using Bro.Common.Base;
using Bro.Common.Helper;
using Bro.Common.Interface;
using Bro.Common.Model;
using System;
using System.Linq;
using System.Windows.Forms;

namespace Bro.UI.Device.Winform
{
    public partial class FrmMotionCardOperationBase : Form
    {
        public FrmMotionCardOperationBase()
        {
            InitializeComponent();
        }

        public IDevice Device { get; set; }

        public MovingOption MotionCardMovingOption { get; set; } = new MovingOption();

        /// <summary>
        /// 当前板卡实例
        /// </summary>
        protected MotionCardBase MotionCard
        {
            get => Device as MotionCardBase;
        }


        public FrmMotionCardOperationBase(IDevice device)
        {
            InitializeComponent();

            Device = device;
            InitialLayout();
        }
        private void InitialLayout()
        {
            foreach (var axisConfig in MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled))
            {
                CtrlMotionCardAxisOperation axisOperation = new CtrlMotionCardAxisOperation(Device, axisConfig.AxisIndex, axisConfig.AxisName);
                //axisOperation.Dock = DockStyle.Fill;
                flowLayoutPanel1.Controls.Add(axisOperation);

            }

            MotionCardMovingOption.SetAxisSetting(MotionCard.IConfig.AxisSettings);
            propGrid.SelectedObject = MotionCardMovingOption;
        }

        private void buttonClearStatus_Click(object sender, EventArgs e)
        {
            MotionCard.ClearStatus(1, MotionCard.IConfig.AxisSettings.FindAll(u => u.IsAxisEnabled).Count);
        }

        private void buttonServoEnable_Click(object sender, EventArgs e)
        {
            int sts = MotionCard.GetAxisStatus(MotionCardMovingOption.AxisIndex);
            if ((sts & 0x200) == 0)//关闭状态
            {
                MotionCard.AxisOnAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已开启";
            }
            else
            {
                MotionCard.AxisOffAsync(MotionCardMovingOption.AxisIndex);
                buttonServoEnable.Text = "伺服已关闭";
            }
        }

        private void buttonPositionReset_Click(object sender, EventArgs e)
        {
            var res = MotionCard.PositionReset(MotionCardMovingOption.AxisIndex, 1);
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            MotionCard.SingleAxisMoving(MotionCardMovingOption).Start();
        }

        private void buttonSmoothStop_Click(object sender, EventArgs e)
        {
            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 0);
        }

        private void buttonEmergencyStop_Click(object sender, EventArgs e)
        {
            MotionCard.MoveStop(MotionCardMovingOption.AxisIndex, 1);
        }

    }
}