using Keyence.AutoID.SDK;
using Navigation;
using System;
using System.Threading;
using System.Windows.Forms;

namespace SHARP_CLAS_UI.Screen
{
    public partial class Form_Maintenance_Control : Form
    {
        #region Field
        delegate void UI_Update_Delegate();

        Form_Frame _Parent;
        Thread UI_Update_Th;

        Axis Selected_Axis;

        LiveviewForm Load_BCR_View;
        bool update_check;
        #endregion

        #region Construct
        public Form_Maintenance_Control(Form_Frame _Parent)
        {
            InitializeComponent();
            this._Parent = _Parent;

            Init_Axis_Name();
            Init_Thread();
        }
        #endregion

        #region Form Function
        private void cbb_Axis_SelectedIndexChanged(object sender, EventArgs e)
        {
            MotorAxis axis;
            if (Enum.TryParse((string)cbb_Axis.SelectedItem, true, out axis))
            {
                Selected_Axis = _Parent._equip.Board_Control.Motors[axis];
            }
        }

        private void btn_Amp_On_Click(object sender, EventArgs e)
        {
            Selected_Axis.Amp_On();
        }

        private void btn_Amp_Off_Click(object sender, EventArgs e)
        {
            Selected_Axis.Amp_Off();
        }

        private void btn_Reset_Click(object sender, EventArgs e)
        {
            Selected_Axis.MC_Error_Reset();
        }

        private void btn_Stop_Click(object sender, EventArgs e)
        {
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));
            Selected_Axis.Move_Stop(velocity);
        }

        private void btn_Home_Click(object sender, EventArgs e)
        {
            Selected_Axis.Home();
        }

        private void btn_Move_Abs_Click(object sender, EventArgs e)
        {
            double position;
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));

            if (double.TryParse(tb_Position.Text, out position))
            {
                Selected_Axis.Move_Absolute_Pos(position, velocity);
            }
        }

        private void btn_Move_Rel_Click(object sender, EventArgs e)
        {

            double position;
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));

            if (double.TryParse(tb_Position.Text, out position))
            {
                Selected_Axis.Move_Relative_Pos(position, velocity);
            }
        }

        private void btn_Negative_Jog_MouseDown(object sender, MouseEventArgs e)
        {
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));
            Selected_Axis.Negative_Zog(velocity);
        }

        private void btn_Negative_Jog_MouseUp(object sender, MouseEventArgs e)
        {
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));
            Selected_Axis.Move_Stop(velocity);
        }

        private void btn_Positive_Jog_MouseDown(object sender, MouseEventArgs e)
        {
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));
            Selected_Axis.Positive_Zog(velocity);
        }

        private void btn_Positive_Jog_MouseUp(object sender, MouseEventArgs e)
        {
            double velocity;

            velocity = double.Parse(nud_Velocity.Value.ToString("F3"));
            Selected_Axis.Move_Stop(velocity);
        }

        private void btn_Show_Vision_Test_Click(object sender, EventArgs e)
        {
            _Parent.Screen_Vision_Test.Show();

            _Parent.Screen_Vision_Test.TopMost = true;
            _Parent.Screen_Vision_Test.TopMost = false;
        }

        private void btn_Sequence_View_Shot_Click(object sender, EventArgs e)
        {
            _Parent.Screen_Sequence_Viewer.Show();

            _Parent.Screen_Sequence_Viewer.TopMost = true;
            _Parent.Screen_Sequence_Viewer.TopMost = false;
        }

        private void btn_Scanner_Run_Click(object sender, EventArgs e)
        {
            if (_Parent._equip.Cur_Main_Recipe.process_info == null)
                return;

            Scanner scanner = _Parent._equip.scanner;

            scanner.Initialize(_Parent._equip.Cur_Main_Recipe.process_info.CTB_File_Path);

            double jump_speed = 0, mark_speed = 0;
            short laseron_delay = 0, laseroff_delay = 0;
            ushort jump_delay = 0, mark_delay = 0, polygon_delay = 0;

            jump_speed = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Speed;
            mark_speed = _Parent._equip.Cur_Main_Recipe.process_info.Mark_Speed;
            laseron_delay = _Parent._equip.Cur_Main_Recipe.process_info.Laser_On_Delay;
            laseroff_delay = _Parent._equip.Cur_Main_Recipe.process_info.Laser_Off_Delay;
            jump_delay = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Delay;
            mark_delay = _Parent._equip.Cur_Main_Recipe.process_info.Mark_Delay;
            polygon_delay = 0;

            if (!scanner.Set_Process_Datas(jump_speed, mark_speed, laseron_delay, laseroff_delay, jump_delay, mark_delay, polygon_delay))
                return;

            int frequency = _Parent._equip.Cur_Main_Recipe.process_info.Frequency;
            double power = _Parent._equip.Cur_Main_Recipe.process_info.Power;

            if (!scanner.Set_Power(frequency, power))
                return;

            float process_area_x, process_area_y, work_area_x, work_area_y, distance;
            int repeat, range, waveform;
            process_area_x = 0;
            process_area_y = 0;
            work_area_x = _Parent._equip.Cur_Main_Recipe.process_info.Work_Area_X;
            work_area_y = _Parent._equip.Cur_Main_Recipe.process_info.Work_Area_Y;
            distance = _Parent._equip.Cur_Main_Recipe.process_info.Hatch_Distance;
            repeat = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Repeat;
            range = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Range;
            waveform = _Parent._equip.Cur_Main_Recipe.process_info.Waveform;

            bool moving;

            do
            {
                scanner.Get_Busy(out moving);
            } while (moving);

            Scanner_Recipe rec = new Scanner_Recipe(work_area_x, work_area_y, process_area_x, process_area_y, distance, repeat, range, (Scanner_Recipe.Ablation_Style)waveform);
            scanner.Set_Start_List(1);

            foreach (Scanner_Position_Info info in /*Recipe_info*/rec.Recipe_Pos_Info)
            {
                if (info.mark)
                {
                    System.Diagnostics.Debug.WriteLine($"MARK : {info.x}, {info.y}");
                    scanner.Set_Mark_Abs(info.x, info.y);
                }
                else
                {
                    System.Diagnostics.Debug.WriteLine($"JUMP : {info.x}, {info.y}");
                    scanner.Set_Jump_Abs(info.x, info.y);
                }
            }

            scanner.Set_End_Of_List();
            scanner.Set_Excute_List(1);

            do
            {
                scanner.Get_Busy(out moving);
            } while (moving);

        }

        private void btn_Scanner_test_Click(object sender, EventArgs e)
        {
            if (_Parent._equip.Cur_Main_Recipe.process_info == null)
                return;

            Scanner scanner = _Parent._equip.scanner;
            scanner.Initialize(_Parent._equip.Cur_Main_Recipe.process_info.CTB_File_Path);

            double jump_speed = 0, mark_speed = 0;
            short laseron_delay = 0, laseroff_delay = 0;
            ushort jump_delay = 0, mark_delay = 0, polygon_delay = 0;

            jump_speed = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Speed;
            mark_speed = 300;
            laseron_delay = _Parent._equip.Cur_Main_Recipe.process_info.Laser_On_Delay;
            laseroff_delay = _Parent._equip.Cur_Main_Recipe.process_info.Laser_Off_Delay;
            jump_delay = _Parent._equip.Cur_Main_Recipe.process_info.Jump_Delay;
            mark_delay = _Parent._equip.Cur_Main_Recipe.process_info.Mark_Delay;
            polygon_delay = 0;

            if (!scanner.Set_Process_Datas(jump_speed, mark_speed, laseron_delay, laseroff_delay, jump_delay, mark_delay, polygon_delay))
                return;

            int frequency = _Parent._equip.Cur_Main_Recipe.process_info.Frequency;
            double power = _Parent._equip.Cur_Main_Recipe.process_info.Power;

            if (!scanner.Set_Power(frequency, power))
                return;

            scanner.Squire_Marking();

            bool moving;
            do
            {
                scanner.Get_Busy(out moving);
            } while (moving);
        }

        private void btn_Scanner_View_Click(object sender, EventArgs e)
        {
            _Parent.Screen_Scanner_View.Show();
            _Parent.Screen_Scanner_View.TopMost = true;
            _Parent.Screen_Scanner_View.TopMost = false;
        }

        private void btn_All_Error_Reset_Click(object sender, EventArgs e)
        {
            foreach (Axis axis in _Parent._equip.Board_Control.Motors.Values)
            {
                axis.MC_Error_Reset();
            }
        }

        private void btn_All_Amp_On_Click(object sender, EventArgs e)
        {
            foreach (Axis axis in _Parent._equip.Board_Control.Motors.Values)
            {
                axis.Amp_On();
            }
        }
        #endregion

        #region Function
        public void Set_Language()
        {
            try
            {
                lb_Motor_Control.Text = resLanguage.Motor_Control;

                gb_Board_Status.Text = resLanguage.BOARD_STATUS;
                lb_Board_Init.Text = resLanguage.Board_init;
                lb_Board_Id.Text = resLanguage.Board_ID;
                lb_Board_Status.Text = resLanguage.Board_Status1;

                gb_Motor_Select.Text = resLanguage.Motor_Select;

                gb_Axis_Control.Text = resLanguage.Axis_Control;
                btn_Amp_On.Text = resLanguage.AMP_On;
                btn_Reset.Text = resLanguage.RESET;
                btn_Amp_Off.Text = resLanguage.AMP_Off;
                btn_Home.Text = resLanguage.Home;
                btn_Move_Abs.Text = resLanguage.ABS;
                btn_Move_Rel.Text = resLanguage.REL;
                btn_Stop.Text = resLanguage.Stop;
                lb_Position_1.Text = resLanguage.POSITION;
                lb_Velocity_1.Text = resLanguage.Velocity;

                gb_Motor_Status.Text = resLanguage.MOTOR_STATUS;
                lb_Name.Text = resLanguage.Name;
                lb_Axis.Text = resLanguage.AXIS;
                lb_Position.Text = resLanguage.POSITION;
                lb_Velocity.Text = resLanguage.Velocity;
                lb_Error_ID.Text = resLanguage.Error_ID;
                lb_Error_Info_0.Text = resLanguage.Error_info_0;
                lb_Error_Info_1.Text = resLanguage.Error_info_1;

                btn_Show_Vision_Test.Text = resLanguage.VISION_TEST;
                btn_Sequence_View_Shot.Text = resLanguage.SEQUENCE_VIEW;
                btn_Scanner_View.Text = resLanguage.SCANNER_VIEW;

                btn_All_Error_Reset.Text = resLanguage.All_Error_Reset;
                btn_All_Amp_On.Text = resLanguage.All_Amp_On;
            }
            catch(Exception ex)
            {

            }
        }

        private void Init_Axis_Name()
        {
            cbb_Axis.Items.Clear();

            foreach (string motor_name in Enum.GetNames(typeof(MotorAxis)))
            {
                cbb_Axis.Items.Add(motor_name);
            }

            cbb_Axis.SelectedIndex = 0;
        }

        private void Init_Live_View_Form()
        {
            Load_BCR_View = new LiveviewForm();

            this.Load_BCR_View.BackColor = System.Drawing.Color.Black;
            this.Load_BCR_View.BinningType = LiveviewForm.ImageBinningType.OneQuarter;
            this.Load_BCR_View.Dock = DockStyle.Fill;
            this.Load_BCR_View.ImageFormat = LiveviewForm.ImageFormatType.Jpeg;
            this.Load_BCR_View.ImageQuality = 5;
            this.Load_BCR_View.IpAddress = "192.168.100.100";
            this.Load_BCR_View.Location = new System.Drawing.Point(4, 35);
            this.Load_BCR_View.Name = "Load_BCR_View";
            this.Load_BCR_View.PullTimeSpan = 100;
            this.Load_BCR_View.Size = new System.Drawing.Size(325, 236);
            this.Load_BCR_View.TabIndex = 4;
            this.Load_BCR_View.TimeoutMs = 2000;

            panel5.Controls.Add(Load_BCR_View);
            _Parent._equip.LD_Tray_BCR.Add_Liveview_Form(Load_BCR_View);
            Load_BCR_View.EndReceive();
            Load_BCR_View.IpAddress = _Parent._equip.LD_Tray_BCR.Ip;
            Load_BCR_View.BeginReceive();
        }

        private void Init_Thread()
        {
            UI_Update_Th = new Thread(UI_Update_Th_Set);
            UI_Update_Th.Start();
        }

        private void UI_Update_Th_Set()
        {
            while (!this.IsDisposed)
            {
                Thread.Sleep(100);

                if (!update_check)
                {
                    update_check = true;
                    UI_Update();
                }
            }
        }

        private void UI_Update()
        {
            if (InvokeRequired)
            {
                BeginInvoke(new UI_Update_Delegate(UI_Update));
                return;
            }
            else
            {
                try
                {

                    if (_Parent._equip.Board_Control.BoardInit)
                    {
                        tb_Board_Init.Text = "Success";
                        tb_Board_Init.BackColor = System.Drawing.Color.Lime;
                    }
                    else
                    {
                        tb_Board_Init.Text = "Fail";
                        tb_Board_Init.BackColor = System.Drawing.Color.Green;
                    }

                    tb_Board_ID.Text = $"{_Parent._equip.Board_Control.BoardID}";
                    tb_Board_Status.Text = $"{_Parent._equip.Board_Control.BoardMode}";

                    tb_Error_ID.Text = $"{ Selected_Axis.ErrorID}";
                    tb_Error_Info_0.Text = $"{ Selected_Axis.ErrorInfo0}";
                    tb_Error_Info_1.Text = $"{ Selected_Axis.ErrorInfo1}";

                    tb_Real_Position.Text = $"{ Selected_Axis.Position}";
                    tb_Real_Velocity.Text = $"{ Selected_Axis.Velocity}";

                    lb_Limit_Switch_Pos.BackColor = Selected_Axis.LimitSwitchPos ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Home_Abs_Switch.BackColor = Selected_Axis.HomeAbsSwitch ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Limit_Switch_Pos_Event.BackColor = Selected_Axis.LimitSwitchPosEvent ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Limit_Switch_Neg_Event.BackColor = Selected_Axis.LimitSwitchNegEvent ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Drive_Fault.BackColor = Selected_Axis.DriveFault ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Sensor_Stop.BackColor = Selected_Axis.SensorStop ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Ready_For_Power_On.BackColor = Selected_Axis.ReadyForPowerOn ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Power_On.BackColor = Selected_Axis.PowerOn ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Is_Homed.BackColor = Selected_Axis.IsHomed ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Axis_Waring.BackColor = Selected_Axis.AxisWarning ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Motion_Complete.BackColor = Selected_Axis.MotionComplete ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Gearing.BackColor = Selected_Axis.Gearing ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Group_Motion.BackColor = Selected_Axis.GroupMotion ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Buffer_Full.BackColor = Selected_Axis.BufferFull ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Reserved_30.BackColor = Selected_Axis.Reserved_as_30 ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Reserved_31.BackColor = Selected_Axis.Reserved_as_31 ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Limit_Switch_Neg.BackColor = Selected_Axis.LimitSwitchNeg ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Direction_Negative.BackColor = Selected_Axis.DirectionNegative ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Direction_Positive.BackColor = Selected_Axis.DirectionPositive ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Descelerating.BackColor = Selected_Axis.Decelerating ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Accelerating.BackColor = Selected_Axis.Accelerating ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Contstant_Velocity.BackColor = Selected_Axis.ConstantVelocity ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Reserved_9.BackColor = Selected_Axis.Reserved_as_9 ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Reserved_8.BackColor = Selected_Axis.Reserved_as_8 ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Homing.BackColor = Selected_Axis.Homing ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Synchro_Motion.BackColor = Selected_Axis.SynchroMotion ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Continuous_Motion.BackColor = Selected_Axis.ContinuousMotion ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Discreate_Motion.BackColor = Selected_Axis.DiscreteMotion ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Stand_Still.BackColor = Selected_Axis.StandStill ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Stopping.BackColor = Selected_Axis.Stopping ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Disabled.BackColor = Selected_Axis.Disabled ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                    lb_Error_Stop.BackColor = Selected_Axis.ErrorStop ? System.Drawing.Color.Lime : System.Drawing.Color.Green;
                }
                catch (Exception)
                {

                }
                finally
                {
                    update_check = false;
                }
            }
        }

        public void Set_User_Level(Navigator.User_Level level)
        {
            if (_Parent._equip.User.Level <= En_User_Level.Operator)
            {
                btn_Move_Abs.Enabled = false;
                btn_Move_Rel.Enabled = false;

                btn_Negative_Jog.Enabled = false;
                btn_Positive_Jog.Enabled = false;

                btn_Show_Vision_Test.Enabled = false;
                btn_Scanner_View.Enabled = false;

                btn_Show_Vision_Test.Enabled = false;
                btn_Scanner_View.Enabled = false;

                btn_Scanner_Run.Enabled = false;
                btn_Scanner_test.Enabled = false;

                panel2.Enabled = false;
                panel3.Enabled = false;
                panel5.Enabled = false;
                panel6.Enabled = false;
            }
            else
            {
                btn_Move_Abs.Enabled = true;
                btn_Move_Rel.Enabled = true;

                btn_Negative_Jog.Enabled = true;
                btn_Positive_Jog.Enabled = true;

                btn_Show_Vision_Test.Enabled = true;
                btn_Scanner_View.Enabled = true;

                btn_Show_Vision_Test.Enabled = true;
                btn_Scanner_View.Enabled = true;

                btn_Scanner_Run.Enabled = true;
                btn_Scanner_test.Enabled = true;

                panel2.Enabled = true;
                panel3.Enabled = true;
                panel5.Enabled = true;
                panel6.Enabled = true;
            }
        }
        #endregion
    }
}