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 FrmOutputEquip : FrmEquipBase
    {
        private bool IsLoad = false;
        private OutputEquip equipBean;

        public event resetButtonClickdelegate resetButtonClick;
        public delegate void resetButtonClickdelegate();
        internal FrmOutputEquip(OutputEquip moveEquip)
        {
            equipBase = moveEquip;
            this.equipBean = moveEquip;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            LoadIOList();
        }
        private void FrmStoreIOStatus_Load(object sender, EventArgs e)
        {
            IOManager.DIValue(IO_Type.O_ELine_InStop, 3);
            axisMoveControl1.LoadData(equipBean, new AxisBean[] { equipBean.MoveXAxis, equipBean.MoveZAxis, equipBean.LabelXAxis, equipBean.LabelYAxis, equipBean.LabelZAxis, equipBean.LabelRAxis, equipBean.BatchAxis });


            chbDebug.Checked = equipBean.IsDebug;
            chbPrint.Checked = ConfigAppSettings.GetIntValue(Setting_Init.NeedPrintLabel).Equals(1);
            chbStickingPos.Checked = ConfigAppSettings.GetIntValue(Setting_Init.StickingPosJudgment).Equals(1);
            lblStoreStatus.Text = RobotBase.GetRunStr(equipBean.runStatus);
            lblThisSta.Text = equipBean.WarnMsg;
            lblName.Text = equipBean.Name;
            comInP.SelectedIndex = 0;
            comTP.SelectedIndex = 0;
            LoadPoint();
            IsLoad = true;
        }

        private void LoadPoint()
        {
            cmbSizeList.Items.Clear();
            cmbSizeList.Items.Add("0=默认位置");
            foreach (int heigth in RobotManager.GetTrayList())
            {
                cmbSizeList.Items.Add(heigth);
            }
            cmbSizeList.SelectedIndex = 0;
            comWidth.SelectedIndex = 0;

            txtBp1.Text = equipBean.Config.BatchAxisP1.ToString();
            txtBP2.Text = equipBean.Config.BatchAxisP2.ToString();
            txtBP3.Text = equipBean.Config.BatchAxisP3.ToString();


            txtMXP1.Text = equipBean.Config.MoveX_P1.ToString();
            txtMXP2.Text = equipBean.Config.GetMoveXP2(0).ToString();
            txtMXP3.Text = equipBean.Config.MoveX_P3.ToString();

            txtMZP1.Text = equipBean.Config.MoveZ_P1.ToString();
            txtMZP2.Text = equipBean.Config.GetMoveZP2(0).ToString();
            txtMZP3.Text = equipBean.Config.GetMoveZP3(0).ToString();

            txtXP1.Text = equipBean.Config.LabelX_P1.ToString();
            txtXP2.Text = equipBean.Config.LabelX_P2.ToString();
            txtXP3.Text = equipBean.Config.LabelX_P3.ToString();

            txtYP1.Text = equipBean.Config.LabelY_P1.ToString();
            txtYP2.Text = equipBean.Config.LabelY_P2.ToString();
            txtYP3.Text = equipBean.Config.LabelY_P3.ToString();
            txtYP4.Text = equipBean.Config.LabelY_P4.ToString();
            txtYP5.Text = equipBean.Config.LabelY_P5.ToString();

            txtZP1.Text = equipBean.Config.LabelZ_P1.ToString();
            txtZP2.Text = equipBean.Config.LabelZ_P2.ToString();
            txtZP3.Text = equipBean.Config.LabelZ_P3.ToString();
            txtZP4.Text = equipBean.Config.LabelZ_P4.ToString();

            txtRP1.Text = equipBean.Config.LabelR_P1.ToString();
            txtRP2.Text = equipBean.Config.LabelR_P2.ToString();
            txtRP3.Text = equipBean.Config.LabelR_P3.ToString();
            txtRP4.Text = equipBean.Config.LabelR_P4.ToString();
        }

        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);
            }

            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;
                }
                if (this.Visible)
                {
                    ReadIOList();
                    ReadBtnDO();
                }
                chbMoveStop.Checked = equipBean.MoveStop;
                if (equipBean.runStatus > RobotRunStatus.Wait)
                {
                    lblName.BackColor = Color.Green;
                    if (btnStart.Enabled)
                    {
                        FormStatus(true);
                    }
                }
                else
                {
                    lblName.BackColor = System.Drawing.Color.DodgerBlue;
                    if (!btnStart.Enabled)
                    {
                        FormStatus(false);
                    }
                }
                lblAgvInfo.Text = "AGV-" + equipBean.Config.AgvInName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvInName).ToString() +
                    "\t            AGV-" + equipBean.Config.AgvOutName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvOutName).ToString() + "";

                lblMoveInfo.Text = equipBean.GetMoveStr();
                // string canOut = LineManager.Line.CanOutStore(equipBean.DeviceID) ? "可出库":"不可出库" ;
                lblStoreStatus.Text = RobotBase.GetRunStr(equipBean.runStatus);
                lblThisSta.Text = equipBean.WarnMsg;

            }
            catch (Exception ex)
            {
                LogUtil.error(equipBean.Name + "界面定时器出错：" + ex.ToString());
            }

        }

        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();
            if (equipBean.Config.DOList.ContainsKey(text))
            {
                ConfigIO io = equipBean.Config.DOList[text];
                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;
                    lablIoIP.Text = io.IO_IP + "_" + io.GetIOAddr().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)
        {
            btnStart.Enabled = true;
            btnStop.Enabled = true;
            if (isStart)
            {
                btnStart.Text = "复位";
            }
            else
            {
                btnStart.Text = "启动调试";
            }
            btnOutStore.Enabled = isStart;
        }

        private void FrmIOStatus_Shown(object sender, EventArgs e)
        {
            LoadDOBtn(groupBox5);
            timer1.Start();
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            StartDebug(btnStart);
            resetButtonClick?.Invoke();
        }
        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.SaveOutputConfig(equipBean.Config);
                    equipBean.ChangeDebug(IsDebug);
                    LogUtil.info(equipBean.Name + "用户切换 调试状态 =" + IsDebug);
                }
            }
        }

        private void btnOutStore_Click(object sender, EventArgs e)
        {
            if (equipBean.runStatus.Equals(RobotRunStatus.Runing))
            {
                if (equipBean.IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.HIGH) && equipBean.IOValue(IO_Type.X_OLine_Run).Equals(IO_VALUE.LOW))
                {
                    WorkParam param = new WorkParam();
                    param.IsTest = true;
                    if (comTP.SelectedIndex.Equals(1))
                    {
                        param.IsNgReel = true;
                    }
                    else
                    {
                        param = new WorkParam(1, 1, "", 8, 7, true);
                    }
                    LogUtil.info(equipBean.Name + "点击：取放料测试");
                    equipBean.StartWorking(param);
                }
                else
                {
                    if (equipBean.IOValue(IO_Type.Out_TrayCheck).Equals(IO_VALUE.LOW))
                    {
                        MessageBox.Show("XRay出口未检测到料盘，取放料测试 失败");
                    }
                    else
                    {
                        MessageBox.Show("XRay出口皮带还在转动中，取放料测试 失败");
                    }
                }
            }
            else
            {
                MessageBox.Show("未启动或不在空闲中，取放料测试 失败");
            }
        }
        private void btnCloseAll_Click(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 cmbSizeList_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbSizeList.SelectedIndex < 0)
            {
                return;
            }

            int size = 0;
            try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
            txtMZP2.Text = equipBean.Config.GetMoveZP2(size).ToString();
            txtMZP3.Text = equipBean.Config.GetMoveZP3(size).ToString();
            btnMZP2.Text = "取料Z轴-取料点P2-" + size + "mm";
            btnMZP3.Text = "取料Z轴-放料点P3-" + size + "mm";
        }

        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 btnTakeCode_Forward_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.TakeCode_Back, IO_Type.TakeCode_Forward);
        }

        private void btnTakeCode_Back_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.TakeCode_Forward, IO_Type.TakeCode_Back);
        }

        private void btnTakeT_Clamping_Work_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.TakeT_Clamping_Relax, IO_Type.TakeT_Clamping_Work);
        }

        private void btnTakeT_Clamping_Relax_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.TakeT_Clamping_Work, IO_Type.TakeT_Clamping_Relax);
        }

        private void btnNGCylinder_Forward_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.NGCylinder_Back, IO_Type.NGCylinder_Forward);
        }

        private void btnNGCylinder_Back_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.NGCylinder_Forward, IO_Type.NGCylinder_Back);
        }

        private void btnLablePaste_Forward_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.LablePaste_Back, IO_Type.LablePaste_Forward);
        }

        private void btnLablePaste_Back_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.LablePaste_Forward, IO_Type.LablePaste_Back);
        }

        private void btnO_ELine_TopUp_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_ELine_TopDown, IO_Type.O_ELine_TopUp);
        }

        private void O_ELine_TopDown_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_ELine_TopUp, IO_Type.O_ELine_TopDown);
        }

        private void btnO_Work_LocationUp_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_Work_LocationDown, IO_Type.O_Work_LocationUp);
        }

        private void O_Work_LocationDown_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_Work_LocationUp, IO_Type.O_Work_LocationDown);
        }

        private void btnO_TrayFixed_Forward_Click(object sender, EventArgs e)
        {
            equipBean.TrayFixedFoward();
        }

        private void O_TrayFixed_Back_Click(object sender, EventArgs e)
        {
            if (equipBean.TrayFixedCanBack())
            {
                equipBean.TrayFixedBack();
            }
            else
            {
                MessageBox.Show("提升轴当前不在下降位置P2，不后退定位气缸");
            }
        }
        protected void AxisMove(AxisBean axis, TextBox txt, int targetSpeed)
        {
            int position = FormUtil.GetIntValue(txt);
            LogUtil.info("点位运动：[" + axis.AxisName + "] [" + position + "] [" + targetSpeed + "]");
            axis.AbsMove(null, position, targetSpeed);
        }
        private void btnBP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.BatchAxis, txtBp1, equipBean.Config.BatchAxis_P1Speed);
        }
        private void btnBP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.BatchAxis, txtBP2, equipBean.Config.BatchAxis_P2Speed);
        }
        private void btnBP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.BatchAxis, txtBP3, equipBean.Config.BatchAxis_P3Speed);
        }
        private void btnBSave_Click(object sender, EventArgs e)
        {
            LogUtil.info(equipBean.Name + " 点击： " + btnBSave.Text);
            int p1 = FormUtil.GetIntValue(txtBp1);
            int p2 = FormUtil.GetIntValue(txtBP2);
            int p3 = FormUtil.GetIntValue(txtBP3);
            equipBean.Config.BatchAxisP1 = p1;
            equipBean.Config.BatchAxisP2 = p2;
            equipBean.Config.BatchAxisP3 = p3;

            int mxp1 = FormUtil.GetIntValue(txtMXP1);
            int mxp2 = FormUtil.GetIntValue(txtMXP2);
            int mxp3 = FormUtil.GetIntValue(txtMXP3);
            int width = 0;
            try { width = Convert.ToInt32(comWidth.Text); } catch (Exception ex) { }

            int height = 0;
            try { height = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }

            equipBean.Config.MoveX_P1 = mxp1;
            equipBean.Config.UpdateMoveXP2(width, mxp2);
            equipBean.Config.MoveX_P3 = mxp3;

            int mzp1 = FormUtil.GetIntValue(txtMZP1);
            int mzp2 = FormUtil.GetIntValue(txtMZP2);
            int mzp3 = FormUtil.GetIntValue(txtMZP3);
            equipBean.Config.MoveZ_P1 = mzp1;
            equipBean.Config.UpdateMoveZP2(height, mzp2);
            equipBean.Config.UpdateMoveZP3(height, mzp3);


            int xp1 = FormUtil.GetIntValue(txtXP1);
            int xp2 = FormUtil.GetIntValue(txtXP2);
            int xp3 = FormUtil.GetIntValue(txtXP3);
            equipBean.Config.LabelX_P1 = xp1;
            equipBean.Config.LabelX_P2 = xp2;
            equipBean.Config.LabelX_P3 = xp3;

            int YP1 = FormUtil.GetIntValue(txtYP1);
            int YP2 = FormUtil.GetIntValue(txtYP2);
            int YP3 = FormUtil.GetIntValue(txtYP3);
            int YP4 = FormUtil.GetIntValue(txtYP4);
            int YP5 = FormUtil.GetIntValue(txtYP5);
            equipBean.Config.LabelY_P1 = YP1;
            equipBean.Config.LabelY_P2 = YP2;
            equipBean.Config.LabelY_P3 = YP3;
            equipBean.Config.LabelY_P4 = YP4;
            equipBean.Config.LabelY_P5 = YP5;

            int ZP1 = FormUtil.GetIntValue(txtZP1);
            int ZP2 = FormUtil.GetIntValue(txtZP2);
            int ZP3 = FormUtil.GetIntValue(txtZP3);
            int ZP4 = FormUtil.GetIntValue(txtZP4);
            equipBean.Config.LabelZ_P1 = ZP1;
            equipBean.Config.LabelZ_P2 = ZP2;
            equipBean.Config.LabelZ_P3 = ZP3;
            equipBean.Config.LabelZ_P4 = ZP4;

            int RP1 = FormUtil.GetIntValue(txtRP1);
            int RP2 = FormUtil.GetIntValue(txtRP2);
            int RP3 = FormUtil.GetIntValue(txtRP3);
            int RP4 = FormUtil.GetIntValue(txtRP4);
            equipBean.Config.LabelR_P1 = RP1;
            equipBean.Config.LabelR_P2 = RP2;
            equipBean.Config.LabelR_P3 = RP3;
            equipBean.Config.LabelR_P4 = RP4;


            RobotManager.SaveOutputConfig(equipBean.Config);
            MessageBox.Show("保存成功！");

        }

        private void IoButton_Click(object sender, EventArgs e)
        {
            DoBtnClick(sender);
        }

        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 O_WLine_TopUp_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_WLine_TopDown, IO_Type.O_WLine_TopUp);
        }

        private void O_WLine_TopDown_Click(object sender, EventArgs e)
        {
            equipBean.CylinderMove(null, IO_Type.O_WLine_TopUp, IO_Type.O_WLine_TopDown);
        }

        private void btnMXP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveXAxis, txtMXP1, equipBean.Config.MoveX_P1Speed);
        }

        private void btnMXP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveXAxis, txtMXP2, equipBean.Config.MoveX_P2Speed);
        }

        private void btnMXP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveXAxis, txtMXP3, equipBean.Config.MoveX_P3Speed);
        }

        private void btnMZP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveZAxis, txtMZP1, equipBean.Config.MoveZ_P1Speed);
        }

        private void btnMZP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveZAxis, txtMZP2, equipBean.Config.MoveZ_P2Speed);
        }

        private void btnMZP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.MoveZAxis, txtMZP3, equipBean.Config.MoveZ_P3Speed);
        }

        private void btnXP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelXAxis, txtXP1, equipBean.Config.LabelX_P1Speed);
        }

        private void btnXP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelXAxis, txtXP2, equipBean.Config.LabelX_P2Speed);
        }

        private void btnXP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelXAxis, txtXP3, equipBean.Config.LabelX_P3Speed);
        }

        private void btnYP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelYAxis, txtYP1, equipBean.Config.LabelY_P1Speed);
        }

        private void btnYP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelYAxis, txtYP2, equipBean.Config.LabelY_P2Speed);
        }

        private void btnYP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelYAxis, txtYP3, equipBean.Config.LabelY_P3Speed);
        }
        private void btnYP4_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelYAxis, txtYP4, equipBean.Config.LabelY_P3Speed);
        }

        private void btnYP5_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelYAxis, txtYP5, equipBean.Config.LabelY_P3Speed);
        }

        private void btnZP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelZAxis, txtZP1, equipBean.Config.LabelZ_P1Speed);
        }

        private void btnZP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelZAxis, txtZP2, equipBean.Config.LabelZ_P2Speed);
        }

        private void btnZP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelZAxis, txtZP3, equipBean.Config.LabelZ_P3Speed);
        }

        private void btnRP1_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelRAxis, txtRP1, equipBean.Config.LabelR_P1Speed);
        }

        private void btnRP2_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelRAxis, txtRP2, equipBean.Config.LabelR_P2Speed);
        }

        private void btnRP3_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelRAxis, txtRP3, equipBean.Config.LabelR_P3Speed);
        }
        private void btnRP4_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelRAxis, txtRP4, equipBean.Config.LabelR_P3Speed);
        }
        private void comWidth_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (comWidth.SelectedIndex < 0)
            {
                return;
            }

            int width = 0;
            try { width = Convert.ToInt32(comWidth.Text); } catch (Exception ex) { }
            txtMXP2.Text = equipBean.Config.GetMoveXP2(width).ToString();
            btnMXP2.Text = "取料X轴-取料点P2-" + width + "寸";
        }

        private void chbAutoSend_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            if (!chbAutoSend.Checked.Equals(equipBean.AutoSendShelfOut))
            {
                bool isCheck = chbAutoSend.Checked;
                equipBean.AutoSendShelfOut = isCheck;
                LogUtil.info(equipBean.Name + "用户切换 放料完成送出料串 =" + isCheck);
            }
        }

        private void btnPrint_Click(object sender, EventArgs e)
        {
            try
            {
                if (RobotManager.LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Print) || RobotManager.LastPrintStatus.Equals(Asa.PrintLabel.PrinterStatus.Printing))
                {
                    MessageBox.Show("正在打印中，请稍后。。。");
                    return;
                }

                LogUtil.error("点击：PrintLabel 打印标签  StartPrintLabel");
                string code = txtPrintCode.Text;
                string num = txtPringNum.Text;
                equipBean.StartPrintLabel(code, num,"test");
            }
            catch (Exception ex)
            {
                LogUtil.error("打印标签错误：" + ex.ToString());
            }
        }

        private void chbPrint_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            
            bool isCheck = chbPrint.Checked;
            string v = (isCheck ? 1 : 0).ToString();
            if (ConfigAppSettings.GetValue(Setting_Init.NeedPrintLabel).Equals(v).Equals(false))
            {
                ConfigAppSettings.SaveValue(Setting_Init.NeedPrintLabel, v);
                LogUtil.info(equipBean.Name + "用户切换 启用标签打印 =" + v);
            }
        }
        private void chbStickingPos_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }

            bool isCheck = chbStickingPos.Checked;
            string v = (isCheck ? 1 : 0).ToString();
            if (ConfigAppSettings.GetValue(Setting_Init.StickingPosJudgment).Equals(v).Equals(false))
            {
                ConfigAppSettings.SaveValue(Setting_Init.StickingPosJudgment, v);
                LogUtil.info(equipBean.Name + "用户切换 启用标签黏贴位置判断 =" + v);
            }
        }
        private void btnZP4_Click(object sender, EventArgs e)
        {
            AxisMove(equipBean.LabelZAxis, txtZP4, equipBean.Config.LabelZ_P4Speed);
        }

        private void btnShelfReset_Click(object sender, EventArgs e)
        {
            LogUtil.info(equipBean.Name + "点击：料架模块复位");
            if (equipBase.runStatus > (RobotRunStatus.Wait))
            {
                equipBean.ShelfMoveReset();
            }
        }
        private void btnMoveReset_Click(object sender, EventArgs e)
        {
            if (MessageBox.Show("请确认出口夹爪上是否有料盘,请在复位前取下. 点击确认继续", "", MessageBoxButtons.OKCancel) != DialogResult.OK)
                return;
            LogUtil.info(equipBean.Name + "点击：取放料机构复位");
            if (equipBase.runStatus > (RobotRunStatus.Wait))
            {
                equipBean.MoveReset();
                resetButtonClick?.Invoke();
            }
        }

        private void btnLabelReset_Click(object sender, EventArgs e)
        {
            LogUtil.info(equipBean.Name + "点击：贴标机构复位");
            if (equipBase.runStatus > (RobotRunStatus.Wait))
            {
                equipBean.SecMoveReset();
            }
        }

        private void button1_Click(object sender, EventArgs e)
        {
            RobotManager.LastPrintStatus = Asa.PrintLabel.PrinterStatus.Idle;
        }
    }

}