using System;
using System.Drawing;
using System.Collections;
using System.ComponentModel;
using System.Windows.Forms;
using System.Data;
using VideoSource;
using Tiger.Video.VFW;
using System.Text;
using System.Net;
using System.Net.Sockets;
using System.Runtime.InteropServices;
using System.IO.Ports;
using CommandEngine;
using System.Threading;
using System.Diagnostics;
using System.IO;

namespace motion
{
    /// <summary>
    /// Summary description for MainForm
    /// </summary>
    public class MainForm : System.Windows.Forms.Form
    {
        // statistics
        private const int statLength = 15;
        private int statIndex = 0, statReady = 0;
        private int[] statCount = new int[statLength];
        private SerialPort comm = new SerialPort();
        private StringBuilder builder = new StringBuilder();//避免在事件處理方法中反復的創建，定義到外面。
        private IMotionDetector detector =null;
        private int detectorType = 0;
        private bool signal = false;
        private int intervalsToSave = 0;
        static string FileName = Application.StartupPath + "\\Config.ini";
        private AVIWriter writer = null;
        private bool saveOnMotion = false;

        string CameraIp = "";
        string ControlIp = "192.168.1.1";
        string Port = "2001";
        string CMD_Forward = "", CMD_Backward = "", CMD_TurnLeft = "", CMD_TurnRight = "", CMD_Stop = "", CMD_EngineUp = "", CMD_EngineDown = "";
        private int controlType = 0;
        private string btCom;
        private string btBaudrate;
        public WifiRobotCMDEngine RobotEngine = new WifiRobotCMDEngine();//實例化引擎


        private System.Windows.Forms.MenuItem fileItem;
        private System.Windows.Forms.MenuItem menuItem1;
        private System.Windows.Forms.MenuItem exitFileItem;
        private System.Windows.Forms.OpenFileDialog ofd;
        private System.Windows.Forms.MainMenu mainMenu;
        private System.Timers.Timer timer;
        private System.Windows.Forms.StatusBar statusBar;
        private System.Windows.Forms.StatusBarPanel fpsPanel;
        private System.Windows.Forms.Panel panel;
        private motion.CameraWindow cameraWindow;
        private System.Windows.Forms.MenuItem motionItem;
        private System.Windows.Forms.MenuItem noneMotionItem;
        private System.Windows.Forms.MenuItem menuItem2;
        private System.Windows.Forms.MenuItem SYSConfig;
        private System.Windows.Forms.MenuItem helpItem;
        private System.Windows.Forms.MenuItem aboutHelpItem;
        private GroupBox groupBox1;
        private Button buttonStop;
        private Button buttonBackward;
        private Button buttonRight;
        private Button buttonLeft;
        private Button buttonForward;
        private Button btnOpenVideo;
        private MenuItem menuItem4;
        private MenuItem menuItem5;
        private System.Windows.Forms.Timer Radartimer;
        private IContainer components;
        //聲明讀寫INI文件的API函數
        [DllImport("kernel32")]
        private static extern bool WritePrivateProfileString(string section, string key, string val, string filePath);
        [DllImport("kernel32")]
        private static extern int GetPrivateProfileString(string section, string key, string def, byte[] retVal, int size, string filePath);

        public MainForm()
        {
            //
            // Required for Windows Form Designer support
            //
            InitializeComponent();

            //
            // TODO: Add any constructor code after InitializeComponent call
            //
        }

        /// <summary>
        /// Clean up any resources being used.
        /// </summary>
        protected override void Dispose(bool disposing)
        {
            if (disposing)
            {
                if (components != null)
                {
                    components.Dispose();
                }
            }
            base.Dispose(disposing);
        }

        #region Windows Form Designer generated code
        /// <summary>
        /// Required method for Designer support - do not modify
        /// the contents of this method with the code editor.
        /// </summary>
        private void InitializeComponent()
        {
            this.components = new System.ComponentModel.Container();
            System.ComponentModel.ComponentResourceManager resources = new System.ComponentModel.ComponentResourceManager(typeof(MainForm));
            this.mainMenu = new System.Windows.Forms.MainMenu(this.components);
            this.fileItem = new System.Windows.Forms.MenuItem();
            this.SYSConfig = new System.Windows.Forms.MenuItem();
            this.menuItem1 = new System.Windows.Forms.MenuItem();
            this.exitFileItem = new System.Windows.Forms.MenuItem();
            this.motionItem = new System.Windows.Forms.MenuItem();
            this.noneMotionItem = new System.Windows.Forms.MenuItem();
            this.menuItem2 = new System.Windows.Forms.MenuItem();
            this.menuItem4 = new System.Windows.Forms.MenuItem();
            this.menuItem5 = new System.Windows.Forms.MenuItem();
            this.helpItem = new System.Windows.Forms.MenuItem();
            this.aboutHelpItem = new System.Windows.Forms.MenuItem();
            this.ofd = new System.Windows.Forms.OpenFileDialog();
            this.timer = new System.Timers.Timer();
            this.statusBar = new System.Windows.Forms.StatusBar();
            this.fpsPanel = new System.Windows.Forms.StatusBarPanel();
            this.panel = new System.Windows.Forms.Panel();
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.buttonStop = new System.Windows.Forms.Button();
            this.buttonBackward = new System.Windows.Forms.Button();
            this.buttonRight = new System.Windows.Forms.Button();
            this.buttonLeft = new System.Windows.Forms.Button();
            this.buttonForward = new System.Windows.Forms.Button();
            this.btnOpenVideo = new System.Windows.Forms.Button();
            this.cameraWindow = new motion.CameraWindow();
            this.Radartimer = new System.Windows.Forms.Timer(this.components);
            ((System.ComponentModel.ISupportInitialize)(this.timer)).BeginInit();
            ((System.ComponentModel.ISupportInitialize)(this.fpsPanel)).BeginInit();
            this.panel.SuspendLayout();
            this.groupBox1.SuspendLayout();
            this.SuspendLayout();
            // 
            // mainMenu
            // 
            this.mainMenu.MenuItems.AddRange(new System.Windows.Forms.MenuItem[] {
            this.fileItem,
            this.motionItem,
            this.menuItem4,
            this.helpItem});
            // 
            // fileItem
            // 
            this.fileItem.Index = 0;
            this.fileItem.MenuItems.AddRange(new System.Windows.Forms.MenuItem[] {
            this.SYSConfig,
            this.menuItem1,
            this.exitFileItem});
            this.fileItem.Text = "平臺操作";
            // 
            // SYSConfig
            // 
            this.SYSConfig.Index = 0;
            this.SYSConfig.Text = "系統設置";
            this.SYSConfig.Click += new System.EventHandler(this.SYSConfig_Click);
            // 
            // menuItem1
            // 
            this.menuItem1.Index = 1;
            this.menuItem1.Text = "-";
            // 
            // exitFileItem
            // 
            this.exitFileItem.Index = 2;
            this.exitFileItem.Text = "退出";
            this.exitFileItem.Click += new System.EventHandler(this.exitFileItem_Click);
            // 
            // motionItem
            // 
            this.motionItem.Index = 1;
            this.motionItem.MenuItems.AddRange(new System.Windows.Forms.MenuItem[] {
            this.noneMotionItem,
            this.menuItem2});
            this.motionItem.Text = "視頻效果";
            this.motionItem.Popup += new System.EventHandler(this.motionItem_Popup);
            // 
            // noneMotionItem
            // 
            this.noneMotionItem.Index = 0;
            this.noneMotionItem.Text = "標準（默認）";
            this.noneMotionItem.Click += new System.EventHandler(this.noneMotionItem_Click);
            // 
            // menuItem2
            // 
            this.menuItem2.Index = 1;
            this.menuItem2.Text = "-";
            // 
            // menuItem4
            // 
            this.menuItem4.Index = 2;
            this.menuItem4.MenuItems.AddRange(new System.Windows.Forms.MenuItem[] {
            this.menuItem5});
            this.menuItem4.Text = "控制模式";
            // 
            // menuItem5
            // 
            this.menuItem5.Checked = true;
            this.menuItem5.Index = 0;
            this.menuItem5.Text = "WIFI模式";
            this.menuItem5.Click += new System.EventHandler(this.menuItem5_Click);
            // 
            // helpItem
            // 
            this.helpItem.Index = 3;
            this.helpItem.MenuItems.AddRange(new System.Windows.Forms.MenuItem[] {
            this.aboutHelpItem});
            this.helpItem.Text = "幫助";
            // 
            // aboutHelpItem
            // 
            this.aboutHelpItem.Index = 0;
            this.aboutHelpItem.Text = "關于";
            this.aboutHelpItem.Click += new System.EventHandler(this.aboutHelpItem_Click);
            // 
            // ofd
            // 
            this.ofd.Filter = "AVI files (*.avi)|*.avi";
            this.ofd.Title = "Open movie";
            // 
            // timer
            // 
            this.timer.Interval = 1000D;
            this.timer.SynchronizingObject = this;
            this.timer.Elapsed += new System.Timers.ElapsedEventHandler(this.timer_Elapsed);
            // 
            // statusBar
            // 
            this.statusBar.Location = new System.Drawing.Point(0, 393);
            this.statusBar.Name = "statusBar";
            this.statusBar.Panels.AddRange(new System.Windows.Forms.StatusBarPanel[] {
            this.fpsPanel});
            this.statusBar.ShowPanels = true;
            this.statusBar.Size = new System.Drawing.Size(746, 24);
            this.statusBar.TabIndex = 1;
            // 
            // fpsPanel
            // 
            this.fpsPanel.AutoSize = System.Windows.Forms.StatusBarPanelAutoSize.Spring;
            this.fpsPanel.Name = "fpsPanel";
            this.fpsPanel.Width = 729;
            // 
            // panel
            // 
            this.panel.BorderStyle = System.Windows.Forms.BorderStyle.Fixed3D;
            this.panel.Controls.Add(this.groupBox1);
            this.panel.Controls.Add(this.cameraWindow);
            this.panel.Dock = System.Windows.Forms.DockStyle.Fill;
            this.panel.Location = new System.Drawing.Point(0, 0);
            this.panel.Name = "panel";
            this.panel.Size = new System.Drawing.Size(746, 393);
            this.panel.TabIndex = 2;
            this.panel.Paint += new System.Windows.Forms.PaintEventHandler(this.panel_Paint);
            // 
            // groupBox1
            // 
            this.groupBox1.Controls.Add(this.buttonStop);
            this.groupBox1.Controls.Add(this.buttonBackward);
            this.groupBox1.Controls.Add(this.buttonRight);
            this.groupBox1.Controls.Add(this.buttonLeft);
            this.groupBox1.Controls.Add(this.buttonForward);
            this.groupBox1.Controls.Add(this.btnOpenVideo);
            this.groupBox1.Location = new System.Drawing.Point(3, 78);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(260, 240);
            this.groupBox1.TabIndex = 11;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "操作指令";
            // 
            // buttonStop
            // 
            this.buttonStop.Location = new System.Drawing.Point(98, 88);
            this.buttonStop.Name = "buttonStop";
            this.buttonStop.Size = new System.Drawing.Size(63, 42);
            this.buttonStop.TabIndex = 16;
            this.buttonStop.Text = "停";
            this.buttonStop.UseVisualStyleBackColor = true;
            this.buttonStop.Click += new System.EventHandler(this.buttonStop_Click);
            // 
            // buttonBackward
            // 
            this.buttonBackward.Location = new System.Drawing.Point(98, 136);
            this.buttonBackward.Name = "buttonBackward";
            this.buttonBackward.Size = new System.Drawing.Size(63, 42);
            this.buttonBackward.TabIndex = 14;
            this.buttonBackward.Text = "后\r\n(S)";
            this.buttonBackward.UseVisualStyleBackColor = true;
            this.buttonBackward.Click += new System.EventHandler(this.buttonBackward_Click);
            // 
            // buttonRight
            // 
            this.buttonRight.Location = new System.Drawing.Point(163, 88);
            this.buttonRight.Name = "buttonRight";
            this.buttonRight.Size = new System.Drawing.Size(64, 42);
            this.buttonRight.TabIndex = 13;
            this.buttonRight.Text = "右\r\n(D)";
            this.buttonRight.UseVisualStyleBackColor = true;
            this.buttonRight.Click += new System.EventHandler(this.buttonRight_Click);
            // 
            // buttonLeft
            // 
            this.buttonLeft.Location = new System.Drawing.Point(32, 88);
            this.buttonLeft.Name = "buttonLeft";
            this.buttonLeft.Size = new System.Drawing.Size(64, 42);
            this.buttonLeft.TabIndex = 12;
            this.buttonLeft.Text = "左\r\n(A)";
            this.buttonLeft.UseVisualStyleBackColor = true;
            this.buttonLeft.Click += new System.EventHandler(this.buttonLeft_Click);
            // 
            // buttonForward
            // 
            this.buttonForward.Location = new System.Drawing.Point(98, 45);
            this.buttonForward.Name = "buttonForward";
            this.buttonForward.Size = new System.Drawing.Size(63, 42);
            this.buttonForward.TabIndex = 11;
            this.buttonForward.Text = "前\r\n（W）";
            this.buttonForward.UseVisualStyleBackColor = true;
            this.buttonForward.Click += new System.EventHandler(this.buttonForward_Click);
            // 
            // btnOpenVideo
            // 
            this.btnOpenVideo.Location = new System.Drawing.Point(13, 21);
            this.btnOpenVideo.Name = "btnOpenVideo";
            this.btnOpenVideo.Size = new System.Drawing.Size(75, 28);
            this.btnOpenVideo.TabIndex = 10;
            this.btnOpenVideo.Text = "視頻";
            this.btnOpenVideo.UseVisualStyleBackColor = true;
            this.btnOpenVideo.Click += new System.EventHandler(this.btnOpenVideo_Click);
            // 
            // cameraWindow
            // 
            this.cameraWindow.BackColor = System.Drawing.SystemColors.AppWorkspace;
            this.cameraWindow.BackgroundImage = ((System.Drawing.Image)(resources.GetObject("cameraWindow.BackgroundImage")));
            this.cameraWindow.BackgroundImageLayout = System.Windows.Forms.ImageLayout.Zoom;
            this.cameraWindow.Camera = null;
            this.cameraWindow.Location = new System.Drawing.Point(276, 17);
            this.cameraWindow.Name = "cameraWindow";
            this.cameraWindow.Size = new System.Drawing.Size(449, 352);
            this.cameraWindow.TabIndex = 1;
            // 
            // Radartimer
            // 
            this.Radartimer.Interval = 200;
            // 
            // MainForm
            // 
            this.AutoScaleBaseSize = new System.Drawing.Size(6, 14);
            this.ClientSize = new System.Drawing.Size(746, 417);
            this.Controls.Add(this.panel);
            this.Controls.Add(this.statusBar);
            this.FormBorderStyle = System.Windows.Forms.FormBorderStyle.Fixed3D;
            this.Icon = ((System.Drawing.Icon)(resources.GetObject("$this.Icon")));
            this.KeyPreview = true;
            this.MaximizeBox = false;
            this.Menu = this.mainMenu;
            this.Name = "MainForm";
            this.StartPosition = System.Windows.Forms.FormStartPosition.CenterScreen;
            this.Text = "WIFI/藍牙智能小車操縱平臺-基本版V1.1 機器人創意工作室 Liuviking";
            this.FormClosed += new System.Windows.Forms.FormClosedEventHandler(this.MainForm_FormClosed);
            this.Load += new System.EventHandler(this.MainForm_Load);
            this.KeyDown += new System.Windows.Forms.KeyEventHandler(this.MainForm_KeyDown);
            this.KeyUp += new System.Windows.Forms.KeyEventHandler(this.MainForm_KeyUp);
            ((System.ComponentModel.ISupportInitialize)(this.timer)).EndInit();
            ((System.ComponentModel.ISupportInitialize)(this.fpsPanel)).EndInit();
            this.panel.ResumeLayout(false);
            this.groupBox1.ResumeLayout(false);
            this.ResumeLayout(false);

        }
        #endregion

        /// <summary>
        /// The main entry point for the application.
        /// </summary>
        [STAThread]
        static void Main()
        {
            Application.Run(new MainForm());
        }


        private void MainForm_Closing(object sender, System.ComponentModel.CancelEventArgs e)
        {
            CloseFile();
        }


        private void exitFileItem_Click(object sender, System.EventArgs e)
        {
            this.Close();
        }


        private void aboutHelpItem_Click(object sender, System.EventArgs e)
        {
            AboutForm form = new AboutForm();

            form.ShowDialog();
        }