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.Hardware;
using Tango.PMR.Printing;
using Tango.PMR.Stubs;
using Tango.Stubs.UI;

public void OnExecute(StubManager stubManager)
{

stubManager.RequestTimeout = 2000;

UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();

HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();


HardwarePidControl hardwarePidControl1 = new HardwarePidControl();
hardwarePidControl1.HardwarePidControlType = Tango.PMR.Hardware.HardwarePidControlType.MotorFeeder;
hardwarePidControl1.OutputProportionalPowerLimit = 80;
hardwarePidControl1.OutputProportionalBand = 5;
hardwarePidControl1.IntegralTime = 5;
hardwarePidControl1.DerivativeTime = 0;
hardwarePidControl1.SensorCorrectionAdjustment = 0;
hardwarePidControl1.SensorMinValue = 0;
hardwarePidControl1.SensorMaxValue = 0;
hardwarePidControl1.SetPointRampRateorSoftStartRamp = 0;
hardwarePidControl1.SetPointControlOutputRate = 4;
hardwarePidControl1.ControlOutputType = 0;
hardwarePidControl1.SsrControlOutputType = 0;
hardwarePidControl1.OutputOnOffHysteresisValue = 0;
hardwarePidControl1.ProcessVariableSamplingRate = 1000;
hardwarePidControl1.PvInputFilterFactorMode = 4;
hardwarePidControl1.OutputProportionalCycleTime = 0;
hardwarePidControl1.AcHeatersHalfCycleTime = 0;
hardwarePidControl1.ProportionalGain = 11.0;
hardwareConfiguration.PidControls.Add(hardwarePidControl1);

HardwareDancer hardwareDancer1 = new HardwareDancer();
hardwareDancer1.HardwareDancerType = Tango.PMR.Hardware.HardwareDancerType.RightDancer;
hardwareDancer1.Gradual = false;
hardwareDancer1.K = 0;
hardwareDancer1.X = 0;
hardwareDancer1.PulsePerMmSpring = 0;
hardwareDancer1.MaximalMovementMm = 15;
hardwareDancer1.ZeroPoint = 9784;
hardwareDancer1.ResolutionBits = 14;
hardwareDancer1.ArmLength = 126;
hardwareConfiguration.Dancers.Add(hardwareDancer1);


HardwareMotor hardwareMotor1 = new HardwareMotor();
hardwareMotor1.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRdriving;
hardwareMotor1.MinFrequency = 0;
hardwareMotor1.MaxFrequency = 50000;
hardwareMotor1.SetMicroStep = 1;
hardwareMotor1.MicroStep = 32;
hardwareMotor1.MaxChangeSlope = 10000;
hardwareMotor1.HighLengthMicroSecond = 0;
hardwareMotor1.SpeedMaster = false;
hardwareMotor1.PulsePerRound = 200;
hardwareMotor1.PulleyRadius = 1.25;
hardwareMotor1.ConfigWord = 0x1c80;
hardwareMotor1.DirectionThreadWize = true;
hardwareMotor1.KvalHold = 0x35;
hardwareMotor1.KvalRun = 0x7f;
hardwareMotor1.KvalAcc = 0x7f;
hardwareMotor1.KvalDec = 0x7f;
hardwareMotor1.OverCurrentThreshold = 7;
hardwareMotor1.StallThreshold = 0x1F;
hardwareMotor1.ThermalCompensationFactor = 0;
hardwareMotor1.LowSpeedOptimization = false;
hardwareMotor1.StSlp = 0x20;
hardwareMotor1.IntSpd = 0x1A13;
hardwareMotor1.FnSlpAcc = 0x50;
hardwareMotor1.FnSlpDec = 0x50;
hardwareConfiguration.Motors.Add(hardwareMotor1);


HardwareMotor hardwareMotor7 = new HardwareMotor();
hardwareMotor7.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoRloading;
hardwareMotor7.MinFrequency = 0;
hardwareMotor7.MaxFrequency = 15000;
hardwareMotor7.SetMicroStep = 1;
hardwareMotor7.MicroStep = 64;
hardwareMotor7.MaxChangeSlope = 1000;
hardwareMotor7.HighLengthMicroSecond = 0;
hardwareMotor7.SpeedMaster = false;
hardwareMotor7.PulsePerRound = 200;
hardwareMotor7.PulleyRadius = 1.25;
hardwareMotor7.ConfigWord = 0xC80;
hardwareMotor7.DirectionThreadWize = true;
hardwareMotor7.KvalHold = 0x28;
hardwareMotor7.KvalRun = 0x5f;
hardwareMotor7.KvalAcc = 0x5f;
hardwareMotor7.KvalDec = 0x5f;
hardwareMotor7.OverCurrentThreshold = 7;
hardwareMotor7.StallThreshold = 0x1F;
hardwareMotor7.ThermalCompensationFactor = 0;
hardwareMotor7.LowSpeedOptimization = false;
hardwareMotor7.StSlp = 6;
hardwareMotor7.IntSpd = 0x44B8;
hardwareMotor7.FnSlpAcc = 0x14;
hardwareMotor7.FnSlpDec = 0x14;
hardwareConfiguration.Motors.Add(hardwareMotor7);

stubManager.WriteLine("data.data length = " + hardwareConfiguration.CalculateSize());


uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
        Thread.Sleep(10000);

JobRequest jobRequest = new JobRequest();

JobTicket jobTicket = new JobTicket();
jobTicket.Name = "Stubs Job";
jobTicket.EnableInterSegment = false;
jobTicket.InterSegmentLength = 50;
jobTicket.Length = 1000;

ProcessParameters processParameters = new ProcessParameters();
processParameters.DyeingSpeed = 40;
processParameters.TableIndex = 0;

jobTicket.ProcessParameters = processParameters;
jobTicket.WindingMethod = Tango.PMR.Printing.JobWindingMethod.Embroidery;

JobSpool jobSpool = new JobSpool();
jobSpool.JobSpoolType = Tango.PMR.Printing.JobSpoolType.StandardSpool;
jobSpool.Length = 1000;
jobSpool.Weight = 0;
jobSpool.Diameter = 0;
jobSpool.StartOffsetPulses = 50;
jobSpool.BackingRate = 10;
jobSpool.SegmentOffsetPulses = 4000;
jobSpool.BottomBackingRate = 70;
jobSpool.RotationsPerPassage = 7;

jobTicket.Spool = jobSpool;

JobSegment jobSegment = new JobSegment();
jobSegment.Name = "Segment1";
jobSegment.Length = 8;

JobBrushStop jobBrushStop = new JobBrushStop();
jobBrushStop.Index = 0;
jobBrushStop.OffsetPercent = 0;
jobBrushStop.OffsetMeters = 0;

JobDispenser jobDispenser = new JobDispenser();
jobDispenser.Index = 2;
jobDispenser.Volume = 10;
jobDispenser.DispenserStepDivision = Tango.PMR.Printing.DispenserStepDivision.Auto;
jobDispenser.NanolitterPerSecond = 10;
jobDispenser.NanoliterPerCentimeter = 10;
jobDispenser.PulsePerSecond = 500;
jobDispenser.DispenserLiquidType = Tango.PMR.Printing.DispenserLiquidType.Cyan;
jobDispenser.LiquidMaxNanoliterPerCentimeter = 40;
jobDispenser.NanoliterPerPulse = 10;
jobBrushStop.Dispensers.Add(jobDispenser);
jobSegment.BrushStops.Add(jobBrushStop);
jobTicket.Segments.Add(jobSegment);

jobRequest.JobTicket = jobTicket;

        Thread.Sleep(50);

stubManager.WriteLine("data.data length = " + jobRequest.CalculateSize());
	var response2 = stubManager.Run<JobResponse>(jobRequest);
        Thread.Sleep(100);
	
	int i=0;
stubManager.RunContinuous<StubHeatingTestPollResponse>("StubHeatingTestPollRequest",(response1) => 
                                                   {                                                   	
//				stubManager.WriteLine (String.Format("Data, {0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Active,response1.Heater2Active,response1.Heater1Percentage,response1.Heater2Percentage,response1.InfoMessage));
				stubManager.WriteLine (String.Format("Feeder, {0},  Orig {1}, Err {2}, Calc {3}, read {4}, {5}",++i,response1.Zone1Temp,response1.Zone2Temp,response1.Heater1Percentage,response1.Heater2Percentage, response1.InfoMessage));
                                                   	
                                                   },0);



}