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_POWERSTEP01_CONFIG      = 0x1A;
const Int32 x_POWERSTEP01_STATUS      = 0x1B;
const Int32 x_POWERSTEP01_GATECFG1    = 0x18;
const Int32 x_POWERSTEP01_GATECFG2    = 0x19;

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 x_SET_PARAM  = 0x00;

//-------------------------------
const Int32 Max_Motor_ID  = 25;

string[] Motor_ID = new string[30];


Motor_ID[0] ="DH_CLEANHEAD ";
Motor_ID[1] ="DH_CLEANMECH ";
Motor_ID[2] ="DH_LID       ";
Motor_ID[3] ="DRYER_DRIVING";
Motor_ID[4] ="DRYER_LID    ";
Motor_ID[5] ="DRYER_LOADARM";
Motor_ID[6] ="DISPENCER_1  ";
Motor_ID[7] ="DISPENCER_2  ";
Motor_ID[8] ="DISPENCER_3  ";
Motor_ID[9] ="DISPENCER_4  ";
Motor_ID[10]="DISPENCER_5  ";
Motor_ID[11]="DISPENCER_6  ";
Motor_ID[12]="DISPENCER_7  ";
Motor_ID[13]="DISPENCER_8  ";
Motor_ID[14]="SCREW        ";
Motor_ID[15]="WINDER       ";
Motor_ID[16]="LDANCER1     ";
Motor_ID[17]="LDANCER2     ";
Motor_ID[18]="LDRIVING     ";
Motor_ID[19]="LLODING      ";
Motor_ID[20]="LPIVOT       ";
Motor_ID[21]="RDANCER      ";
Motor_ID[22]="RDRIVING     ";
Motor_ID[23]="RLOADARM     ";
Motor_ID[24]="RLODING      ";
Motor_ID[25]="SPARE1_1     ";
Motor_ID[26]="SPARE1_2     ";
Motor_ID[27]="SPARE2_1     ";
Motor_ID[28]="SPARE2_2     ";
Motor_ID[29]="SPARE3       ";

public void OnExecute(StubManager stubManager)
{
	
	var i = stubManager.ShowResponseWindow("Please Enter Motor ID:");
	
	stubManager.Write("Motor_ID:\t\t  ");
	stubManager.Write(i);
	stubManager.Write("\n");
/*	
	stubManager.Write("ABS_POS:\t\t");
	var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ABS_POS)<<24, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("EL_POS:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_EL_POS)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("MARK:\t\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MARK)<<24, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("SPEED:\t\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_SPEED)<<24, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("ACC:\t\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ACC)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("DEC:\t\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_DEC)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("MAX_SPEED:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MAX_SPEED)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("MIN_SPEED:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_MIN_SPEED)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("FS_SPD:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FS_SPD)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("KVAL\\TVAL_HOLD:\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_HOLD)<<8+0x5, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
*/	
	stubManager.Write("KVAL\\TVAL_RUN:\t");
	var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8+0x20 , 0, 0)	;		//3v
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("KVAL\\TVAL_ACC:\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_ACC)<<8+0x20 , 0, 0);		//3v
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("KVAL\\TVAL_DEC:\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_DEC)<<8+0x20 , 0, 0);		//3v
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
/*	
	stubManager.Write("INT_SPEED:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_INT_SPD)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
*/	
	stubManager.Write("ST_SLP\\T_FAST:\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ST_SLP)<<8, 0, 0);				//0
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("FN_SLP_ACC\\TON_MIN:\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_ACC)<<8, 0, 0);			//0
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("FN_SLP_DEC\\TOFF_MIN:");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_FN_SLP_DEC)<<8, 0, 0);		//00
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
/*	
	stubManager.Write("K_THERM:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_K_THERM)<<8, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("ADC_OUT:\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");
	
	stubManager.Write("OCD_TH:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_OCD_TH)<<8, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("STALL_TH:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STALL_TH)<<8, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
*/	
	stubManager.Write("STEP_MODE:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_STEP_MODE)<<8+0x07, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
/*	
	stubManager.Write("ALARM_EN:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ALARM_EN)<<8, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("GATECFG1:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG1)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("GATECFG2:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_GATECFG2)<<8, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("CONFIG:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_CONFIG)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	
	stubManager.Write("STATUS:\t\t");
	response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_POWERSTEP01_STATUS)<<16, 0, 0);
	stubManager.WriteHex(response.RecivedData,4); 
	stubManager.Write("\n");
	*/
}