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_4
{
    public partial class Form1 : Form
    {
        //for draw line point
        struct draw_point
        {
            public int x1;
            public int y1;
            public int x2;
            public int y2;
        };
        draw_point line_point;

        //for drawing picture box
        Graphics lin_pic;
        Bitmap lin_img;

       public Form1()
        {
            InitializeComponent();
            //show message 
            MessageBox.Show("Please start your ISaGRAF application before press start button.",
                "Button Clicked", MessageBoxButtons.OK, MessageBoxIcon.None, MessageBoxDefaultButton.Button1);
            //initial form2
            
            //set timer
            timer1.Interval = 250;
            timer1.Enabled = true;
            
            //create bitmap and draw mesh for draw line 
            lin_img = new Bitmap(line_pic.Size.Width, line_pic.Height);
            lin_pic = Graphics.FromImage(lin_img);
            line_pic.Image = lin_img;
            lin_pic.Clear(Color.White);


            //start drawing mesh
            draw_mesh(lin_pic, line_pic.Size.Width, line_pic.Size.Height,10);
            line_pic.Refresh();
           
            //initial struct line
            line_point.x1 = 0;
            line_point.y1 = 240;

        }
        private void timer1_Tick(object sender, EventArgs e)
        {
            ScanDI();//scan serve on ,Drive and EMG signal.
            /*scan X,Y,Z DI status*/
            ScanXDI();
            ScanYDI();
            ScanZDI(); 
            ScanProperties();
            
        }

        

        private void start_bt_Click(object sender, EventArgs e)
        {
            //start motion
            int step;
           
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(36), out step);
            if (step==9)
            {
                lin_pic.Clear(Color.White);
                draw_mesh(lin_pic, line_pic.Size.Width, line_pic.Size.Height, 10);
            }
            line_pic.Refresh();
            Quicker.UserShare.UserSetCoil(Convert.ToUInt16(1), 1);
        }

        private void stop_bt_Click(object sender, EventArgs e)
        {
           //stop motion after previos motion done 
            Quicker.UserShare.UserSetCoil(Convert.ToUInt16(2), 1);
            
        }


        //using function
        private void draw_mesh(Graphics g, int width, int height, int radix)
        {
            //drawing mesh on canvas
            Pen mesh = new Pen(Color.Silver);
            for (int i = 1; i < width / radix; i++)
            {
                g.DrawLine(mesh, i * radix, 0, i * radix, height);
            }

            for (int j = 0; j < height / radix; j++)
            {
                g.DrawLine(mesh, 0, j * radix, width, radix * j);
            }

            mesh.Dispose();
        }
        private void draw_line(Graphics g, draw_point line_point)
        {
            Pen line = new Pen(Color.Blue);
            g.DrawLine(line, line_point.x1, line_point.y1, line_point.x2, line_point.y2);
            line.Dispose();
        }


        private void ScanDI()
        {
            //scan all di value DRV and SRV status
            byte di_value = 0;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(15), out di_value);
            if (di_value == 1)
            {
                SRV_X.BackColor = Color.Red;
            }
            else
            {
                SRV_X.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(16), out di_value);
            if (di_value == 1)
            {
                SRV_Y.BackColor = Color.Red;
            }
            else
            {
                SRV_Y.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(17), out di_value);
            if (di_value == 1)
            {
                SRV_Z.BackColor = Color.Red;
            }
            else
            {
                SRV_Z.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(18), out di_value);
            if (di_value == 1)
            {
                DRV_X.BackColor = Color.Red;
            }
            else
            {
                DRV_X.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(19), out di_value); if (di_value == 1)
            {
                DRV_Y.BackColor = Color.Red;
            }
            else
            {
                DRV_Y.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(20), out di_value);
            if (di_value == 1)
            {
                DRV_Z.BackColor = Color.Red;
            }
            else
            {
                DRV_Z.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(21), out di_value);
            if (di_value == 1)
            {
                EMG.BackColor = Color.Red;
                switch_step(-1);
            }
            else
            {
                EMG.BackColor = Color.Black;
            }

        }
        private void ScanProperties()
        {
            //scan all intger varible in ISaGRAF
            int Value;
            int step;
            string position;

            //read Encode X,Y,Z
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(24), out Value);
            position = "(" + Value.ToString() + " , ";
            line_point.x2 = Value/500;

            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(26), out Value);
            position += Value.ToString() + " , ";
            line_point.y2 =240-(Value/500);

            //draw line to picture box
            draw_line(lin_pic, line_point);
            line_pic.Refresh();
            //swap point
            line_point.x1 = line_point.x2;
            line_point.y1 = line_point.y2;

            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(28), out Value);
            position += Value.ToString() + " )";
            //show current position
            cur_position.Text = position.ToString();

            //read Pulse to move X,Y,Z
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(30), out Value);
            position = "(" + Value.ToString() + " , ";
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(32), out Value);
            position += Value.ToString() + " , ";
            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(34), out Value);
            position += Value.ToString() + " )";

            //show next position
            nxt_position.Text = position.ToString();

            Quicker.UserShare.UserGetReg_Long(Convert.ToUInt16(36), out step);
            switch_step(step);


        }

        private void ScanXDI()
        {
            byte di_value = 0;

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(3), out di_value);
            if (di_value == 1)
            {
                LimitP_X.BackColor = Color.Red;
            }
            else
            {
                LimitP_X.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(4), out di_value);
            if (di_value == 1)
            {
                LimitN_X.BackColor = Color.Red;
            }
            else
            {
                LimitN_X.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(5), out di_value);
            if (di_value == 1)
            {
                NHome_X.BackColor = Color.Red;
            }
            else
            {
                NHome_X.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(6), out di_value);
            if (di_value == 1)
            {
                Home_X.BackColor = Color.Red;
            }
            else
            {
                Home_X.BackColor = Color.Black;
            }
        }
        private void ScanYDI()
        {
            byte di_value = 0;
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(7), out di_value);
            if (di_value == 1)
            {
                LimitP_Y.BackColor = Color.Red;
            }
            else
            {
                LimitP_Y.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(8), out di_value);
            if (di_value == 1)
            {
                LimitN_Y.BackColor = Color.Red;
            }
            else
            {
                LimitN_Y.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(9), out di_value);
            if (di_value == 1)
            {
                NHome_Y.BackColor = Color.Red;
            }
            else
            {
                NHome_Y.BackColor = Color.Black;
            }
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(10), out di_value);
            if (di_value == 1)
            {
                Home_Y.BackColor = Color.Red;
            }
            else
            {
                Home_Y.BackColor = Color.Black;
            }
        }
        private void ScanZDI()
        {
            byte di_value = 0;
            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(11), out di_value);
            if (di_value == 1)
            {
                LimitP_Z.BackColor = Color.Red;
            }
            else
            {
                LimitP_Z.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(12), out di_value);
            if (di_value == 1)
            {
                LimitN_Z.BackColor = Color.Red;
            }
            else
            {
                LimitN_Z.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(13), out di_value);
            if (di_value == 1)
            {
                NHome_Z.BackColor = Color.Red;
            }
            else
            {
                NHome_Z.BackColor = Color.Black;
            }

            Quicker.UserShare.UserGetCoil(Convert.ToUInt16(14), out di_value);
            if (di_value == 1)
            {
                Home_Z.BackColor = Color.Red;
            }
            else
            {
                Home_Z.BackColor = Color.Black;
            }
        }

        private void switch_step(int motion_step)
        {
            //show SFC program status from step value
            byte di_value;
            switch (motion_step)
            {
                case 0:
                    status_bar.Text = "Please press start button to start motion";
                    lin_pic.Clear(Color.White);
                    draw_mesh(lin_pic, line_pic.Size.Width, line_pic.Size.Height, 10);
                     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 = "Detecting Z-AXIS Near-home-switch and Home-Switch.";
                    break;
                case 4:
                    status_bar.Text = "Start Z Axis motion";
                    break;
                case 5:
                    status_bar.Text = "Start Line interpolation move";
                    break;
                case 6:
                    status_bar.Text = "start arc interpolation move";
                    break;
                case 7:
                    status_bar.Text = "Return home motion(X and Y axis)";
                    break;
                case 8:
                    status_bar.Text = "Return home motion(Z axis)";
                    Quicker.UserShare.UserGetCoil(Convert.ToUInt16(2), out di_value);
                    if (di_value == 0)
                    {
                        lin_pic.Clear(Color.White);
                        draw_mesh(lin_pic, line_pic.Size.Width, line_pic.Size.Height, 10);
                    }
                    break;
                case 9:
                    status_bar.Text = "Please press start button to start motion";          
                    break;
                case 20:
                    status_bar.Text = "Wait a second";
                    break;
                default:
                    status_bar.Text = "error!!! Please check your ISaGRAF I/O connection or Manual.";
                    lin_pic.Clear(Color.White);
                    draw_mesh(lin_pic, line_pic.Size.Width, line_pic.Size.Height, 10);
                   break;
            }
        }

       
        

       

    }
}