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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;
const Int32 x_GET_STATUS = 0xD0;
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 x_SET_PARAM = 0x00;
public void OnExecute(StubManager stubManager)
{
Uint32 SpeedSet1 = 0x7000062;
Uint32 SpeedSet2 = 0x7000053;
Uint32 Move1 = 0x4000026c;
Uint32 MoveFor = 0x400007D0;
Uint32 MoveBack = 0x410007D0;
var response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, SpeedSet1, 0, 0);
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, (x_GET_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, Move1, 0, 0);
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, (x_GET_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, MoveFor, 0, 0);
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, (x_GET_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, SpeedSet2, 0, 0);
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, (x_GET_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, MoveBack, 0, 0);
response = stubManager.Run<StubMotorResponse>("StubMotorRequest" ,14, (x_GET_STATUS)<<16, 0, 0);
stubManager.WriteHex(response.RecivedData,4);
stubManager.Write("\n\n");
// Request ----
// UInt32 : MotorID
// Boolean : ClearStatus
// Response ----
// UInt32 : MotorID
// Boolean : SCKMOD
// Boolean : STEPLOSSB
// Boolean : STEPLOSSA
// Boolean : OCD
// Boolean : THSD
// Boolean : THWRN
// Boolean : UVLO
// Boolean : WRONGCMD
// Boolean : NOTPERFCMD
// UInt32 : MOTSTATUS
// Boolean : DIR
// Boolean : SWEVN
// Boolean : SWF
// Boolean : BUSY
// Boolean : HiZ
//response = stubManager.Run<StubMotorStatusResponse>("StubMotorStatusRequest" ,12, true);
}
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