using CodeLibrary;
using DeviceLib;
using log4net;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace OnlineStore.AutoCountClient
{
    internal partial class FrmRobotMain : Form
    {
        private FrmLearning frmLearn = null;
        //   internal static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        private RobotBean robot = null;
        private List<TabPage> tabPageList = new List<TabPage>();
        private bool LoadOk = false;
        private System.Timers.Timer startTimer = null;
        internal FrmRobotMain()
        {
            CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            startTimer = new System.Timers.Timer();
            startTimer.Interval = 1000;
            startTimer.Enabled = false;
            startTimer.AutoReset = false;
        }

        private void LoadStoreData()
        {
            robot = RobotManager.robot;
            if (robot == null)
            {
                Application.Exit();
            }
            //AddLearnForm();

            FrmInputEquip frm1 = new FrmInputEquip(robot.inputEquip);
            AddForm(" " + robot.inputEquip.Name + " ", frm1);

            FrmXRay test = new FrmXRay(robot.XrayBean);
            AddForm(" " + robot.XrayBean.Name + " ", test);

            FrmOutputEquip frm2 = new FrmOutputEquip(robot.outputEquip);
            AddForm(" " + robot.outputEquip.Name + " ", frm2);
            frm2.resetButtonClick += Frm2_resetButtonClick;
            robot.XrayBean.GetImageEvent += EquipBean_GetImageEvent;


        }

        private void Frm2_resetButtonClick()
        {
            robot.XrayBean.MoveStop = true;
            robot.inputEquip.MoveStop = true;
        }

        private void AddForm(string text, Form form)
        {
            text = text.PadLeft(10, ' ');
            TabPage lineTabPage = new TabPage(text);
            // lineTabPage.AutoScroll = true;
            lineTabPage.Tag = robot;
            Panel linePan = new Panel();
            linePan.Dock = DockStyle.Fill;
            linePan.AutoScroll = true;
            lineTabPage.Controls.Add(linePan);
            form.FormBorderStyle = FormBorderStyle.None;
            form.TopLevel = false;
            linePan.Controls.Add(form);
            form.Dock = DockStyle.Fill;
            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Show();
            tabPageList.Add(lineTabPage);
            tabControl1.Controls.Add(lineTabPage);
        }
        //private void AddLearnForm( )
        //{
        //    frmLearn = new FrmLearning();  
        //    frmLearn.FormBorderStyle = FormBorderStyle.None;
        //    frmLearn.TopLevel = false;
        //    frmLearn.Dock = DockStyle.Fill; 
        //    frmLearn.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
        //    panLearn.Controls.Add(frmLearn);
        //    frmLearn.Show(); 
        //}
        private void FrmMain_Load(object sender, EventArgs e)
        {
            //string fileP = Application.StartupPath + @"\XRAY\tif\" + DateTime.Now.ToString("yyyyMMddHHmmss") + ".png";
            FrmBase.GetVersion(true);
            if (!RobotManager.Init())
            {
                LogUtil.error("加载配置失败，直接退出程序");
                Application.Exit();
            }
            FrmDevicePause.Init(this);
            formLineStatus(false);
            string title = ConfigAppSettings.GetValue(Setting_Init.App_Title);
            this.Text = title;
            this.notifyIcon1.Text = title;
            int autoValue = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun);
            if (autoValue.Equals(1))
            {
                开机自动启动ToolStripMenuItem.Text = gouStr + " 开机自动启动";
            }
            else
            {
                开机自动启动ToolStripMenuItem.Text = "开机自动启动";
            }
            if (RobotManager.UseBuzzer)
            {
                启用蜂鸣器ToolStripMenuItem.Text = gouStr + " 启用蜂鸣器";
            }
            else
            {
                启用蜂鸣器ToolStripMenuItem.Text = "启用蜂鸣器";
            }
            if (RobotManager.GratingSignal)
            {
                启用光栅信号ToolStripMenuItem.Text = gouStr + "启用光栅信号";
            }
            else
            {
                启用光栅信号ToolStripMenuItem.Text = "启用光栅信号";
            }
            if (RobotManager.UseLabel)
            {
                启用贴标功能ToolStripMenuItem.Text = gouStr + "启用贴标功能";
            }
            else
            {
                启用贴标功能ToolStripMenuItem.Text = "启用贴标功能";
            }
            CSVBomManager.LoadAllCom();

            LoadStoreData();
            LoadListView();
            LogUtil.logBox = this.logBox;
            LoadOk = true;
            //tabPage2.Parent = null;
            // HideForm();
            timer1.Start();
        }
        private void EquipBean_GetImageEvent(Bitmap bitmap)
        {
            try
            {
                if (this.pictureBox1.Image != null)
                {
                    this.pictureBox1.Image.Dispose();
                    this.pictureBox1.Image = null;
                }
                this.pictureBox1.Image = bitmap;
            }
            catch (Exception ex)
            {
                LogUtil.error(" EquipBean_GetImageEvent 出错：" + ex.ToString());
            }
        }

        private void LoadListView()
        {
            this.listView1.Columns.Clear();
            AddHealder("设备名称", 90);
            AddHealder("启用", 50);
            AddHealder("报警", 130);
            AddHealder("状态", 110);
            AddHealder("料盘信息", listView1.Size.Width - 110 - 130 - 50 - 90 - 10);
            //AddHealder("BOX状态", listView1.Size.Width - 100 - 80 - 80 - 100 - 100 - 100 -40- 8);

            AddRow(robot.inputEquip, robot.inputEquip.IsDebug);
            AddRow(robot.XrayBean, robot.XrayBean.IsDebug);
            AddRow(robot.outputEquip, robot.outputEquip.IsDebug);
        }
        private void AddHealder(string name, int widht)
        {
            ColumnHeader preSendwire = new ColumnHeader();
            preSendwire.Text = name;   //设置列标题
            preSendwire.Width = widht;    //设置列宽度
            preSendwire.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listView1.Columns.Add(preSendwire);    //将列头添加到ListView控件。
        }
        private void AddRow(EquipBase equip, bool isDebug)
        {
            ListViewItem lvi = new ListViewItem();
            lvi.Text = equip.Name;
            lvi.SubItems.Add(isDebug ? "✘" : "✔");
            lvi.SubItems.Add(equip.alarmType.ToString());
            lvi.SubItems.Add(equip.GetRunStr());
            lvi.SubItems.Add("");
            this.listView1.Items.Add(lvi);
        }

        private void HideForm()
        {
            this.Opacity = 0;
            this.ShowInTaskbar = false;
            this.notifyIcon1.Visible = true;
            this.Hide();
            GC.Collect();
        }

        private void notifyIcon1_MouseDoubleClick(object sender, MouseEventArgs e)
        {
            if (e.Button == MouseButtons.Right)
            {
                this.contextMenuStrip1.Show();
            }
            if (e.Button == MouseButtons.Left)
            {
                this.Visible = true;
                this.WindowState = FormWindowState.Maximized;
                this.ShowInTaskbar = true;
            }
        }

        private void FrmMain_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (e.CloseReason == CloseReason.UserClosing)//当用户点击窗体右上角X按钮或(Alt + F4)时 发生           
            {
                e.Cancel = true;
                HideForm();
            }
        }

        private void ExitApp()
        {
            DialogResult result = MessageBox.Show("是否确定退出软件？", "提示", MessageBoxButtons.YesNo);
            if (result.Equals(DialogResult.Yes))
            {
                try
                {
                    //如果料仓还在运行状态，先关闭料仓
                    if (!robot.runStatus.Equals(RobotRunStatus.Wait))
                    {
                        LogUtil.info("即将退出程序，停止" + robot.Name + "运行 ");
                        robot.StopRun();
                    }
                    foreach (EquipBase equip in robot.equipsMap.Values)
                    {
                        if (equip.runStatus > RobotRunStatus.Wait)
                        {
                            LogUtil.info("即将退出程序，停止" + equip.Name + "运行 ");
                            equip.StopRun();
                        }
                    }
                    IOManager.instance.CloseAllConnection();
                    ACServerManager.CloseAllPort();
                    RobotManager.robot.XrayBean.XRayDispose();
                    if (Camera._cam != null)
                    {
                        Camera._cam.CloseAll();
                    }
                    if (robot.sQLite!=null)
                        robot.sQLite.Close();
                }
                catch (Exception ex)
                {
                    LogUtil.error("退出出错：", ex);
                }
                System.Environment.Exit(System.Environment.ExitCode);
                //this.Close();
            }
        }
        private void 显示ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            try
            {
                FrmPwd fw = new FrmPwd(10);
                DialogResult result = fw.ShowDialog();
                if (!result.Equals(DialogResult.OK))
                {
                    LogUtil.info("切换界面显示时，没有正确输入密码");
                    return;
                }

                this.Opacity = 100;
                this.Visible = true;
                this.WindowState = FormWindowState.Maximized;
                this.notifyIcon1.Visible = false;
                this.ShowInTaskbar = true;
            }
            catch (Exception ex)
            {
                LogUtil.error("显示界面出错：", ex);
            }
        }

        private void 启动AToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!robot.LoadSuccess)
            {
                MessageBox.Show("配置尚未加载完成不能启动!");
                return;
            }
            if (robot.runStatus != RobotRunStatus.Wait)
            {
                MessageBox.Show(robot.Name + "当前状态：" + robot.runStatus + "，不能启动！");
                return;
            }
            LogUtil.info("点击 开始启动");
            startTimer.Interval = 300;
            startTimer.Elapsed += timer_Elapsed;
            startTimer.AutoReset = false;
            startTimer.Enabled = true;
            this.timer1.Start();
        }
        private delegate void ShowFormDelegate();
        void timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            startTimer.Stop();
            if (robot.runStatus > RobotRunStatus.Wait)
            {
                return;
            }
            if (robot.StartRun())
            {
                BeginInvoke(new ShowFormDelegate(ShowStatus));
            }
        }
        private void ShowStatus()
        {
            formLineStatus(true);
        }

        private void formLineStatus(bool isStart)
        {
            foreach (TabPage tab in tabPageList)
            {
                bool find = false;
                foreach (Control control in tab.Controls)
                {
                    if (control is Panel)
                    {
                        foreach (Control con in control.Controls)
                        {
                            if (con is FrmXRay)
                            {
                                FrmXRay frm = (FrmXRay)con;
                                frm.FormStatus(isStart);
                                find = true;
                                break;
                            }

                        }
                    }
                    if (find)
                    {
                        break;
                    }
                }
            }
            启动AToolStripMenuItem.Enabled = !isStart;
            停止TToolStripMenuItem.Enabled = isStart;
            安全复位ToolStripMenuItem.Enabled = isStart;

        }
        private void 停止TToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (robot != null)
            {
                if (robot.runStatus.Equals(RobotRunStatus.Wait))
                {
                    MessageBox.Show(robot.Name + "设备未启动，不需要停止");
                    return;
                }
                if (robot != null)
                {
                    robot.StopRun();
                }
                formLineStatus(false);
            }
        }

        private void 复位RToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (robot.runStatus.Equals(RobotRunStatus.Wait))
            {
                MessageBox.Show(robot.Name + "设备未启动，无法复位");
                return;
            }
            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(robot.Name + " 点击：复位");
            robot.Reset();
        }
        private void FrmLineStore_FormClosed(object sender, FormClosedEventArgs e)
        {
            if (停止TToolStripMenuItem.Enabled)
            {
                停止TToolStripMenuItem_Click(null, null);
            }

            LogUtil.info(robot.Name + " 点击：停止");
            AgvClient.Dispose();
            if (IOManager.instance != null)
            {
                IOManager.instance.CloseAllDO();
                IOManager.instance.CloseAllConnection();
            }
        }

        private void btnClearLog_Click(object sender, EventArgs e)
        {
            LogUtil.ClearLog();
        }
        private void btnCopyLog_Click(object sender, EventArgs e)
        {
            Clipboard.SetDataObject(logBox.Text);
            MessageBox.Show("已复制日志到粘贴板！");
        }
        private DateTime lastLogTime = DateTime.Now;
        PerformanceCounter curtime = null;
        #region 内存回收  
        [DllImport("kernel32.dll", EntryPoint = "SetProcessWorkingSetSize")]
        public static extern int SetProcessWorkingSetSize(IntPtr process, int minSize, int maxSize);

        /// <summary>  
        /// 释放内存  
        /// </summary>  
        public static void ClearMemory()
        {
            try
            {
                GC.Collect();
                GC.WaitForPendingFinalizers();
                if (Environment.OSVersion.Platform == PlatformID.Win32NT)
                {
                    SetProcessWorkingSetSize(System.Diagnostics.Process.GetCurrentProcess().Handle, -1, -1);
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("ClearMemory 出错：" + ex.ToString());
            }
        }
        #endregion

        private void LogM()
        {
            try
            {
                TimeSpan sp = DateTime.Now - lastLogTime;
                if (sp.TotalMinutes > 5)
                {
                    lastLogTime = DateTime.Now;

                    Process process = Process.GetCurrentProcess();
                    if (curtime == null)
                    {
                        curtime = new PerformanceCounter("Process", "% Processor Time", process.ProcessName);
                    }
                    if (process != null)
                    {
                        StringBuilder sbResult = new StringBuilder();
                        PerformanceCounter pf1 = new PerformanceCounter("Process", "Working Set - Private", process.ProcessName);
                        sbResult.AppendFormat(DateTime.Now.ToLongTimeString() + ", 名称：{0} 内存：{1}M ", process.ProcessName, Math.Round(pf1.NextValue() / 1024 / 1024F, 2));
                        sbResult.AppendFormat("， CPU : {0} %", curtime.NextValue() / Environment.ProcessorCount);
                        LogUtil.info(sbResult.ToString());
                    }

                    //ClearMemory();
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("LogM Error: ", ex);
            }
        }
        private string AddMsg(string msg, string warmsg, AlarmType alarmType, DateTime lastTime, string modulename = "", string moduleid = "")
        {
            if (warmsg.Equals("").Equals(false))
            {
                if (alarmType.Equals(AlarmType.None).Equals(false))
                {
                    msg += lastTime.ToLongTimeString() + " " + warmsg + "\r\n";
                    msglist.Add(new AlarmMsg(modulename, "doubleLine."+ moduleid, warmsg));
                }
                else
                {
                    msg += warmsg + "\r\n";
                }
            }
            return msg;
        }
        
        private void timer1_Tick(object sender, EventArgs e)
        {
            LogM();
            if (!this.Visible)
            {
                return;
            }

            lblXrayWork.Visible = robot.XrayBean.InXWork;

            if (robot.XrayBean.carerayImageError)
            {
                robot.XrayBean.MoveStop = true;
                lblXrayWork.Text = "图像平板重启中。";
                lblXrayWork.Visible = true;
                //robot.XrayBean.Alarm(AlarmType.SuddenStop);
            }
            else {
                lblXrayWork.Text = "警告：点料过程中，请勿开门";
            }
            if (RobotManager.robot.SafeStop) {
                lblXrayWork.Text = "设备开始停止,请等待当前料处理完毕";
            }
            foreach (var cr in CodeManager.CamErrCount)
            {
                if (cr.Value > 5)
                {
                    robot.inputEquip.MoveStop = true;
                    lblXrayWork.Text = $"扫码相机({cr.Key})拍照连续失败，请及时处理。";
                    lblXrayWork.Visible = true;
                    robot.inputEquip.Alarm(AlarmType.SuddenStop);
                    break;
                }
            }
            
            string canScanCode = "";
            lblStatus.Text = robot.GetRunStr() + canScanCode;
            string warnMsg = robot.WarnMsg;
            msglist = new List<AlarmMsg>();
            //foreach (EquipBase move in robot.equipsMap.Values)
            //{
            warnMsg = AddMsg(warnMsg, robot.outputEquip.WarnMsg, robot.outputEquip.alarmType, robot.outputEquip.LastAlarmTime,"点料机-出料", "outputEquip");
            
            warnMsg = AddMsg(warnMsg, robot.XrayBean.WarnMsg, robot.XrayBean.alarmType, robot.XrayBean.LastAlarmTime, "点料机-点料", "XrayBean");
            warnMsg = AddMsg(warnMsg, robot.inputEquip.WarnMsg, robot.inputEquip.alarmType, robot.inputEquip.LastAlarmTime, "点料机-入料", "inputEquip");

            //if (move is InputEquip)
            //{
            //BatchMoveBean bean = robot.inputEquip.LeftBatchMove;
            warnMsg = AddMsg(warnMsg, robot.inputEquip.LeftBatchMove.WarnMsg, robot.inputEquip.LeftBatchMove.alarmType, robot.inputEquip.LeftBatchMove.LastAlarmTime, "点料机-左批量轴", "LeftBatch");
            warnMsg = AddMsg(warnMsg, robot.inputEquip.RightBatchMove.WarnMsg, robot.inputEquip.RightBatchMove.alarmType, robot.inputEquip.RightBatchMove.LastAlarmTime, "点料机-右批量轴", "RightBatch");
            //}
            //}
            lblOutTray.Text = "XRay出口处料盘：" + robot.XrayBean.Out_ReelInfo.ToStr();
            lblCurrTray.Text = "XRay扫描区料盘：" + robot.XrayBean.Work_ReelInfo.ToStr();
            lblWarnMsg.Text = warnMsg;
            updateDeviceAlarmMsg(msglist);
            if (robot.runStatus > RobotRunStatus.Wait)
            {
                if (启动AToolStripMenuItem.Enabled.Equals(true))
                {
                    formLineStatus(true);
                }
                if ((robot.runStatus.Equals(RobotRunStatus.HomeMoving) || robot.runStatus.Equals(RobotRunStatus.Reset))
                    && robot.alarmType.Equals(AlarmType.None))
                {
                    SetMenuS(复位RToolStripMenuItem, false);
                    SetMenuS(启动AToolStripMenuItem, false);
                }
                else
                {
                    SetMenuS(复位RToolStripMenuItem, true);
                }
            }
            else
            {
                SetMenuS(启动AToolStripMenuItem, true);
                SetMenuS(复位RToolStripMenuItem, false);
                SetMenuS(停止TToolStripMenuItem, false);
            }
            //if (!chbAGV.Checked.Equals(AgvClient.CurrCancelState))
            //{
            //    chbAGV.Checked = AgvClient.CurrCancelState;
            //}
            if (AgvClient.CurrCancelState)
            {
                aGVCancelStateToolStripMenuItem.Text = gouStr + "禁用 AGV";
            }
            else
            {
                aGVCancelStateToolStripMenuItem.Text = "禁用 AGV";
            }
            UpdateListBox();
        }
        private void UpdateListBox()
        {
            int item_debug_index = 1;
            int item_alarm_index = 2;
            int item_runStr_index = 3;
            int item_move_info_index = 4;
            int i = 0;
            foreach (EquipBase equip in robot.equipsMap.Values)
            {
                SetItemText(i, item_debug_index, equip.IsDebug ? "✘" : "✔");
                SetItemText(i, item_alarm_index, equip.alarmType.ToString());
                SetItemText(i, item_runStr_index, equip.GetRunStr());
                RobotRunStatus s = equip.runStatus;
                string trayInfo = "";
                if (equip.MoveInfo.MoveType.Equals(RobotMoveType.Working) || equip.MoveInfo.MoveType.Equals(RobotMoveType.Labelling))
                {
                    s = RobotRunStatus.Busy;
                    trayInfo = equip.MoveInfo.MoveParam.OutStr();
                }
                else if (equip.SecMoveInfo.MoveType.Equals(RobotMoveType.Working) || equip.SecMoveInfo.MoveType.Equals(RobotMoveType.Labelling))
                {
                    s = RobotRunStatus.Busy;
                    trayInfo = equip.SecMoveInfo.MoveParam.OutStr();
                }
                else if (equip is InputEquip)
                {
                    if (robot.inputEquip.LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) || robot.inputEquip.LeftBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Labelling))
                    {
                        s = RobotRunStatus.Busy;
                        SetItemText(i, item_runStr_index, "忙碌_左入料");
                        trayInfo = robot.inputEquip.LeftBatchMove.MoveInfo.MoveParam.OutStr();
                    }
                    else if (robot.inputEquip.RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Working) || robot.inputEquip.RightBatchMove.MoveInfo.MoveType.Equals(RobotMoveType.Labelling))
                    {
                        s = RobotRunStatus.Busy;
                        SetItemText(i, item_runStr_index, "忙碌_右入料");
                        trayInfo = robot.inputEquip.RightBatchMove.MoveInfo.MoveParam.OutStr();
                    }
                }
                SetItemText(i, item_move_info_index, trayInfo);
                SetItemColor(i, s, equip.alarmType);
                i++;
            }

        }
        private void SetItemColor(int i, RobotRunStatus runStatus, AlarmType alarmType)
        {
            if (runStatus.Equals(RobotRunStatus.Wait))
            {
                SetItemColor(i, Color.White);
                //listView1.Items[i].BackColor = Color.White;
            }
            else if (alarmType.Equals(AlarmType.IoSingleTimeOut))
            {
                SetItemColor(i, Color.LightCoral);
            }
            else if (alarmType.Equals(AlarmType.None).Equals(false))
            {
                SetItemColor(i, Color.Red);
            }
            else if (runStatus.Equals(RobotRunStatus.HomeMoving) || runStatus.Equals(RobotRunStatus.Reset))
            {
                SetItemColor(i, Color.Orange);
            }
            else if (runStatus.Equals(RobotRunStatus.Busy))
            {
                SetItemColor(i, Color.LimeGreen);
            }
            else if (runStatus.Equals(RobotRunStatus.Runing))
            {
                SetItemColor(i, Color.LightBlue);
            }
        }

        private void SetMenuS(ToolStripMenuItem toolMenu, bool isEn)
        {
            if (!toolMenu.Enabled.Equals(isEn))
            {
                toolMenu.Enabled = isEn;
            }
        }
        private void SetItemColor(int i, Color color)
        {
            if (!listView1.Items[i].BackColor.Equals(color))
            {
                listView1.Items[i].BackColor = color;
            }
        }
        private void SetItemText(int rowIndex, int subIndex, string value)
        {
            if (this.listView1.Items[rowIndex].SubItems.Count > subIndex)
            {
                if (!this.listView1.Items[rowIndex].SubItems[subIndex].Text.Equals(value))
                {
                    this.listView1.Items[rowIndex].SubItems[subIndex].Text = value;
                }
            }
        }


        private void tabControl1_DrawItem(object sender, DrawItemEventArgs e)
        {
            try
            {
                Font fntTab;
                Brush bshBack;
                Brush bshFore;
                if (e.Index == this.tabControl1.SelectedIndex)
                {
                    fntTab = new Font(e.Font, FontStyle.Regular);
                    bshBack = new SolidBrush(Color.DodgerBlue);
                    bshFore = Brushes.Black;
                }
                else
                {
                    fntTab = e.Font;
                    bshBack = new System.Drawing.Drawing2D.LinearGradientBrush(e.Bounds, Color.White, Color.White, System.Drawing.Drawing2D.LinearGradientMode.BackwardDiagonal);
                    bshFore = new SolidBrush(Color.Black);
                }
                string tabName = this.tabControl1.TabPages[e.Index].Text;
                StringFormat sftTab = new StringFormat();
                e.Graphics.FillRectangle(bshBack, e.Bounds);
                Rectangle recTab = e.Bounds;
                recTab = new Rectangle(recTab.X, recTab.Y + 4, recTab.Width, recTab.Height - 4);
                e.Graphics.DrawString(tabName, fntTab, bshFore, recTab, sftTab);
            } catch (Exception ex)
            {
                LogUtil.error("tabControl1_DrawItem: " + ex.ToString());
            }
        }

        private void 版本号ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FrmAbout about = new FrmAbout();
            about.ShowDialog();
        }


        private void 二维码学习ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
            if (Camera._cam != null)
            {
                Camera._cam.CloseAll();
            }
            CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
            frm.ShowDialog();
            frm.Dispose();
            IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
        }



        private void 退出ToolStripMenuItem_Click_1(object sender, EventArgs e)
        {
            LogUtil.info("点击：退出系统");
            ExitApp();
        }

        private void toolStripMenuItem1_Click(object sender, EventArgs e)
        {
            ExitApp();
        }

        private void logBox_VisibleChanged(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }
            if (logBox.Visible)
            {
                LogUtil.UpdateLogbox();
            }
        }

        private void 清空日志ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.ClearLog();
        }

        private void 复制日志ToolStripMenuItem_Click(object sender, EventArgs e)
        {

            Clipboard.SetDataObject(logBox.Text);
            MessageBox.Show("已复制日志到粘贴板！");
        }


        private void toolStripMenuItem2_Click(object sender, EventArgs e)
        {
            FrmAgvTest frm = new FrmAgvTest();
            frm.ShowDialog();
        }

        //private void checkBox1_CheckedChanged(object sender, EventArgs e)
        //{
        //    if (!LoadOk)
        //    {
        //        return;
        //    }
        //    if (chbAGV.Checked.Equals(AgvClient.CurrCancelState))
        //    {
        //        return;
        //    }
        //    bool result = chbAGV.Checked;
        //    AgvClient.SetCancelState(result);
        //    LogUtil.info("勾选：AgvClient.SetCancelState =" + result);
        //}

        //private void chbBuzzer_CheckedChanged(object sender, EventArgs e)
        //{
        //    if (!LoadOk)
        //    {
        //        return;
        //    }
        //    if (chbBuzzer.Checked.Equals(RobotManager.UseBuzzer))
        //    {
        //        return;
        //    }
        //    RobotManager.UseBuzzer = chbBuzzer.Checked;
        //    LogUtil.info("勾选：UseBuzzer =" + RobotManager.UseBuzzer);
        //    ConfigAppSettings.SaveValue(Setting_Init.UseBuzzer, (RobotManager.UseBuzzer ? 1 : 0));
        //}

        private void 标签编辑ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            try
            {
                RobotManager.PrintBean.EditLabel();
            }
            catch (Exception ex)
            {
                LogUtil.error("标签编辑错误：" + ex.ToString());
            }
        }

        //private void chbOpenX_CheckedChanged(object sender, EventArgs e)
        //{
        //    if (!LoadOk)
        //    {
        //        return;
        //    }
        //    if (chbOpenX.Checked.Equals(robot.XrayBean.OpenXLine))
        //    {
        //        return;
        //    }
        //    robot.XrayBean.OpenXLine = chbOpenX.Checked;
        //    LogUtil.info("勾选：启用X射线点料 =" + chbOpenX.Checked);
        //}

        private void toolStripMenuItem3_Click(object sender, EventArgs e)
        {
            FrmAnalyze frm = new FrmAnalyze();
            frm.ShowDialog();
        }

        private void toolStripMenuItem4_Click(object sender, EventArgs e)
        {

        }
        private string gouStr = "✔";
        private void 开机自动启动ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }
            if (开机自动启动ToolStripMenuItem.Text.Contains(gouStr))
            {
                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 0);
                ManagerUtil.AutoRun(Application.ExecutablePath, false);
                开机自动启动ToolStripMenuItem.Text = "开机自动启动";
            }
            else
            {
                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 1);
                ManagerUtil.AutoRun(Application.ExecutablePath, true);
                开机自动启动ToolStripMenuItem.Text = gouStr + "开机自动启动";
            }
            LogUtil.info(Name + " 点击：" + 开机自动启动ToolStripMenuItem.Text);
        }

        private void 启用蜂鸣器ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !启用蜂鸣器ToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(RobotManager.UseBuzzer))
            {
                return;
            }
            RobotManager.UseBuzzer = result;
            ConfigAppSettings.SaveValue(Setting_Init.UseBuzzer, (RobotManager.UseBuzzer ? 1 : 0));
            if (result)
            {
                启用蜂鸣器ToolStripMenuItem.Text = gouStr + " 启用蜂鸣器";
            }
            else
            {
                启用蜂鸣器ToolStripMenuItem.Text = "启用蜂鸣器";
            }
            LogUtil.info(Name + " 点击：" + 启用蜂鸣器ToolStripMenuItem.Text);
        }

        private void 启用X射线点料ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !启用X射线点料ToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(robot.XrayBean.OpenXLine))
            {
                return;
            }
            robot.XrayBean.OpenXLine = result;
            if (result)
            {
                启用X射线点料ToolStripMenuItem.Text = gouStr + " 启用X射线点料";
            }
            else
            {
                启用X射线点料ToolStripMenuItem.Text = "启用X射线点料";
            }
            LogUtil.info(Name + " 点击：" + 启用X射线点料ToolStripMenuItem.Text);
        }

        private void aGVCancelStateToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !aGVCancelStateToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(AgvClient.CurrCancelState))
            {
                return;
            }
            AgvClient.SetCancelState(result);
            //robot.XrayBean.OpenXLine = result;
            if (result)
            {
                aGVCancelStateToolStripMenuItem.Text = gouStr + " AGV cancelState";
            }
            else
            {
                aGVCancelStateToolStripMenuItem.Text = "AGV cancelState";
            }
            LogUtil.info(Name + " 点击：" + aGVCancelStateToolStripMenuItem.Text);
        }

        private void 正常工作模式ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //if (!XRayLearnManager.InLearnMode)
            //{
            //    正常工作模式ToolStripMenuItem.Text = gouStr + " 正常工作模式";
            //    元器件学习模式ToolStripMenuItem.Text = "元器件学习模式";
            //    return;
            //}
            //LogUtil.info(Name + " 点击：" + 正常工作模式ToolStripMenuItem.Text + "，设置InLearnMode = false");
            //XRayLearnManager.InLearnMode = false;

            //正常工作模式ToolStripMenuItem.Text = gouStr + " 正常工作模式";
            //元器件学习模式ToolStripMenuItem.Text = "元器件学习模式";

            // tabPage2.Parent = null;
            //tabControl1.TabPages.Insert(0, tabPage1);
            //tabControl1.SelectedIndex = 0;
            //tabPage1.Parent = tabControl1;
        }

        private void 元器件学习模式ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //if (XRayLearnManager.InLearnMode)
            //{
            //    正常工作模式ToolStripMenuItem.Text = "正常工作模式";
            //    元器件学习模式ToolStripMenuItem.Text = gouStr + " 元器件学习模式";
            //    return;
            //}
            //LogUtil.info(Name + " 点击：" + 元器件学习模式ToolStripMenuItem.Text + "，设置InLearnMode = true ");
            //XRayLearnManager.InLearnMode = true;
            //正常工作模式ToolStripMenuItem.Text = "正常工作模式";
            //元器件学习模式ToolStripMenuItem.Text = gouStr + " 元器件学习模式";

            //tabPage1.Parent = null;
            //tabControl1.TabPages.Insert(0, tabPage2);
            //tabControl1.SelectedIndex = 0; 
        }

        private void 元器件学习ToolStripMenuItem_Click(object sender, EventArgs e)
        {
                                                  
        }
        private void 单盘ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            string backPath = ParamManager.NoConfigPath;
            OpenFileDialog ofd = new OpenFileDialog();
            ofd.InitialDirectory = ParamManager.NoConfigPath;
            ofd.Multiselect = true;
            ofd.Filter = "PNG|*.png";
            if (DialogResult.OK == ofd.ShowDialog(this)) {
                FrmLearning frm = new FrmLearning();
                frm.ImageFiles = ofd.FileNames;
                frm.ImagePath = ParamManager.NoConfigPath;
                frm.Show();
                //Task.Run(() => { frm.ShowDialog(); });
            }

        }
        private void 批量ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            string backPath = ParamManager.NoConfigPath;

            FrmLearning frm = new FrmLearning();
            frm.ImagePath = backPath;
            frm.Show();
            /*
            folderBrowserDialog1.Description = "请选择需要学习的图片文件夹";
            if (!Directory.Exists(backPath))
            {
                Directory.CreateDirectory(backPath);
            }
            folderBrowserDialog1.SelectedPath = backPath;
            DialogResult result = folderBrowserDialog1.ShowDialog();
            if (result.Equals(DialogResult.OK))
            {
                string folder = folderBrowserDialog1.SelectedPath;
                FrmLearning frm = new FrmLearning();
                frm.ImagePath = folder;
                frm.Show();
                //Task.Run(() => { frm.ShowDialog(); });
            }*/
        }
        private void 元器件库ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FrmComponentList frm = new FrmComponentList();
            frm.ShowDialog();
        }

        private void 启用光栅信号ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !启用光栅信号ToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(RobotManager.GratingSignal))
            {
                return;
            }
            RobotManager.GratingSignal = result;
            ConfigAppSettings.SaveValue(Setting_Init.GratingSignal, (RobotManager.GratingSignal ? 1 : 0));
            if (result)
            {
                启用光栅信号ToolStripMenuItem.Text = gouStr + " 启用光栅信号";
            }
            else
            {
                启用光栅信号ToolStripMenuItem.Text = "启用光栅信号";
            }
            LogUtil.info(Name + " 点击：" + 启用光栅信号ToolStripMenuItem.Text);
        }

        private void 启用贴标功能ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !启用贴标功能ToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(RobotManager.UseLabel))
            {
                return;
            }
            RobotManager.UseLabel = result;
            ConfigAppSettings.SaveValue(Setting_Init.UseLabel, (RobotManager.UseLabel ? 1 : 0));
            if (result)
            {
                启用贴标功能ToolStripMenuItem.Text = gouStr + " 启用贴标功能";
            }
            else
            {
                启用贴标功能ToolStripMenuItem.Text = "启用贴标功能";
            }
            LogUtil.info(Name + " 点击：" + 启用贴标功能ToolStripMenuItem.Text);
        }

        private static string Addr_updateDeviceAlarmMsg = "http://172.16.77.86/myproject/rest/api/qisda/device/updateDeviceAlarmMsg";
        List<AlarmMsg> msglist = new List<AlarmMsg>();
        MyWebClient myWebClient = new MyWebClient(1000);
        /// <summary>
        /// 异常看板
        /// </summary>
        /// <param name="msgList"></param>
        /// <returns></returns>
        public string updateDeviceAlarmMsg(List<AlarmMsg> msgList)
        {
            if (msgList.Count == 0 || !CB_lookboard.Checked)
            {
                return "";
            }

            string msg = "";
            try
            {
                Dictionary<string, string> paramMap = new Dictionary<string, string>();
                string msgListStr = JsonHelper.SerializeObject(msgList);
                paramMap.Add("deviceAlarmList", msgListStr);
                string param = GetAddr(paramMap);
                //DateTime startTime = DateTime.Now;
                if (string.IsNullOrEmpty(myWebClient.Headers["Content-Type"]))
                {
                    myWebClient.Headers.Add("Content-Type", "application/x-www-form-urlencoded");
                }
                myWebClient.UploadStringAsync(new Uri(Addr_updateDeviceAlarmMsg),"POST", param);
                    //string resultStr = HttpHelper.Post(Addr_updateDeviceAlarmMsg, param, 1000);
               
                //LogUtil.debug("updateDeviceAlarmMsg    " + FormUtil.GetSpanStr(DateTime.Now - startTime) + "  【" + server + "】【" + resultStr + "】");
                /*
                RfidData data = JsonHelper.DeserializeJsonToObject<RfidData>(resultStr);

                if (data == null)
                {
                    return msg = " updateDeviceAlarmMsg 没有收到服务器反馈";
                }
                else if (data.code.Equals(0).Equals(false))
                {
                    return msg = " updateDeviceAlarmMsg   【" + server + "】【" + resultStr + "】" + data.msg;
                }
                */
                return "";
            }
            catch (Exception ex)
            {
                LogUtil.error("  updateDeviceAlarmMsg Error:  " + ex.ToString());
            }
            return msg;
        }
        private static string GetAddr( Dictionary<string, string> paramsMap)
        {
            string path="";
            foreach (string paramName in paramsMap.Keys)
            {

                string par = System.Net.WebUtility.UrlEncode(paramsMap[paramName]);
                path += paramName + "=" + par + "&";
            }
            path = path.Substring(0, path.Length - 1);
            return path;
        }
        public class AlarmMsg
        {
            //>>>name :  异常位置名称
            public string name = "";
            //>>>msgKey :  异常信息唯一标识
            public string msgKey = "";
            //>>>msgValue :  异常信息
            public string msgValue = "";
            /// <summary>
            /// 异常信息
            /// </summary>
            /// <param name="name">异常位置名称</param>
            /// <param name="key">异常信息唯一标识</param>
            /// <param name="value">异常信息</param>
            public AlarmMsg(string name, string key, string value)
            {
                this.name = name;
                this.msgKey = key;
                this.msgValue = value;
            }
        }

        private void 安全复位ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (robot != null)
            {
                if (robot.runStatus.Equals(RobotRunStatus.Wait))
                {
                    MessageBox.Show(robot.Name + "设备未启动，不需要停止");
                    return;
                }
                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(robot.Name + " 点击：安全停止");
                if (robot.inputEquip.MoveInfo.MoveType == RobotMoveType.None)
                    robot.StopRun();
                else
                {
                    robot.SafeStop = true;
                    MessageBox.Show("请等待设备入料口放盘完成后自动停止", "");
                }
                formLineStatus(false);
            }



        }
    }
}