrnOff_Click(object sender, EventArgs e)
        {
            try
            {
                int[] ledNoState = new int[2] {0, 0};
                caoCtrl.Execute("ControlIO", ledNoState);

                btnGrnOn.Enabled = true;
                btnGrnOff.Enabled = false;
            }
            catch(Exception ex)
            {
                MessageBox.Show("LEDの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to turn Green LED OFF.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // 赤色LED: ON
        private void btnRedOn_Click(object sender, EventArgs e)
        {
            try
            {
                int[] ledNoState = new int[2] {1, 1};
                caoCtrl.Execute("ControlIO", ledNoState);

                btnRedOff.Enabled = true;
                btnRedOn.Enabled = false;
            }
            catch(Exception ex)
            {
                MessageBox.Show("LEDの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to turn Red LED ON.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // 赤色LED: OFF
        private void btnRedOff_Click(object sender, EventArgs e)
        {
            try
            {
                int[] ledNoState = new int[2] {1, 0};
                caoCtrl.Execute("ControlIO", ledNoState);

                btnRedOff.Enabled = false;
                btnRedOn.Enabled = true;
            }
            catch(Exception ex)
            {
                MessageBox.Show("LEDの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to turn Red LED OFF.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // ヒータ: ON
        private void btnHtrOn_Click(object sender, EventArgs e)
        {
            try
            {
                caoCtrl.Execute("SetHeater", 1);

                btnHtrOn.Enabled = false;
                btnHtrOff.Enabled = true;
            }
            catch(Exception ex)
            {
                MessageBox.Show("ヒータの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to set Heater ON.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // ヒータ: OFF
        private void btnHtrOff_Click(object sender, EventArgs e)
        {
            try
            {
                caoCtrl.Execute("SetHeater", 0);

                btnHtrOff.Enabled = false;
                btnHtrOn.Enabled = true;
            }
            catch(Exception ex)
            {
                MessageBox.Show("ヒータの制御に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to set Heater OFF.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        // 温度・湿度取得タイマの開始

        private void btnMeasureStart_Click(object sender, EventArgs e)
        {
            timerMeasure.Start();
            btnMeasureStart.Enabled = false;
            btnMeasureStop.Enabled = true;
        }

        // 温度・湿度取得タイマの停止
        private void btnMeasureStop_Click(object sender, EventArgs e)
        {
            timerMeasure.Stop();
            btnMeasureStart.Enabled = true;
            btnMeasureStop.Enabled = false;
        }

        // 温度・湿度の取得

        private void timerMeasure_Tick(object sender, EventArgs e)
        {
            try
            {
                object tmp;
                double[] TempHumid = new double[2];

                tmp = caoCtrl.Execute("GetTempHumidTrue", "");
                TempHumid = (double[])tmp;

                tBoxTemp.Text = TempHumid[0].ToString();
                tBoxHumid.Text = TempHumid[1].ToString();
            }
            catch (Exception ex)
            {
                timerMeasure.Stop();
                MessageBox.Show("温度・湿度の取得に失敗しました。\n" + ex.Message.ToString(),
                                "Failed to get Temperature & Humid.", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
    }
}