using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading;
using System.Net;
using System.IO;
using ElmoMotionControlComponents.Drive.EASComponents;
using ElmoMotionControlComponents.Drive.EASComponents.UploadsAndDownloads;
using ElmoMotionControlComponents.Drive.EASComponents.Personality;
using ElmoMotionControlComponents.Drive.EASComponents.DriveCAN;

namespace DriveDotNetRecording
{
    class Program
    {
        static IDriveCommunication communication;
        static ManualResetEvent waitEvent = new ManualResetEvent(false);
        static bool status = true;
        static RecordingOperator recordingOperator;

        static void Main(string[] args)
        {
            Console.WriteLine("Which communication type do you need? 1. UDP, 2. USB, 3. RS232, 4. CAN (Kvaser)");
            int result = int.Parse(Console.ReadLine());
            IDriveCommunicationInfo commInfo = null;

            switch (result)
            {
                case 1:
                    {
                        Console.WriteLine("Please enter the drive IP address");
                        string ipAddress = Console.ReadLine();
                        Console.WriteLine("Please enter the host IP address");
                        string hostAddress = Console.ReadLine();
                        commInfo = DriveCommunicationFactory.CreateUDPCommunicationInfo(IPAddress.Parse(ipAddress), IPAddress.Parse(hostAddress));
                        Console.WriteLine("Established UDP communication for IP address " + ipAddress + ", host IP address: " + hostAddress);
                        break;
                    }
                case 2:
                    {
                        Console.WriteLine("Please enter COM port name");
                        string comPort = Console.ReadLine();
                        commInfo = DriveCommunicationFactory.CreateUSBCommunicationInfo(comPort);
                        Console.WriteLine("Established USB communication for COM port " + comPort);
                        break;
                    }
                case 3:
                    {
                        Console.WriteLine("Please enter COM port name");
                        string comPort = Console.ReadLine();
                        Console.WriteLine("Please enter baud rate");
                        uint baudRate = uint.Parse(Console.ReadLine());
                        commInfo = DriveCommunicationFactory.CreateRS232CommunicationInfo(comPort, baudRate);
                        Console.WriteLine("Established RS232 communication for COM port " + comPort + " and baud rate " + baudRate);
                        break;
                    }
                case 4:
                    {
                        Console.WriteLine("Please enter 1 for Gold, 2 for SimplIQ");
                        uint nodeTypeInput = uint.Parse(Console.ReadLine());
                        CANNodeType nodeType = CANNodeType.ElmoGold;
                        if (nodeTypeInput == 2)
                            nodeType = CANNodeType.ElmoSimplIQ;
                        Console.WriteLine("Please enter CAN bus ID");
                        uint busID = uint.Parse(Console.ReadLine());
                        Console.WriteLine("Please enter CAN node ID");
                        ushort nodeID = ushort.Parse(Console.ReadLine());
                        Console.WriteLine("Please enter baud rate");
                        string baudRate = Console.ReadLine();
                        commInfo = DriveCommunicationFactory.CreateCANKvaserCommunicationInfo(baudRate, busID, nodeID, nodeType);
                        break;
                    }
            }

            IDriveErrorObject err;
            communication = DriveCommunicationFactory.CreateCommunication(commInfo);
            if (!communication.Connect(out err))
            {
                ExitProgram(GetErrorDesc(err));
                return;
            }

            if (!UploadPersonality(communication))
            {
                ExitProgram();
                return;
            }

            PerformRecording(communication);
            ExitProgram();
        }

        static string GetErrorDesc(IDriveErrorObject errorObj)
        {
            if (errorObj.ErrorCode != 0)
                return string.Format("Drive error {0}: {1}", errorObj.ErrorCode, errorObj.ErrorDescription);
            else
                return string.Format("Library error {0}: {1}", errorObj.LibraryErrorCode, errorObj.LibraryErrorDescription);
        }

        static void ExitProgram(string error = null)
        {
            if (!string.IsNullOrEmpty(error))
                Console.WriteLine("Program failed with error " + error + ", press any key to stop");
            else
                Console.WriteLine("Program done, press ENTER to stop");
            Console.ReadLine();
        }

        #region Upload Personality

        static bool UploadPersonality(IDriveCommunication communication)
        {
            IDriveErrorObject errorObject;

            string response;
            if (!Utils.SendCommand(communication, "RR=-1", out response))
                return false;

            if (!Utils.MotorEnable(communication, false))
                return false;

            Console.WriteLine("Uploading personality...");
            IUploadDownloadModel model = communication.UploadPersonality(Path.Combine(Path.GetTempPath(), "Personality.xml"), out errorObject);
            if (model == null)
            {
                Console.WriteLine("Cannot upload Personality. " + errorObject.ErrorDescription);
                return false;
            }

            model.OnStart += model_OnStart;
            model.OnProgress += model_OnProgress;
            model.OnFinish += model_OnFinish;
            model.OnFailed += model_OnFailed;
            model.OnCancel += model_OnCancel;

            if (!model.Start(out errorObject))
            {
                Console.WriteLine("Cannot start upload Personality: " + GetErrorDesc(errorObject));
                return false;
            }

            waitEvent.WaitOne();

            return status;
        }

        #endregion Upload Personality

        #region Upload Personality Events

        static void model_OnFailed(object sender, EventArgs e)
        {
            Console.WriteLine("Failed event: Description=" + (sender as IUploadDownloadModel).Description);
            status = false;
            waitEvent.Set();
        }

        static void model_OnCancel(object sender, EventArgs e)
        {
            Console.WriteLine("Cancel event: Description=" + (sender as IUploadDownloadModel).Description);
            status = false;
            waitEvent.Set();
        }

        static void model_OnFinish(object sender, EventArgs e)
        {
            Console.WriteLine("Finish event: Status  = " + (sender as IUploadDownloadModel).OperationStatus);

            IDriveErrorObject errorObject;
            if ((sender as IUploadDownloadModel).Communication.CreatePersonalityModel((sender as IUploadDownloadModel).StorePath, out errorObject))
            {
                Console.WriteLine("Personality Model was created!");
                status = true;
            }
            else
            {
                if (errorObject == null)
                    Console.WriteLine("Cannot create Personality Model");
                else
                    Console.WriteLine("Cannot create Personality Model. " + errorObject.ToString());
                status = false;
            }
            waitEvent.Set();
        }

        static void model_OnProgress(object sender, EventArgs e)
        {
            if ((sender as IUploadDownloadModel).Percent == -1)
            {
                Console.WriteLine("Progress Indeterminate. Status  = " + (sender as IUploadDownloadModel).OperationStatus + " Description  = " + (sender as IUploadDownloadModel).Description);
                return;
            }

            if ((sender as IUploadDownloadModel).Percent > 0)
                Console.SetCursorPosition(0, Console.CursorTop - 1);

            Console.WriteLine("Progress = " + (sender as IUploadDownloadModel).Percent + " Status  = " + (sender as IUploadDownloadModel).OperationStatus
                + " Description  = " + (sender as IUploadDownloadModel).Description);
        }

        static void model_OnStart(object sender, EventArgs e)
        {
            Console.WriteLine("Start event");
        }

        #endregion Upload Personality Events

        static void PerformRecording(IDriveCommunication communication)
        {
            recordingOperator = new RecordingOperator(communication);
            if (!recordingOperator.StartRecording())
                return;

            recordingOperator.RecordingCompleteEvent += RecordingComplete;

            waitEvent.Reset();
            waitEvent.WaitOne();
        }

        static void RecordingComplete(object sender, EventArgs args)
        {
            recordingOperator.RecordingCompleteEvent -= RecordingComplete;
            waitEvent.Set();
        }
    }
}