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

namespace Bro.UI.Device.Winform
{
    public partial class CtrlMotionCardOperationBase : UserControl, IRunCtrl
    {
        public CtrlMotionCardOperationBase()
        {
            InitializeComponent();
        }

        public IDevice Device { get; set; }

        public MotionCardOperationConfigBase MotionCardOperationConfig { get; set; }

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


        public CtrlMotionCardOperationBase(IDevice device)
        {
            InitializeComponent();

            Device = device;
            MotionCardOperationConfig = new MotionCardOperationConfigBase();

        }

        MovingOption movingConfig = null;

        #region ILogoutput
        public Action<LogMsg> OnLogMsgOutput { get; set; }

        public void LogDisplay(LogMsg msg)
        {
        }
        #endregion


        private void RadioButton_CheckedChanged(object sender, EventArgs e)
        {
            //加载对应运动的 movingConfig
            if (radioP2P.Checked)
            {
                movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.Normal);
            }
            else if (radioJog.Checked)
            {
                movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.Jog);
            }
            else if (radioGoHome.Checked)
            {
                movingConfig = MotionCardOperationConfig.MovingOps.FirstOrDefault(u => u.MoveMode == EnumHelper.MotorMoveMode.FindOri);
            }

            propGrid.SelectedObject = movingConfig;
        }

        private void buttonClearStatus_Click(object sender, EventArgs e)
        {

        }

        private void buttonServoEnable_Click(object sender, EventArgs e)
        {

        }

        private void buttonPositionReset_Click(object sender, EventArgs e)
        {

        }

        private void btnStart_Click(object sender, EventArgs e)
        {

        }

        private void buttonSmoothStop_Click(object sender, EventArgs e)
        {

        }

        private void buttonEmergencyStop_Click(object sender, EventArgs e)
        {

        }

    }
}