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;


public void OnExecute(StubManager stubManager)
{
        Thread.Sleep(10);
HardwareMotor DryerMotor = new HardwareMotor();
DryerMotor.HardwareMotorType = Tango.PMR.Hardware.HardwareMotorType.MotoDryerDriving;
DryerMotor.MinFrequency = 0;
DryerMotor.MaxFrequency = 100000;
DryerMotor.SetMicroStep = 1;
DryerMotor.MicroStep = 16;
DryerMotor.MaxChangeSlope = 0x7ff;
DryerMotor.HighLengthMicroSecond = 0;
DryerMotor.SpeedMaster = false;
DryerMotor.PulsePerRound = 200;
DryerMotor.PulleyRadius = 0.8;
DryerMotor.ConfigWord = 0x1C80;
DryerMotor.DirectionThreadWize = false;
DryerMotor.KvalHold = 0x08;
DryerMotor.KvalRun = 0x35;
DryerMotor.KvalAcc = 0x7f;
DryerMotor.KvalDec = 0x27;
DryerMotor.OverCurrentThreshold = 0x7;
DryerMotor.StallThreshold = 0x1F;
DryerMotor.ThermalCompensationFactor = 0;
DryerMotor.LowSpeedOptimization = false;
DryerMotor.StSlp = 0x20;
DryerMotor.IntSpd = 0x1A13;
DryerMotor.FnSlpAcc = 0x50;
DryerMotor.FnSlpDec = 0x50;
DryerMotor.FsSpd = 0x27;


UploadHardwareConfigurationRequest uploadHardwareConfigurationRequest = new UploadHardwareConfigurationRequest();

HardwareConfiguration hardwareConfiguration = new HardwareConfiguration();

hardwareConfiguration.Motors.Add(DryerMotor);

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


uploadHardwareConfigurationRequest.HardwareConfiguration = hardwareConfiguration;
//var response = stubManager.Run<UploadHardwareConfigurationResponse>(uploadHardwareConfigurationRequest);
        /*Thread.Sleep(5000);*/
//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
var response4 = stubManager.Run<StubMotorRunResponse>("StubMotorRunRequest" ,3, false, 1600);
Thread.Sleep(1000);
//open valve toward the midtank, stop dispenser 
//var response3 = stubManager.Run<StubValveResponse>("StubValveRequest" ,6, 10, false);
//var response2 = stubManager.Run<StubMotorStopResponse>("StubMotorStopRequest" ,3,2);

        

}