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

namespace z8094_02
{
    public partial class Form1 : Form
    {   
        /*initial varible*/
        int step = 0;
        //temp value for draw point.
        int tmpx;
        int tmpy;
        int x, y;
        
        //Graphic varible
        Graphics g;
        Bitmap img;
        //line pen
        Pen tb ;
        //mesh pen
        Pen mesh;
        public Form1()
        {
            InitializeComponent();
            MessageBox.Show("Please start your ISaGRAF application before press start button.",
                 "Button Clicked",MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1);
            
            //set timer
            timer1.Interval = 250;
            timer1.Enabled = true;
            //initial point
            tmpx = 0;
            tmpy = 0;

            //create bitmap canvas
            img = new Bitmap(pictureBox1.Size.Width, pictureBox1.Size.Height);
            g = Graphics.FromImage(img);
            pictureBox1.Image = img;
            g.Clear(Color.White);

            //start drawing mesh
            draw_mesh();
            

       
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            Scan_XDI();
            Scan_YDI();
            ScanProperties();
       
        }
        private void Scan_XDI()
        {
            byte status;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(2), out status);
            if (status == 1)
                Limit_XP.BackColor = Color.Red;
            else
                Limit_XP.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(3), out status);

            if (status == 1)
                Limit_XN.BackColor = Color.Red;
            else
                Limit_XN.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(6), out status);

            if (status == 1)
                Home_X.BackColor = Color.Red;
            else
                Home_X.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(7), out status);

            if (status == 1)
                NHome_X.BackColor = Color.Red;
            else
                NHome_X.BackColor = Color.Black;

            
        }

        private void Scan_YDI()
        {
            byte status;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(4), out status);
            if (status == 1)
                Limit_YP.BackColor = Color.Red;
            else
                Limit_YP.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(5), out status);
            if (status == 1)
                Limit_YN.BackColor = Color.Red;
            else
                Limit_YN.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(8), out status);

            if (status == 1)
                Home_Y.BackColor = Color.Red;
            else
                Home_Y.BackColor = Color.Black;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(9), out status);
            if (status == 1)
                NHome_Y.BackColor = Color.Red;
            else
                NHome_Y.BackColor = Color.Black;

        }

        private void ScanProperties()
        {
            //scan current position next position
            int Value = 0;
            byte tmp;
            string position;
            //scan drive speed
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(10), out Value);
            speed.Text = Value.ToString();


            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(12), out Value);
            position = "( " + Value.ToString() + " , ";

            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(14), out Value);
            position += Value.ToString() + " )";
            nxt_position.Text = position.ToString();

            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(16), out x);
            position = "( " + x.ToString() + " , ";
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(18), out y);
            position += y.ToString() + " )";
            cur_position.Text = position;

            //start drawing
            if (((x - tmpx) * ((x - tmpx)) > 250) || ((y - tmpy) * (y - tmpy) > 250))
            {
                draw();
                tmpx = x;
                tmpy = y;
            }
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(20), out step);

            //check emergency signal
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(22), out tmp);
            if (tmp == 0)
            {
                emg.BackColor = Color.Black;
                showstep(step);
            }
            else
            {
                emg.BackColor = Color.Red;
                step = -1;
                showstep(step);
            }

         
            
        }
        private void draw() 
        {
           
            tb = new Pen(Color.Blue);

            g.DrawLine(tb, x / 500, 240 - (y / 500), tmpx / 500, 240 - (tmpy / 500));     
            pictureBox1.Refresh();
            //release pen
            tb.Dispose();
        
        }

        private void draw_mesh()
        {
            mesh = new Pen(Color.Silver);

            for (int i = 1; i < 9; i++)
            {
                g.DrawLine(mesh, i * 40, 0, i * 40, 240);
            }


            for (int j = 1; j < 7; j++)
            {
                g.DrawLine(mesh, 0, j * 40, 320, j * 40);
            }
            //release pen
            mesh.Dispose();
        }
        
        private void button1_Click(object sender, EventArgs e)
        {
            //start motion 
            Quicker.UserShare.UserSetCoil(Convert.ToUInt16(1), 1);
            pictureBox1.Refresh();
            
        }

        private void showstep(int motion_step) 
        {
            //show status from ISaGRAF.
            switch (motion_step)
            {
                case 0:
                    status_bar.Text = "Please press start button to start motion";
                    g.Clear(Color.White);
                    draw_mesh();
                    break;
                case 1:
                    status_bar.Text = "Detecting X-AXIS Near-home-switch and Home-Switch.";
                    break;
                case 2:
                    status_bar.Text = "Detecting Y-AXIS Near-home-switch and Home-Switch.";
                    break;
                case 3:
                    status_bar.Text = "Reset logic and encoder pulse";
                    break;
                case 4:
                    status_bar.Text = "Start line interpolation";
                    break;
                case 5:
                    status_bar.Text = "Move to start point of circle move";
                    break;
                case 6:
                    status_bar.Text = "start arc interpolation move";
                    break;
                case 7:
                    status_bar.Text = "Return home";
                    break;
                case 20:
                    status_bar.Text = "Wait 10 seconds";
                    break;
                default:
                    status_bar.Text = "error!!! Please check your ISaGRAF I/O connection or Manual.";
                    g.Clear(Color.White);
                    draw_mesh();
                    break;
            }
            
        }


        

       
    }
}