using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using System.Net.Sockets;
using System.Net;
using System.Threading;
using System.Windows.Threading;
using System.Globalization;


namespace AplikacjaRobot
{
    /// <summary>
    /// Interaction logic for MainWindow.xaml
    /// </summary>
    public partial class MainWindow : Window
    {
        TcpClient clientSocket = new TcpClient(); //serwer podstawowy
        TcpClient clientSocket2 = new TcpClient(); //server czujnika odleglosci na porcie 5561
        TcpClient clientSocket3 = new TcpClient(); //server seriala
        DispatcherTimer dispatcherTimer = new DispatcherTimer();


        /*----Adresy portów i IP----*/
        string IP;
        int Port = 5560; //port podstawowy
        int Port2 = 5561; //port czujnika odleglosci
        int Port3 = 5562; //port sterowania BT


        public MainWindow()
        {
            InitializeComponent();
            dispatcherTimer.Tick += DispatcherTimer_Tick;
            dispatcherTimer.Interval = TimeSpan.FromMilliseconds(200);
            button2.IsEnabled = false;
            ledOFF.IsEnabled = false;
            ledON.IsEnabled = false;
            IP = TextIP.Text;
            button4.IsEnabled = false;
            Forward.IsEnabled = false;
            Right.IsEnabled = false;
            Left.IsEnabled = false;

        }



        private void DispatcherTimer_Tick(object sender, EventArgs e)
        {
            CzujnikOdleglosci();
        }

        private void button_Click(object sender, RoutedEventArgs e)
        {
            clientSocket.Connect(IP, Port);
            TextBlock.Text = "Połączono z: " + IP + ":" + Port;
            button2.IsEnabled = true;
            ledOFF.IsEnabled = true;
            ledON.IsEnabled = true;
            kamera();

        }

        private void kamera()
        {

        }


        /*---Wysyłanie komendy, comand---*/
        private void TylkoWys(string comand)
        {
            NetworkStream serverStream = clientSocket.GetStream();
            byte[] outStream = System.Text.Encoding.UTF8.GetBytes(comand);
            serverStream.Write(outStream, 0, outStream.Length);
            serverStream.Flush();
        }
        private void WysCom(string comand)
        {
            NetworkStream serverStream = clientSocket.GetStream();
            byte[] outStream = System.Text.Encoding.UTF8.GetBytes(comand);
            serverStream.Write(outStream, 0, outStream.Length);
            serverStream.Flush();

            byte[] inStream = new byte[2048];
            serverStream.Read(inStream, 0, inStream.Length);
            string returndata = Encoding.ASCII.GetString(inStream);
            var str1 = returndata.Replace("\0", "");

            TextBlock.Text = TextBlock.Text + Environment.NewLine + ">>" + str1;
        }
        /*-----Czujnik odległości---*/
        private void button1_Click(object sender, RoutedEventArgs e)
        {
            CzujnikOdleglosciPolaczenie();
        }

        private void CzujnikOdleglosciPolaczenie()
        {
            clientSocket2.Connect(IP, Port2);

            TextBlock.Text = TextBlock.Text + Environment.NewLine + "Połączono z czujnikiem odległości";
            dispatcherTimer.Start(); //rozpoczęcie timera pobierania dystansu

        }
        private void CzujnikOdleglosci()
        {
            NetworkStream serverStream2 = clientSocket2.GetStream();
            byte[] outStream2 = System.Text.Encoding.UTF8.GetBytes("ddist");
            serverStream2.Write(outStream2, 0, outStream2.Length);
            serverStream2.Flush();

            byte[] inStream = new byte[1024];
            serverStream2.Read(inStream, 0, inStream.Length);
            string returndata2 = Encoding.UTF8.GetString(inStream);
            var str = returndata2.Replace("\0", ""); //usunięcie \0 ze stringa
            label.Content = "Odległość: " + str + " cm";
            var odleglosc = float.Parse(str, CultureInfo.InvariantCulture.NumberFormat); // zamiana stringa na wartość float
            pBarStatus.Value = odleglosc;
        }

        private void button2_Click(object sender, RoutedEventArgs e)
        {
            WysCom("GET");
        }

        private void ledON_Click(object sender, RoutedEventArgs e)
        {
            TylkoWys("ledON");
        }

        private void ledOFF_Click(object sender, RoutedEventArgs e)
        {
           TylkoWys("ledOFF");

        }

        private void ProgressBar_ValueChanged(object sender, RoutedPropertyChangedEventArgs<double> e)
        {

        }

        private void button3_Click(object sender, RoutedEventArgs e)
        {
            clientSocket3.Connect(IP, Port3);
            TextBlock.Text = TextBlock.Text + Environment.NewLine + "Sterowanie Włączone. Port: " + Port3;
            //sterowanie("connect");
            button4.IsEnabled = true;
            Forward.IsEnabled = true;
            Right.IsEnabled = true;
            Left.IsEnabled = true;
        }

        private void sterowanie(string kierunek)
        {
            NetworkStream serverStream3 = clientSocket3.GetStream();
            byte[] outStream3 = System.Text.Encoding.UTF8.GetBytes(kierunek);
            serverStream3.Write(outStream3, 0, outStream3.Length);
            serverStream3.Flush();
          //  pres = 0;
          //  pressup();


        }

        private void button4_Click(object sender, RoutedEventArgs e)
        {
            sterowanie("0");

        }

        private void Forward_Click(object sender, RoutedEventArgs e)
        {
            sterowanie("0");

        }

        private void Right_Click(object sender, RoutedEventArgs e)
        {
            sterowanie("0");

        }

        private void Left_PreviewMouseDown(object sender, MouseButtonEventArgs e)
        {
            sterowanie("4");
        }

        private void Left_Click(object sender, RoutedEventArgs e)
        {
            sterowanie("0");
        }

        private void button4_PreviewMouseDown(object sender, MouseButtonEventArgs e)
        {
            sterowanie("1");
        }

        private void Forward_PreviewMouseDown(object sender, MouseButtonEventArgs e)
        {
            sterowanie("2");
        }

        private void Right_PreviewMouseDown(object sender, MouseButtonEventArgs e)
        {
            sterowanie("3");
        }
    }
}