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.UI;

const Int32 x_GET_STATUS    = 0xD0;


public void OnExecute(StubManager stubManager)
{

	var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,12, (x_GET_STATUS)<<16, 0, 0);
	stubManager.Write("x_GET_STATUS = ");
	stubManager.WriteHex(response.RecivedData,4);
	stubManager.Write("\n\n");	
	
	UInt32 HIZ = response.RecivedData&1;
	stubManager.Write("HIZ = ");
	stubManager.WriteHex(HIZ,1);
	stubManager.Write("\n\n");

		
		
	// Request ----
// UInt32 : MotorID
// Boolean : ClearStatus

// Response ----
// UInt32 : MotorID
// Boolean : SCKMOD
// Boolean : STEPLOSSB
// Boolean : STEPLOSSA
// Boolean : OCD
// Boolean : THSD
// Boolean : THWRN
// Boolean : UVLO
// Boolean : WRONGCMD
// Boolean : NOTPERFCMD
// UInt32 : MOTSTATUS
// Boolean : DIR
// Boolean : SWEVN
// Boolean : SWF
// Boolean : BUSY
// Boolean : HiZ
//response = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,12, true);
}