/*
 * ReceiveAsync.cs
 * 
 * Gocator 2000/2300 C# Sample
 * Copyright (C) 2013 by LMI Technologies Inc.
 * 
 * Licensed under The MIT License.
 * Redistributions of files must retain the above copyright notice.
 *
 * Purpose: Connect to Gocator system and receive data using a callback function
 * Ethernet output for the desired data must be enabled.
 */

using System;
using Lmi3d.GoSdk;
using Lmi3d.Zen;
using Lmi3d.Zen.Io;
using Lmi3d.GoSdk.Messages;

static class Constants
{
    public const string SENSOR_IP = "192.168.1.10"; // IP of the sensor used for sensor connection GoSystem_FindSensorByIpAddress() call.
}

namespace ReceiveAsync
{
    class ReceiveAsync
    {
        public static void onData(KObject data)
        {
            GoDataSet dataSet = (GoDataSet)data;
            for (UInt32 i = 0; i < dataSet.Count; i++)
            {
                GoDataMsg dataObj = (GoDataMsg)dataSet.Get(i);
                switch(dataObj.MessageType)
                {
                    case GoDataMessageType.Stamp:
                        {
                            GoStampMsg stampMsg = (GoStampMsg)dataObj;
                            for (UInt32 j = 0; j < stampMsg.Count; j++)
                            {
                                GoStamp stamp = stampMsg.Get(j);
                                Console.WriteLine("Frame Index = {0}", stamp.FrameIndex);
                                Console.WriteLine("Time Stamp = {0}", stamp.Timestamp);
                                Console.WriteLine("Encoder Value = {0}", stamp.Encoder);
                            }
                        }
                        break;
                }
            }

            // Refer to example ReceiveRange, ReceiveProfile, ReceiveMeasurement and ReceiveWholePart on how to receive data
            Console.WriteLine(Environment.NewLine);
        }

        static int Main(string[] args)
        {
            try
            {
                KApiLib.Construct();
                GoSdkLib.Construct();
                GoSystem system = new GoSystem();
                GoSensor sensor;
                KIpAddress ipAddress = KIpAddress.Parse(Constants.SENSOR_IP);
                sensor = system.FindSensorByIpAddress(ipAddress);
                sensor.Connect();
                system.EnableData(true);
                system.SetDataHandler(onData);
                system.Start();

                // wait for Enter key
                Console.WriteLine("\nPress ENTER to stop");
                do
                {
                    //System.Threading.Thread.Sleep(100);

                } while (Console.Read() != (int)ConsoleKey.Enter);
                system.Stop();

            }

            catch (KException ex)
            {
                Console.WriteLine("Error: {0}", ex.Status);
            }

            // wait for Enter key
            Console.WriteLine("\nPress ENTER to continue");
            do
            {
                System.Threading.Thread.Sleep(100);

            } while (Console.Read() != (int)ConsoleKey.Enter);
            return 1;
        }
    }
}
