using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using ORiN2.interop.CAO;

namespace RC8_with_ORiN_VS2010
{
    public partial class Robot : Form
    {
        private CaoEngine g_eng;        //CaoEngine object variable
        private CaoController g_ctrl;   //CaoController object variable
        private CaoRobot g_robot;       //CaoRobot object variable
        private CaoVariable g_robotVar;  //CaoVariable from CaoRobot object
        private bool g_haltFlag;

        public Robot()
        {
            InitializeComponent();
        }

        private void Command1_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == false)    //Start motor if arm is stationary
                g_robot.Execute("Motor", new object[] { 1, 0 }); //Start Motor
        }

        private void Command2_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == false)   //Stop motor if arm is stationary
                g_robot.Execute("Motor", new object[] { 0, 0 });
        }

        private void Command3_Click(object sender, EventArgs e)
        {
            g_robot.Halt("");    //Stop Robot
            g_haltFlag = true;  //Record robot stop
        }

        private void Command4_Click(object sender, EventArgs e)
        {
            if (g_robotVar.Value == true)
                return;

            g_haltFlag = false;
            g_robot.Move(1, "@P P10", "NEXT");  //Run Robot

            //Do not start next motion until previous motion is completed
            do {
                Application.DoEvents();
            } while (g_robotVar.Value == false);

            //Do not start next motion if robot has stopped 
            if (g_haltFlag == true)
                return;

            //Run Robot
            g_robot.Move(1, "@P P11", "NEXT");
        }

        private void Robot_Load(object sender, EventArgs e)
        {
            g_eng = new CaoEngine(); //CaoEngine object creation

            //Connect RC: IP setting depends on your RC setting.
            g_ctrl = g_eng.Workspaces.Item(0).AddController("RC8", "CaoProv.DENSO.RC8", "", "Server=192.168.0.1");

            //Create CaoRobot object
            g_robot = g_ctrl.AddRobot("Arm");
            
            //Argument used to check arm running status
            g_robotVar = g_robot.AddVariable("@BUSY_STATUS");

            g_robot.Execute("Takearm"); //Get arm control authority

            //Start Motor
            Command1_Click(sender,e);
        }

        private void Robot_FormClosed(object sender, FormClosedEventArgs e)
        {
            //Stop Motor
            Command2_Click(sender, e);

            //Release arm control authority
            g_robot.Execute("Givearm"); //Release arm control authority

            //Delete robot variable object
            g_robot.Variables.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robotVar);
            g_robotVar = null;

            //Delete robot arm object
            g_ctrl.Robots.Clear();
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_robot);
            g_robot = null;

            //Delete controller object
            g_eng.Workspaces.Item(0).Controllers.Remove(g_ctrl.Index);
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_ctrl);
            g_ctrl = null;

            //Delete engine object
            System.Runtime.InteropServices.Marshal.ReleaseComObject(g_eng);
            g_eng = null; 
        }
    }
}