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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 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)<<8, 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)<<16, 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)<<8, 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, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n");
stubManager.Write("KVAL\\TVAL_RUN:\t");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,i, (x_GET_PARAM | x_KVAL_RUN)<<8, 0, 0);
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, 0, 0);
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, 0, 0);
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);
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);
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);
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, 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");
}
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