using System;
using System.Text;
using System.IO;
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;

                      	

const  int Dryer_UNDER_TEST=12;
//--------------------------------------------------------------------------------
//---------------------------
Int32	last_14bit_position;
Int32	position_32bit=0;
float [] DryerTemp = new float[20]	;


string [,] Units_status_Dryer = new string[Dryer_UNDER_TEST,2]	{ 
												{"Lid_Motor","Not Test"},		//0
												{"LS_Lid_Open","Not Test"},		//1
												{"LS_Lid_Close","Not Test"},	//2
												{"DRIVING_Motor","Not Test"},	//3
												{"SSI_Encoder","Not Test"},		//4
												{"LoadArm_Motor","Not Test"},	//5
												{"Blower_test","Not Test"},		//6
												{"Air_PT100_test","Not Test"},	//7
												{"Main_PT100_test","Not Test"},	//8
												{"Sec.PT100","Not Test"},		//9
												{"SSR1_heater","Not Test"},		//10											
												{"SSR2_heater","Not Test"},		//11											
											};



//--------------------------------------------------------------------------------


public Task<decimal> Dryer_test( Action<string> settext, CancellationToken cancellationToken, string SN, string Location )
{
    Task<decimal> task = null;
    // Start a task and return it
    task = Task.Run(() =>
    {
	stubManager.Write("S/N:" +SN+ "\n");
	stubManager.Write("Location:" +Location+ "\n");

	copy_table (Dryer_UNDER_TEST,Units_status_Dryer);

	settext("Test Dryer LId");
	Test_LId();
	
	settext("Test Dryer motor Driving");
	Test_motor_driving();

	settext("Test Dryer Load Arm");
	Test_Load_Arm ();
	
 	settext("Test Dryer Blower heaters pt100");
	Test_Blower_heaters_pt100();
	
	Status=write_to_file(SN,Location,Dryer_UNDER_TEST,"Dryer");

	settext("End Test");
	
	decimal result = 0;
		
        return result;
    });
    return task;
}
//------------------------------------------
int Test_Blower_heaters_pt100()
{
	
	float ftemp=0;
	float ftemp1=0;
	
	SetBit(F1_gpo_01,5,1);		//turn off Blower
	  delay(500);

	var RetVal=Fpga_Read_Reg(F1_Tacho_reg8); 

   	DialogResult result = MessageBox.Show("Close Dryer Door", "Warning");
		 
	SetBit(F1_gpo_01,4,1);		//Dir
	SetBit(F1_gpo_01,3,1);		//Torqer High
	SetBit(F1_gpo_01,5,0);		//turn on Blower

	const int LOW = 70;//0 - 100%
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_Prescaler1_reg11, 0xFF);//Freq 8 bit
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_BLOWER_PWM_LOW, LOW+1);//Low 8 bit
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F2_BLOWER_PWM_HIGH, 101 - LOW);//High 8 bit 
	 
	delay(1000);
	RetVal=Fpga_Read_Reg(F1_Tacho_reg8); 
	stubManager.Write("blower Speed-  " + RetVal.Value + "\n");	
	if ((RetVal.Value<150)||(RetVal.Value>250) )
	{
		Units_status[6,1]="Fail";
		stubManager.Write("Error,Fan rotate\n");		
		return 0;
	}	
		Units_status[6,1]="Pass";
		
	stubManager.Write("Temp Befor heating \n");
	if	(test_pt100_dryer()!=0)
		return 0;

float temp=0;
float temp1=4096*95*5;

	//Write GPO_DRYER_SSR1_CTRL SSR/SSR no. 1
   SetBit (F2_CTRL, 10, 1);		//turn SSR1 on
   stubManager.Write("\tTesting SSR no. 1\t");
   delay(1000);
var response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,16);
	temp=Convert.ToUInt32 (response1.SamplingInBits);
	temp=temp*800*3*100;
	temp=temp/(4096*95*50);
	stubManager.Write("Current = "+ temp + "A\n");
	if ((temp>6) || (temp<3))
		Units_status[10,1]="Fail";
	else
		Units_status[10,1]="Pass";
  
	//Write GPO_DRYER_SSR2_CTRL SSR/SSR no. 2	
	SetBit (F2_CTRL, 9, 1);
	stubManager.Write("\tTesting SSR no. 2\t");
	delay(1000);
	response1 = stubManager.Run<StubIntADCReadResponse>("StubIntADCReadRequest" ,17);
	temp=Convert.ToUInt32 (response1.SamplingInBits);
	temp=temp*800*3*100;
	temp=temp/(4096*95*100);
	stubManager.Write("Current = "+ temp + "A\n");
 	if ((temp>3) || (temp<1))
		Units_status[11,1]="Fail";
	else
		Units_status[11,1]="Pass";
  
 	delay(50000);

//check air temp
	ftemp=Read_pt100(6);
	stubManager.Write("After heating air temp is " + ftemp + "\n");
	ftemp = ftemp - DryerTemp[6];
	if ((ftemp<5)||(ftemp>40))
		Units_status[7,1]="Fail";
	else
		Units_status[7,1]="Pass";



//check Main temp
	ftemp=Read_pt100(7);
	stubManager.Write("After heating Main temp is " + ftemp + "\n");
	ftemp = ftemp - DryerTemp[7];
	if ((ftemp<5)||(ftemp>60))
		Units_status[8,1]="Fail";
	else
		Units_status[8,1]="Pass";

//check Sec. temp
	ftemp=Read_pt100(8);
	stubManager.Write("After heating Sec. temp is " + ftemp + "\n");
	ftemp = ftemp - DryerTemp[8];
	if ((ftemp<5)||(ftemp>60))
		Units_status[9,1]="Fail";
	else
		Units_status[9,1]="Pass";

	SetBit (F2_CTRL, 10, 0);		//turn SSR1 off
	SetBit (F2_CTRL, 9, 0);		//turn SSR2 off

	SetBit(F1_gpo_01,5,1);		//turn off Blower
	return 1;
   
}

	int	test_pt100_dryer()
	{
		float ftemp=0;
	int temp=0;
	int		j=0;
			for (int i = 6; i < 9; i++)
	    {
			DryerTemp[i]=Read_pt100(i);

			ftemp=DryerTemp[i];
			if ((ftemp>140)|| (ftemp<10))
			{	
				Units_status[i+1,1]="Fail";
			}
			else
			{
				Units_status[i+1,1]="Pass";
			}	
			stubManager.Write(Units_status[i+1,0] +"\t"+ ftemp.ToString("F2")); 
			stubManager.Write("°C \t" + Units_status[i+1,1] + " \n");	
	
	    }
			return 0;
	}
//------------------------------------------
int Test_motor_driving ()

{
	MessageBox.Show("Open Dryer Door and add CHEATER to Door. ", "Warning");
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DryerMain_Motor, true, 2200);		//rotate Dryer Motor.
	stubManager.Write("Dryer Motor rotate \n ");
	DialogResult result = MessageBox.Show("Are Dryer Motor rotate smoothly ?", "Warning",MessageBoxButtons.YesNo);
	if(result == DialogResult.No)
		{
			Units_status[3,1]="Fail";
			stubManager.Write("Dryer Motor not rotate\n");
		}
	else 
		{
			Units_status[3,1]="Pass";
			stubManager.Write("Dryer Motor rotate\n");
		}
		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerMain_Motor,3);		//stop motor

	return 0;
}	
//----------------------------------
int Test_Load_Arm()
{
	
	Int32 temp3=0;
	Int32 j=0;
	Int32 i=0;

	if (!Encoder_Dryer_Exist())
	{
			Units_status[4,1]="Fail";
			stubManager.Write("Encoder of Dryer Fail \n");
			return 0;

	}
//	position_32bit=0;
//last_14bit_position
	ReadEncoder_Dryer();
	position_32bit=0;	
	ReadEncoder_Dryer();
	Int32 temp=position_32bit;
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, false, 100);//40
	delay(50);
//	temp=ReadEncoder_Dryer();	
	while ((temp3<2)&& (i<12000) )		//wait until Limit Switch or timeout 12000*50msec=10min
		{
	   		i++;
			delay(50);
	    	ReadEncoder_Dryer();	
//	   		stubManager.Write("position_32bit " + position_32bit  +"\t");

	    	if (Math.Abs(position_32bit)> (50*0x4000))
	    	    temp3=3;
			if ((position_32bit-temp)>20)
				temp3++;
//						stubManager.Write("Temp " + temp   +"\n");
			temp=position_32bit;
//			stubManager.Write("Temp3 " + temp3  +"\n");
		}
	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);

	DialogResult result1 = MessageBox.Show("Arm Motor rotate ?", "Warning",MessageBoxButtons.YesNo);
	if(result1 == DialogResult.No)
		{
			Units_status[5,1]="Fail";
			stubManager.Write("Arm Motor Not rotate\n");
			return 0;
		}
	Units_status[5,1]="Pass";
			
	DialogResult result2 = MessageBox.Show("Did Arm Motor arrive to mechanical stopper?. See picture on document", "Warning",MessageBoxButtons.YesNo);
	if(result2 == DialogResult.No)
		{
			Units_status[4,1]="Fail";
			stubManager.Write("Arm Motor Not arrive to mecahnicl stopper \n");
			return 0;
		}

	position_32bit=0;
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,DrierLoadingArm_Motor, true, 100);
	delay(50);
		i=0;
		temp3=0;

		
	while ((temp3<1)&& (i<12000) )		//wait until Limit Switch or timeout 12000*50msec=10min
		{
		
		
//		while ((Math.Abs(ReadEncoder_Dryer())< (30*0x4000))&& (i<12000)) 
//
//			{
	   			delay(50);
	   			i++;
//	    		stubManager.Write("position_32bit " + position_32bit  +"\t" + temp3 + "\n" );
	    	ReadEncoder_Dryer();	
//	   		stubManager.Write("position_32bit " + position_32bit  +"\t");

	    	if (Math.Abs(position_32bit)> (30*0x4000))
	    	    temp3=3;
			if ((temp-position_32bit)>20)
				temp3++;
//						stubManager.Write("Temp " + temp   +"\n");
			temp=position_32bit;

								
		}
			stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DrierLoadingArm_Motor, 3);

	DialogResult result3 = MessageBox.Show("Did Arm Motor make 30 rounds? See picture on document", "Warning",MessageBoxButtons.YesNo);
	if(result3 == DialogResult.No)
		{
			Units_status[4,1]="Fail";
			stubManager.Write("Arm Motor not make 30 rounds\n");
			return 0;
		}
	Units_status[4,1]="Pass";
	return 1;	
}
bool Encoder_Dryer_Exist()
{
	Int32 temp;
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission

	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 

	temp =  Convert.ToInt32 (response.Value  & 0x0300);
	if (temp==0)
		return true;
	else
		return false;
}



void ReadEncoder_Dryer()
{
	Int32 temp;
	Int32 temp1;
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,0x6000019e, 0x0000);		//triggers a TX transmission

	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000190);
	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,0x60000192);		 

	temp =  Convert.ToInt32 (((((response1.Value <<16) + 	response.Value)>>10 ) & 0x3fff));
	if (temp>last_14bit_position)
		{
		temp1=temp-last_14bit_position;
		position_32bit=position_32bit+temp1;
		if (temp1>0x2000)
			position_32bit=position_32bit-0x4000;
		}
	else if (temp<last_14bit_position)
		
		{
			temp1=last_14bit_position-temp;
			position_32bit=position_32bit-temp1;
		if (temp1>0x2000)
			position_32bit=position_32bit+0x4000;
		}
	
	last_14bit_position=temp;

	return ;
}
//-----------------------------------
int Test_LId ()
{
	Int32 Bit = 1;	
 	int i = 0;

	UInt32 PowerStep_driver=0;
	
 if (Get_Driver_Type(4)>0x14)
	PowerStep_driver=1;



	
	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+2*(1-PowerStep_driver));		//mov Dryer Lid motor down
	delay(2000);
	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
	delay(1000);
	
	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+2*PowerStep_driver);		//mov Dryer Lid motor up

	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
			{	
					Bit = GetBit(F1_LS_01_Direct,4);	
					delay(50);
					i++;
			}

	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
	if((result1 == DialogResult.No) || (i==200) )
		{
			Units_status[1,1]="Fail";
			stubManager.Write("LS_Lid_Open Not calibrate\n");
			return 0;
		}
	Units_status[1,1]="Pass";
	stubManager.Write("\n--------1-Lid Open--------");

	stubManager.Run<StubMotorMovResponse>("StubMotorMovRequest" ,DryerLid_Motor, false, 0x800000+2*(1-PowerStep_driver));		//mov Dryer Lid motor down

	Bit = 1;
	i=0;	 
	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
			{	
					Bit = GetBit(F1_LS_01_Direct,5);	
					delay(50);
					i++;
			}

	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,DryerLid_Motor, 2);		//Hard stop hiZ motor
	DialogResult result2 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
	if((result2 == DialogResult.No) || (i==200))
		{
			Units_status[2,1]="Fail";
			stubManager.Write("LS_Lid_Close Not calibrate\n");
			return 0;
		}
	
	stubManager.Write("\n--------2-Lid Close--------");

	Units_status[2,1]="Pass";
	Units_status[0,1]="Pass";
			return 1;

}

UInt32 Get_Driver_Type(UInt32 i)
{
	Int32 x_GET_PARAM  = 0x20;
	Int32 x_ADC_OUT    = 0x12;
	UInt32 ADC_out ;


	var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_ADC_OUT)<<8, 0, 0);

			ADC_out= (response.RecivedData) & 0x001F; 
		stubManager.WriteHex(ADC_out,2) ;
	 return ADC_out ;
}