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 System.Runtime.CompilerServices;
using System.Threading;
using System.IO;
using System.Runtime.InteropServices;
using OnlineStore.DeviceLibrary;
using log4net;
using System.Reflection;
using UserFromControl;
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;

namespace OnlineStore.AutoCountClient
{
    internal partial class FrmInputEquip : FrmEquipBase
    {
        private bool IsLoad = false;

        private InputEquip equipBean;
        internal FrmInputEquip(InputEquip moveEquip)
        {
            equipBase = moveEquip;
            this.equipBean = moveEquip;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            LoadIOList();
        }

        private void LoadIOList()
        {
            int maxCount = 16;
            int roleindex = 0;
            this.tableLayoutPanel1.RowStyles.Clear();
            this.tableLayoutPanel1.RowCount = maxCount;
            this.tableLayoutPanel3.RowStyles.Clear();
            this.tableLayoutPanel3.RowCount = maxCount;
            int i = 0;
            foreach (ConfigIO ioValue in equipBean.Config.DIList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                if (i >= maxCount)
                {
                    this.tableLayoutPanel3.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                    this.tableLayoutPanel3.Controls.Add(control, 0, roleindex - maxCount);
                }
                else
                {
                    this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                    this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                }
                roleindex++;
                i++;
                DIControlList.Add(ioValue.ProName, control);
            }
      //       maxCount = 16;
            tableLayoutPanel2.RowStyles.Clear();
            this.tableLayoutPanel2.RowCount = maxCount;
            this.tableLayoutPanel4.RowStyles.Clear();
            this.tableLayoutPanel4.RowCount = maxCount;
            roleindex = 0;
            i = 0;
            foreach (ConfigIO ioValue in equipBean.Config.DOList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                control.Click += Control_Click;
                if (i >= maxCount)
                {
                    this.tableLayoutPanel4.RowStyles.Add(new RowStyle(SizeType.Absolute,  28));
                    this.tableLayoutPanel4.Controls.Add(control, 0, roleindex - maxCount);
                }
                else
                {
                    this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                    this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                }
                roleindex++;
                i++;
                DOControlList.Add(ioValue.ProName, control);
            }
            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 

            cmbWriteIO.DataSource = new List<ConfigIO>(equipBean.Config.DOList.Values);
            cmbWriteIO.ValueMember = "ProName";
            cmbWriteIO.DisplayMember = "DisplayStr";

        }
        private void Control_Click(object sender, EventArgs e)
        {
            IOTextControl control = (IOTextControl)sender;
            string name = control.Name.Substring(3, control.Name.Length - 3);
            List<string> keyList = new List<string>(DOControlList.Keys);
            int index = keyList.IndexOf(name);
            if (index >= 0)
            {
                cmbWriteIO.SelectedIndex = index;
            }
        }
        private void timer1_Tick(object sender, EventArgs e)
        {
            try
            {
                if (!this.Visible)
                {
                    return;
                }
                chbMoveStop.Checked = equipBean.MoveStop;
                if (chbAutoRead.Checked && this.Visible)
                {
                    ReadIOList();
                    ReadBtnDO();
                }
                if (equipBean.runStatus > RobotRunStatus.Wait)
                {
                    lblName.BackColor = Color.Green;
                    if (btnStart.Enabled)
                    {
                        FormStatus(true);
                    }
                    btnPutTray.Enabled = !chbAutoIn.Checked;
                }
                else
                {
                    lblName.BackColor = System.Drawing.Color.DodgerBlue;
                    if (!btnStart.Enabled)
                    {
                        FormStatus(false);
                    }
                    btnPutTray.Enabled = false;
                }
         
                lblAgvInfo.Text = "AGV-" + equipBean.Config.LeftAgvName  + " 状态：" + AgvClient.GetAction(equipBean.Config.LeftAgvName).ToString() +
                    "\t            AGV-" + equipBean.Config.RightAgvName + " 状态：" + AgvClient.GetAction(equipBean.Config.RightAgvName).ToString() + "";

                lblStoreStatus.Text = RobotBase.GetRunStr(equipBean.runStatus);
                lblThisSta.Text = equipBean.WarnMsg+"\r\n"+equipBean.LeftBatchMove.WarnMsg+"\r\n"+equipBean.RightBatchMove.WarnMsg;
               
                lblMoveInfo.Text = equipBean.GetMoveStr(); 
            }
            catch (Exception ex)
            {
                LogUtil.error(equipBean.Name + "界面定时器出错：", ex);
            }

        }

        private void FrmTest_FormClosing(object sender, FormClosingEventArgs e)
        {
            // KNDAIManager.NeedShow = false;
            try
            {
                if (this.timer1.Enabled)
                {
                    this.timer1.Enabled = false;
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.StackTrace, "Exception(异常)", MessageBoxButtons.OK, MessageBoxIcon.Error);
                LogUtil.error("", ex);
            }
        }
        private void btnOpenDo_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.HIGH);
        }
        private void btnWriteSingleDO_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.LOW);
        }
        private void WriteDO(IO_VALUE value)
        {
            string deviceName = txtDoName.Text;
            int index = FormUtil.GetIntValue(txtDOIndex);
            //   IO_VALUE value = checkBox1.Checked ? IO_VALUE.HIGH : IO_VALUE.LOW;
            int time = FormUtil.GetIntValue(txtWriteTime);
            int slaveId = FormUtil.GetIntValue(txtSlaveId);
            if (time > 0)
            {
                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value, time);
            }
            else
            {
                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value);
            }
        }

        private ConfigIO GetSelectDO()
        {
            string text = cmbWriteIO.SelectedValue.ToString();
            string newType = text.Replace("SW1_", "SW_").Replace("SW2_", "SW_").Replace("SW3_", "SW_").Replace("SW4_", "SW_");
            if (equipBean.Config.DOList.ContainsKey(newType))
            {
                ConfigIO io = equipBean.Config.DOList[newType];
                return io;
            }
            return null;
        }
        IOTextControl selectControl = null;
        private void cmbWriteIO_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbWriteIO.SelectedIndex >= 0)
            {
                ConfigIO io = GetSelectDO();
                if (io != null)
                {
                    // txtIp.Text = io.DeviceName;
                    txtDOIndex.Text = io.GetIOAddr().ToString();
                    txtDoName.Text = io.IO_IP;
                    txtSlaveId.Text = io.SlaveID.ToString();
                    IOTextControl newControl = DOControlList[io.ProName];
                    if (selectControl != null) { selectControl.BorderStyle = BorderStyle.None; }
                    newControl.BorderStyle = BorderStyle.FixedSingle;
                    selectControl = newControl;
                    //txtIOInfo.Text = "IP：" + io.DeviceName + "  /" + io.GetIOAddr().ToString();
                }
            }
        }


        private void FrmStoreIOStatus_Load(object sender, EventArgs e)
        {
            chbDebug.Checked = equipBean.IsDebug;

            axisMoveControl1.LoadData(equipBean, new AxisBean[] { equipBean.MiddleAxis, equipBean.UpdownAxis, equipBean.InOutAxis, equipBean.LeftBatchMove.BatchAxis, equipBean.RightBatchMove.BatchAxis });

            cmbSizeList.Items.Clear();
            cmbSizeList.Items.Add("0=默认位置");

            foreach (int heigth in RobotManager.GetTrayList())
            {
                cmbSizeList.Items.Add(heigth);
            }
            cmbSizeList.SelectedIndex = 0;
            lblStoreStatus.Text = RobotBase.GetRunStr(equipBean.runStatus);
            lblThisSta.Text = equipBean.WarnMsg;
            txtUP1.Text = equipBean.Config.UpdownAxis_P1.ToString();
            txtUP2_R.Text = equipBean.Config.UpdownAxis_P3.ToString();

            LoadPosition();

            lblName.Text = equipBean.Name;
            comInP.SelectedIndex = 0;
            comTP.SelectedIndex = 0;
            IsLoad = true;
        }
        private void LoadPosition()
        {
            chbAutoIn.Checked = equipBean.AutoInput;
            txtLBp1.Text = equipBean.Config.L_BatchAxisP1.ToString();
            //         txtLBP2.Text = equipBean.Config.L_BatchAxisP2.ToString();
            txtLBP3.Text = equipBean.Config.L_BatchAxisP3.ToString();

            txtRBp1.Text = equipBean.Config.R_BatchAxisP1.ToString();
            //    txtRBp2.Text = equipBean.Config.R_BatchAxisP2.ToString();
            txtRBp3.Text = equipBean.Config.R_BatchAxisP3.ToString();

            txtip1.Text = equipBean.Config.InoutAxis_P1.ToString();
            txtip2_L.Text = equipBean.Config.InoutAxis_P2_L.ToString();
            txtip2_R.Text = equipBean.Config.InoutAxis_P2_R.ToString();
            txtip3.Text = equipBean.Config.InoutAxis_P3.ToString();
            txtip4.Text = equipBean.Config.InoutAxis_P4.ToString();

            txtmp1.Text = equipBean.Config.MiddleAxis_P1.ToString();
            txtmp2_L.Text = equipBean.Config.MiddleAxis_P2_L.ToString();
            txtmp2_R.Text = equipBean.Config.MiddleAxis_P2_R.ToString();
            txtmp3.Text = equipBean.Config.MiddleAxis_P3.ToString();
            txtmp4.Text = equipBean.Config.MiddleAxis_P4.ToString();

            txtUP1 .Text = equipBean.Config.UpdownAxis_P1.ToString();
            txtUP2_L .Text = equipBean.Config.UpdownAxis_P2_L.ToString();
            txtUP2_R.Text = equipBean.Config.UpdownAxis_P2_R.ToString();
            txtUP3 .Text = equipBean.Config.UpdownAxis_P3.ToString();
            txtUP4_H .Text = equipBean.Config.UpdownAxis_P4_H.ToString();
            txtUP4_L.Text = equipBean.Config.UpdownAxis_P4_L.ToString();

        }
        private void cmbWriteIO_DrawItem(object sender, DrawItemEventArgs e)
        {
            if (e.Index < 0)
            {
                return;
            }
            e.DrawBackground();
            e.DrawFocusRectangle();
            if (cmbWriteIO.Items.Count > e.Index)
            {
                ConfigIO io = (ConfigIO)cmbWriteIO.Items[e.Index];
                e.Graphics.DrawString(io.DisplayStr, e.Font, new SolidBrush(e.ForeColor), e.Bounds.X, e.Bounds.Y + 3);
            }
        }

        private void btnReadIO_Click(object sender, EventArgs e)
        {
            ReadIOList();
        }
        internal override void FormStatus(bool isStart)
        {
            btnRReset.Enabled = isStart;
            btnLReset.Enabled = isStart;
            if (isStart)
            {
                btnPutTray.Enabled = !chbAutoIn.Checked;
            }
            else
            {
                btnPutTray.Enabled = false ;
            }
            btnPutTray.Enabled = isStart;
            btnStart.Enabled = true;
            btnStop.Enabled = true;
            if (isStart)
            {
                btnStart.Text = "复位";
            }
            else
            {
                btnStart.Text = "启动调试";
            }
        }
        private void FrmIOStatus_Shown(object sender, EventArgs e)
        {
            LoadDOBtn(groupBox5);
            timer1.Start();
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            StartDebug(btnStart);
        }
        private void btnStop_Click(object sender, EventArgs e)
        {
            StopRun(btnStop);
        }


        private void chbDebug_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            if (!chbDebug.Checked.Equals(equipBean.IsDebug))
            {
                bool IsDebug = chbDebug.Checked;
                string tarStr = IsDebug ? "调试状态" : "非调试状态";

                DialogResult result = MessageBox.Show("确定切换到" + tarStr, "调试状态更改确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                if (result.Equals(DialogResult.Yes))
                {
                    equipBean.IsDebug = IsDebug;
                    equipBean.Config.IsDebug = IsDebug ? 1 : 0;
                    RobotManager.SaveInputConfig(equipBean.Config);
                    equipBean.ChangeDebug(IsDebug);
                    LogUtil.info(equipBean.Name + "用户切换 调试状态 =" + IsDebug);
                }
            }
        }

        private void cmbSizeList_SelectedIndexChanged(object sender, EventArgs e)
        {
            //if (cmbSizeList.SelectedIndex < 0)
            //{
            //    return;
            //}

            //int size = 0;
            //try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
            //txtSizePosition.Text = equipBean.Config.GetUpdownP2(size).ToString();
            //btnMoveto.Text = size + "mm盘放料位置P2 :";
        }
        protected void AxisMove(AxisBean axis, TextBox txt, int targetSpeed)
        {
            if (axis.Config.IsSameAxis(equipBean.InOutAxis.Config.DeviceName, equipBean.InOutAxis.Config.GetAxisValue()))
            {

            }
            else
            {
                if (!InOutIsIsP1())
                {
                    return;
                }
            }
            int position = FormUtil.GetIntValue(txt);
            LogUtil.info("点位运动：[" + axis.AxisName + "] [" + position + "] [" + targetSpeed + "]");
            axis.AbsMove(null, position, targetSpeed);
        }

        private bool InOutIsIsP1()
        {
            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InoutDefaultPosition);
            int currValue = equipBean.InOutAxis.GetAclPosition();
            if (currValue <= InOutDefaultPosition)
            {
                return true;
            }
            MessageBox.Show("叉子不在待机位，请先将叉子退回待机位(" + InOutDefaultPosition + ")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Error);
            return false;
        }

        private void btnBP1_Click(object sender, EventArgs e)
        { 
            AxisMove(equipBean.LeftBatchMove.BatchAxis, txtLBp1, equipBean.Config.BatchAxis_P1Speed);
        }

        private void btnBP2_Click(object sender, EventArgs e)
        {
         //   AxisMove(equipBean.LeftBatchMove.BatchAxis, txtLBP2, equipBean.Config.BatchAxis_P2Speed); 
        }

        private void btnBP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LeftBatchMove.BatchAxis, txtLBP3, equipBean.Config.BatchAxis_P3Speed);
        }
        private void btnUP2_R_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.UpdownAxis, txtUP2_R, equipBean.Config.UpdownAxis_P2Speed);
        }
        private void btnUP2_L_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.UpdownAxis, txtUP2_L, equipBean.Config.UpdownAxis_P2Speed);
        }

        private void btnUP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.UpdownAxis, txtUP1, equipBean.Config.UpdownAxis_P1Speed);
        }

        private void btnUP3_Click(object sender, EventArgs e)
        { 
            AxisMove(equipBean.UpdownAxis, txtUP3 , equipBean.Config.UpdownAxis_P3Speed);
        }

        private void btnUP4_Click(object sender, EventArgs e)
        { 
            AxisMove(equipBean.UpdownAxis, txtUP4_H, equipBean.Config.UpdownAxis_P4Speed);
        }
        private void btnUP5_Click(object sender, EventArgs e)
        { 
            AxisMove(equipBean.UpdownAxis, txtUP4_L , equipBean.Config.UpdownAxis_P4Speed);
        }
        private void btnBSave_Click(object sender, EventArgs e)
        {
            LogUtil.info(equipBean.Name + " 点击： " + btnLBSave.Text);
            int p1 = FormUtil.GetIntValue(txtLBp1);
            //    int p2 = FormUtil.GetIntValue(txtLBP2);
            int p3 = FormUtil.GetIntValue(txtLBP3);
            equipBean.Config.L_BatchAxisP1 = p1;
            //      equipBean.Config.L_BatchAxisP2 = p2;
            equipBean.Config.L_BatchAxisP3 = p3;

            int rp1 = FormUtil.GetIntValue(txtRBp1);
            //    int rp2 = FormUtil.GetIntValue(txtRBp2);
            int rp3 = FormUtil.GetIntValue(txtRBp3);
            equipBean.Config.R_BatchAxisP1 = rp1;
            //     equipBean.Config.R_BatchAxisP2 = rp2;
            equipBean.Config.R_BatchAxisP3 = rp3;

            int ip1 = FormUtil.GetIntValue(txtip1);
            int ip2l = FormUtil.GetIntValue(txtip2_L);
            int ip2r = FormUtil.GetIntValue(txtip2_R);
            int ip3 = FormUtil.GetIntValue(txtip3);
            int ip4 = FormUtil.GetIntValue(txtip4);
            equipBean.Config.InoutAxis_P1 = ip1;
            equipBean.Config.InoutAxis_P2_L = ip2l;
            equipBean.Config.InoutAxis_P2_R = ip2r;
            equipBean.Config.InoutAxis_P3 = ip3;
            equipBean.Config.InoutAxis_P4 = ip4;

            int mp1 = FormUtil.GetIntValue(txtmp1);
            int mp2l = FormUtil.GetIntValue(txtmp2_L);
            int mp2r = FormUtil.GetIntValue(txtmp2_R);
            int mp3 = FormUtil.GetIntValue(txtmp3);
            int mp4 = FormUtil.GetIntValue(txtmp4);
            equipBean.Config.MiddleAxis_P1 = mp1;
            equipBean.Config.MiddleAxis_P2_L = mp2l;
            equipBean.Config.MiddleAxis_P2_R = mp2r;
            equipBean.Config.MiddleAxis_P3 = mp3;
            equipBean.Config.MiddleAxis_P4 = mp4;
 

            int UP1 = FormUtil.GetIntValue(txtUP1);
            int UP2l = FormUtil.GetIntValue(txtUP2_L);
            int UP2r = FormUtil.GetIntValue(txtUP2_R);
            int UP3 = FormUtil.GetIntValue(txtUP3);
            int UP4 = FormUtil.GetIntValue(txtUP4_H);
            int UP5 = FormUtil.GetIntValue(txtUP4_L);

            equipBean.Config.UpdownAxis_P1 = UP1;
            equipBean.Config.UpdownAxis_P2_L = UP2l;
            equipBean.Config.UpdownAxis_P2_R = UP2r;
            equipBean.Config.UpdownAxis_P3 = UP3;
            equipBean.Config.UpdownAxis_P4_H = UP4;
            equipBean.Config.UpdownAxis_P4_L = UP5;


            RobotManager.SaveInputConfig(equipBean.Config);
            MessageBox.Show("保存成功！");
            LoadPosition();
        }

        private void btnScan_Click(object sender, EventArgs e)
        {
            equipBean.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
            List<string> LastCodeList = CodeManager.CameraScan(equipBean.Name+"测试",equipBean.Config.LeftCamera  );
            string msg = CodeManager.GetValidCode(LastCodeList,out _);
            equipBean.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
            LogUtil.info(equipBean.Name + "[" + equipBean.Config.LeftCamera + "]扫码测试结果：\r\n" + msg);
            MessageBox.Show(equipBean.Name + "[" + equipBean.Config.LeftCamera + "]扫码测试结果：" + msg);
        } 
        private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            equipBean.MoveStop = chbMoveStop.Checked;
            LogUtil.info(equipBean.Name + "用户切换是否暂停： " + equipBean.MoveStop);
        }
         
        private void btnUpdateShelf_Click(object sender, EventArgs e)
        {
            //string shel = txtShelfID.Text.Trim();
            //DialogResult result = MessageBox.Show("确定更改当前料串号为：" + shel + "?", "", MessageBoxButtons.YesNo);
            //if (result.Equals(DialogResult.Yes))
            //{
            //    LogUtil.info(equipBean.Name + "旧料串号【" + equipBean.CurrShelfId + "】手动更改料串号为【" + shel + "】");
            //    equipBean.CurrShelfId = shel;
            //}
        }


        private void btnOpenAllAxis_Click(object sender, EventArgs e)
        {
            btnOpenAllAxis.Enabled = false;
            LogUtil.info(equipBean.Name + " 点击： " + btnOpenAllAxis.Text);
            equipBean.OpenAllAxis();
            btnOpenAllAxis.Enabled = true ;
        }

        private void btnCloseAxis_Click(object sender, EventArgs e)
        {
            btnCloseAxis.Enabled = false;
            LogUtil.info(equipBean.Name + " 点击： " + btnCloseAxis.Text);
            equipBean.CloseAllAxis();
            btnCloseAxis.Enabled = true;
        }

        private void btnL_LineRun_Start_Click(object sender, EventArgs e)
        {
            equipBean.LeftBatchMove.LineRun();
        }

        private void btnL_LineRun_Back_Click(object sender, EventArgs e)
        {
            equipBean.LeftBatchMove.LineBack();
        }

        private void btnLeftLine_stop_Click(object sender, EventArgs e)
        {
            equipBean.LeftBatchMove.LineStop();
        }

        private void btnR_LineRun_Start_Click(object sender, EventArgs e)
        {
            equipBean.RightBatchMove.LineRun();
        }

        private void btnR_LineRun_Back_Click(object sender, EventArgs e)
        {
            equipBean.RightBatchMove.LineBack();
        }

        private void btnRightLine_stop_Click(object sender, EventArgs e)
        {
            equipBean.RightBatchMove.LineStop();
        }

        private void btnClamping_Work_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.Clamping_Relax, IO_Type.Clamping_Work);
        }

        private void btnClamping_Relax_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.Clamping_Work, IO_Type.Clamping_Relax);
        }

        private void btnL_LocationUp_Click(object sender, EventArgs e)
        {
            equipBean.LeftBatchMove.LocationUp();
        }

        private void btnL_LocationDown_Click(object sender, EventArgs e)
        {
            equipBean.LeftBatchMove.LocationDown();
        } 
        private void btnR_LocationUp_Click(object sender, EventArgs e)
        {
            equipBean.RightBatchMove.LocationUp();
        }

        private void btnR_LocationDown_Click(object sender, EventArgs e)
        {
            equipBean.RightBatchMove.LocationDown();
        }  
        private void btnCloseAll_Click_1(object sender, EventArgs e)
        {
            foreach (Control con in groupBox5.Controls)
            {
                if (con is Button)
                {
                    con.BackColor = BackColor = Color.White;
                }
            }
            foreach (ConfigIO io in equipBase.baseConfig.DOList.Values)
            {
                IOManager.instance.WriteSingleDO(io.IO_IP, io.SlaveID, io.GetIOAddr(), IO_VALUE.LOW);
            }
        }

        private void btnRBP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.RightBatchMove.BatchAxis, txtRBp1, equipBean.Config.BatchAxis_P1Speed);
        }

        private void btnRBP2_Click(object sender, EventArgs e)
        {
         //   AxisMove(equipBean.RightBatchMove.BatchAxis, txtRBp2, equipBean.Config.BatchAxis_P2Speed); 
        }

        private void btnRBP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.RightBatchMove.BatchAxis, txtRBp3, equipBean.Config.BatchAxis_P3Speed); 
        }
 
        private void btnRScan_Click(object sender, EventArgs e)
        {
            equipBean.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
            List<string> LastCodeList = CodeManager.CameraScan(equipBean.Name+"测试",equipBean.Config.RightCamera  );
            string msg = CodeManager.GetValidCode(LastCodeList,out _);
            equipBean.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
            LogUtil.info(equipBean.Name + "[" + equipBean.Config.RightCamera + "]扫码测试结果：\r\n" + msg);
            MessageBox.Show(equipBean.Name + "[" + equipBean.Config.RightCamera + "]扫码测试结果：" + msg);
        }
        private void btnMP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MiddleAxis, txtmp1, equipBean.Config.MiddleAxis_P1Speed);
        }
        private void btnMP2_L_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MiddleAxis, txtmp2_L, equipBean.Config.MiddleAxis_P2Speed);
        }
        private void btnMP2_R_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MiddleAxis, txtmp2_R, equipBean.Config.MiddleAxis_P2Speed);
        }
        private void btnMP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MiddleAxis, txtmp3, equipBean.Config.MiddleAxis_P3Speed);
        }
        private void btnMP4_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MiddleAxis, txtmp4, equipBean.Config.MiddleAxis_P4Speed);
        }
        private void btnip1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.InOutAxis, txtip1, equipBean.Config.InoutAxis_P1Speed);
        }
        private void btnip2_L_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.InOutAxis, txtip2_L, equipBean.Config.InoutAxis_P2Speed);
        }
        private void btnip2_R_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.InOutAxis, txtip2_R, equipBean.Config.InoutAxis_P2Speed);
        }
        private void btnip3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.InOutAxis, txtip3, equipBean.Config.InoutAxis_P3Speed);
        } 
        private void btnip4_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.InOutAxis, txtip4, equipBean.Config.InoutAxis_P4Speed);
        }

        private void btnPutTray_Click(object sender, EventArgs e)
        {
            LogUtil.info(equipBean.Name + "点击 取料测试");
            if (equipBean.runStatus.Equals(RobotRunStatus.Runing) && equipBean.MoveInfo.MoveType.Equals(RobotMoveType.None))
            {
                int inp = comInP.SelectedIndex + 1;
                int tp = comTP.SelectedIndex + 1;

                equipBean.StartWorking(new WorkParam(inp, tp, "", 8, 7,true));
            }
            else
            {
                LogUtil.info("设备未启动或忙碌中");
            }
        }

        private void btnLReset_Click(object sender, EventArgs e)
        {
            if (equipBean.runStatus > RobotRunStatus.Wait)
            {
                equipBean.LeftBatchMove.Reset(true );
            }
        }

        private void btnRReset_Click(object sender, EventArgs e)
        {

            if (equipBean.runStatus > RobotRunStatus.Wait)
            {
                equipBean.RightBatchMove.Reset(true );
            }
        }

        private void axisMoveControl1_Load(object sender, EventArgs e)
        {

        }

        private void chbAutoIn_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            if (!chbAutoIn.Checked.Equals(equipBean.AutoInput))
            {
                bool isCheck = chbAutoIn.Checked; 
                equipBean.AutoInput = isCheck;
                ConfigAppSettings.SaveValue(Setting_Init.AutoInput, (isCheck ? 1 : 0)); 
                LogUtil.info(equipBean.Name + "用户切换 检测到料串自动取料 =" + isCheck); 
            }
        }

        private void comTP_SelectedIndexChanged(object sender, EventArgs e)
        {
            equipBean.DefautTargetP = comTP.SelectedIndex + 1;
        }

        private void btnCheck_Click(object sender, EventArgs e)
        {
            string reelId = txtReelId.Text;
            string pn = txtPN.Text;
            int p = 0;
            SServerManager.Get_VMICheckRLC("测试按钮", pn + ";" + reelId, out p);
        }

        private void btnReturn_Click(object sender, EventArgs e)
        {
            int qty = FormUtil.GetIntValue(txtQty);
            string reelId = txtReelId.Text;
            string pn = txtPN.Text;
            int p = 0;
            string msg = SServerManager.Return_Material("测试按钮", pn + ";" + reelId, qty,out _);

        }
    }

}