using System;
using System.Text;
using System.Linq;
using System.Drawing;
using System.Diagnostics;
using System.Windows.Forms;
using System.Threading;
using System.Threading.Tasks;
using System.Collections.Generic;
using Tango.PMR.Stubs;
using Tango.Stubs;

//unmark Auto logging !

const Int32 x_ABS_POS    = 0x01;
const Int32 x_EL_POS     = 0x02;
const Int32 x_MARK       = 0x03;
const Int32 x_SPEED      = 0x04;
const Int32 x_ACC        = 0x05;
const Int32 x_DEC        = 0x06;
const Int32 x_MAX_SPEED  = 0x07;
const Int32 x_MIN_SPEED  = 0x08;
const Int32 x_FS_SPD     = 0x15;
const Int32 x_KVAL_HOLD  = 0x09;
const Int32 x_KVAL_RUN   = 0x0A;
const Int32 x_KVAL_ACC   = 0x0B;
const Int32 x_KVAL_DEC   = 0x0C;
const Int32 x_INT_SPD    = 0x0D;
const Int32 x_ST_SLP     = 0x0E;
const Int32 x_FN_SLP_ACC = 0x0F;
const Int32 x_FN_SLP_DEC = 0x10;
const Int32 x_K_THERM    = 0x11;
const Int32 x_ADC_OUT    = 0x12;
const Int32 x_OCD_TH     = 0x13;
const Int32 x_STALL_TH   = 0x14;
const Int32 x_STEP_MODE  = 0x16;
const Int32 x_ALARM_EN   = 0x17;
const Int32 x_CONFIG     = 0x18;
const Int32 x_STATUS     = 0x19;
//-------------------------------
const Int32 x_GET_PARAM  = 0x20;
//-------------------------------
const Int32 Max_Motor_ID  = 25;

Int32 i  = 12; // to run only for specific motor 

public void OnExecute(StubManager stubManager)
{
	for (i = 0; i < Max_Motor_ID; i++)
	{
		
		if((i%8 ==0) )
		{
			stubManager.Write("MoTor\tMIN_SPEED\tMAX_SPEED\tSTEP_MODE\tACC\t\tDEC\t\tKVAL_HOLD\tKVAL_RUN\tKVAL_ACC\tKVAL_DEC\tOCD_TH\t\tSTALL_TH\tCONFIG\t\tFS_SPD\t\tADC_OUT\n");
			stubManager.Write("------\t--------\t--------\t----------\t---\t\t---\t\t---------\t--------\t--------\t--------\t------\t\t--------\t------\t\t------\t\t------\n");
		}
		stubManager.Write(i);
		stubManager.Write("\t");
	
		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4); 
		stubManager.Write("\t\t");			
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4); stubManager.Write("\t");		
		stubManager.Write("\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_CONFIG)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\n\n");
		
	}
	
	stubManager.Write("MoTor\tINT_SPD\tST_SLP\t\tSLP_ACC\tSLP_DEC\tSTATUS\n");
	stubManager.Write("-----\t-------\t------\t\t-------\t--------\t-----\n");
	
	for (i = 0; i < Max_Motor_ID; i++)
	{

		stubManager.Write(i);
		stubManager.Write("\t");
	
		var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4); 
		stubManager.Write("\t\t");			
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4); 
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\t\t");
		
		response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STATUS)<<16, 0, 0);
		stubManager.WriteHex(response.RecivedData,4);
		stubManager.Write("\n\n");
		
		
		
	}

}