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 Winder_UNDER_TEST=6;

string [,] Units_status_Winder = new string[Winder_UNDER_TEST,2]	{ 
												{"Winder_Motor","Not Test"},
												{"Screw_Motor","Not Test"},
												{"LS_Screw_Right","Not Test"},
												{"LS_Screw_Left","Not Test"},
												{"Screw_Encoder","Not Test"},
												{"SW_Spool_Exist","Not Test"},
											};


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

public Task<decimal> Winder_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 (Winder_UNDER_TEST,Units_status_Winder);
	DialogResult result2 = MessageBox.Show("Insert Spool");
	
	settext("Test_Winder_motor");
 	Test_Winder_motor();
	settext("Test_Screw_LS_Motor_Encoder");
	Test_Screw_LS_Motor_Encoder ();
	settext("Test_Pooler_Exis");
	Test_Pooler_Exist ();

	Status=write_to_file(SN,Location,Winder_UNDER_TEST,"Winder");
    settext("End Test");
	decimal result = 0;

    return result;
    });
    return task;
}
  
//------------------------------------------
public int Test_Winder_motor ()

{
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,WINDER_Motor, true, 500);		//rotate Winder Motor.
	stubManager.Write("Winder Motor rotate \n");
	DialogResult result = MessageBox.Show("Are Winder Motor rotate?", "Warning",MessageBoxButtons.YesNo);
	 if (_cancellationTokenSource.Token.IsCancellationRequested)
            {
                _cancellationTokenSource.Token.ThrowIfCancellationRequested();
                 throw new TaskCanceledException();
                return 0;
            }
	if(result == DialogResult.No)
		{
			Units_status[0,1]="Fail";
			stubManager.Write("Winder Motor not rotate\n");
		}
	else 
		{
			Units_status[0,1]="Pass";
			stubManager.Write("Winder Motor rotate\n");
		}
		stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,WINDER_Motor,3);		//stop motor

	return 0;
}	


//-------------------------------------------- 
 int Test_Screw_LS_Motor_Encoder()
{  
	UInt32 temp	;
	Int32 Bit = 1;	
	
	
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, false, 250);		//rotate screw Motor out.
	delay(1000);
	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);				//stop motor

	DialogResult result2 = MessageBox.Show("Did screw Motor move ?", "Warning",MessageBoxButtons.YesNo);
	if(result2 == DialogResult.No)
		{
			Units_status[1,1]="Fail";
			stubManager.Write("Screw Motor not move\n");
			return 0;
		}
			Units_status[1,1]="Pass";
	
	stubManager.Write("Screw Motor rotate \n");

	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, true, 250);
	stubManager.Write("Move screw in\n");
	
	Bit = 1;
	int i=0;		
	while ((Bit != 0x0)&& (i<200) )		//wait until Limit Switch or timeout 200*50msec=10sec
			{	
					Bit = GetBit(F1_LS_03_Direct,0);	
					delay(50);
					i++;
			}
	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);		//stop motor
		
	DialogResult result1 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
	if(result1 == DialogResult.No)
		{
			Units_status[2,1]="Fail";
			stubManager.Write("LS_SCREW_RIGHT Not calibrate\n");
			return 0;
		}
	Units_status[2,1]="Pass";
	stubManager.Write("Move screw out\n");

	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_SCREW_ROTENC_lsb, 0x0000);		//clear encoder
	stubManager.Run<StubFpgaWriteRegResponse>("StubFpgaWriteRegRequest" ,F1_SCREW_ROTENC_msb, 0x0000);		//clear encoder

	Bit = 1;
	stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,SCREW, false, 250);
	i=0;		
	while ((Bit != 0x0) && (i<200))		//wait until Limit Switch or timeout 200*50msec=10sec
			{	
				Bit = GetBit(F1_LS_03_Direct,1);	
				delay(50);
				i++;
			}
	stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,SCREW,3);		//stop motor
		
	DialogResult result3 = MessageBox.Show("Limit Switch calibrate ?", "Warning",MessageBoxButtons.YesNo);
	if(result3 == DialogResult.No)
		{
			Units_status[3,1]="Fail";
			stubManager.Write("LS_SCREW_LEFT Not calibrate\n");
			return 0;
		}
	Units_status[3,1]="Pass";
	
	var response = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_SCREW_ROTENC_lsb);
	var response1 = stubManager.Run<StubFpgaReadRegResponse>("StubFpgaReadRegRequest" ,F1_SCREW_ROTENC_msb);

	temp=(response.Value & 0xffff )+((response1.Value & 0xffff )<<16);
	temp=temp&0x0fffffff;
	temp= 0x4000000-temp;
	stubManager.Write("Encoder positio:" +temp+"\n");

	if ((temp>20000) && temp<28000)
		Units_status[4,1]="Pass";
	else	
		Units_status[4,1]="Fail";//

 	return 1;
}  
 //---------------------------------------
int Test_Pooler_Exist()
{
	if 	( (GetBit(F1_LS_03_Direct,11))==0)	
		{
			Units_status[5,1]="Fail";
			return 0;
		}

	DialogResult result2 = MessageBox.Show("Remove Spool");
	if 	( (GetBit(F1_LS_03_Direct,11))!=0)
			Units_status[5,1]="Fail"; //
	else
			Units_status[5,1]="Pass";	
	
			return 0	;


}