using PUSICANLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using TSA_V.Common;
using TSA_V.DeviceLibrary;
using TSA_V.LoadCSVLibrary;

namespace TSA_V
{
    public partial class FrmPusicanTest : FrmBase
    {
        public FrmPusicanTest()
        {
            InitializeComponent();
        }

        private void FrmPositionList_Load(object sender, EventArgs e)
        {
            FormStatus(false);
            LanguageProcess();
            List<TSAVPosition> list=new List<TSAVPosition> (CSVPositionReader<TSAVPosition>.allPositionMap.Values); 
           
            List<NodeInfo> nodeList = new List<NodeInfo>();
            //nodeList.Add(new NodeInfo(TSAVBean.Node_X, "红外X轴", "红外X轴"));
            //nodeList.Add(new NodeInfo(TSAVBean.Node_Y, "红外Y轴", "红外Y轴"));

            foreach (Dictionary<int, NodeInfo> map in TSAVBean.RotateMap.Values)
            {
                foreach (NodeInfo nodeid in map.Values)
                {
                    nodeList.Add(nodeid);
                }
            }
            if (!IOBase.NoLine)
            {
                uint chaSlv = (uint)Setting_NInit.Line_NodeAddr.Val;
                //nodeList.Add(new NodeInfo(chaSlv, "调宽电机_" + chaSlv, "调宽电机_" + chaSlv));
                nodeList.Add(new NodeInfo(chaSlv, "Node: " + chaSlv, "Node: " + chaSlv));
            }
            this.cmbNode.DataSource = nodeList;
            this.cmbNode.DisplayMember = "NodeName";
            this.cmbNode.ValueMember = "NodeId";

            if (PUSICANControl.Open().Equals(""))
            {
                lblCanMsg.Text =ResourceCulture.GetString(ResourceCulture.DeviceInConnect, "设备连接成功");
                FormStatus(true);
            }
            else
            { 
                lblCanMsg .Text= ResourceCulture.GetString(ResourceCulture.DeviceNotOkMsg, "设备未连接");
                FormStatus(false);
            }
            SetScreen();
            cmbNode.SelectedIndex = cmbNode.Items.Count - 1;
        }
        private void FormStatus(bool open)
        {
            timer1.Enabled = open;
            btnReadAll.Enabled = open;
            btnWriteAll.Enabled = open;
            btnStopMove.Enabled = open;
            btnSpeedMove.Enabled = open;
            btnRelMove.Enabled = open;
            btnGetStatus.Enabled = open;
            btnAbsMove.Enabled = open;
            btnClearStatus.Enabled = open;
            lkSetMaxSpeed.Enabled = open;
            checkBox1.Enabled = open;
            btnSetPosition.Enabled = open;
            btnHomeMove.Enabled = open;
            llblClearp.Enabled = open;
             
            linkP1.Enabled = open;

            btnjog.Enabled = open;
            btnjogF.Enabled = open;

            linkSetP1.Enabled = true;
            lblP1.Enabled = true;
            txtCurrP1.Enabled = true;
        }
         
          

        private void btnBack_Click(object sender, EventArgs e)
        {
            this.Close();
        }
        private uint GetSelectNode()
        {
            return FormUtil.GetuIntValue(txtNode);
        }
        private void showConfigParam()
        {
            uint nodeId = GetSelectNode();
            int addSpeed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_AddSpeed, nodeId.ToString());
            int delSpeed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_DelSpeed, nodeId.ToString());
            int maxPhase = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_MaxPhaseCurrent, nodeId.ToString());
            int startSpeed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_HomeStartSpeed, nodeId.ToString());
            int stopSpeed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_HomeStopSpeed, nodeId.ToString());
            int maxSpeed = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_MaxSpeed, nodeId.ToString());
            int microValue = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_MicroStepping, nodeId.ToString());
            int delValue = ConfigAppSettings.GetIntValue(Setting_Init.RotateNode_DelPhaseCurrent, nodeId.ToString());
            if (nodeId.Equals(LWidthManager.Line_NodeAddr))
            {
                if (ConfigAppSettings.GetIntValue(Setting_Init.Line_HomeStartSpeed, nodeId.ToString()) != 0)
                {
                    startSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Line_HomeStartSpeed, nodeId.ToString());
                    stopSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Line_HomeStopSpeed, nodeId.ToString());
                    maxSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Line_MaxSpeed, nodeId.ToString());
                }
                if (ConfigAppSettings.GetIntValue(Setting_Init.Line_MaxPhaseCurrent, nodeId.ToString()) > 0)
                {
                    addSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Line_AddSpeed, nodeId.ToString());
                    delSpeed = ConfigAppSettings.GetIntValue(Setting_Init.Line_DelSpeed, nodeId.ToString());
                    maxPhase = ConfigAppSettings.GetIntValue(Setting_Init.Line_MaxPhaseCurrent, nodeId.ToString());

                    microValue = ConfigAppSettings.GetIntValue(Setting_Init.Line_MicroStepping, nodeId.ToString());
                    delValue = ConfigAppSettings.GetIntValue(Setting_Init.Line_DelPhaseCurrent, nodeId.ToString());
                }
            }


            this.nudMaxSpeed.Text = maxSpeed.ToString();
            this.nudAddSpeed.Text = addSpeed.ToString();
            this.nudDelSpeed.Text = delSpeed.ToString();
            this.nudStartSpeed.Text = startSpeed.ToString();
            this.nudStopSpeed.Text = stopSpeed.ToString();
            this.cmbXiFen.Text = microValue.ToString();
            this.nudFengzhi.Text = maxPhase.ToString();
            this.nudShuaijian.Text = delValue.ToString();
        }
        private void btnReadAll_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            this.txtGetPosition.Text = PUSICANControl.GetPosition(nodeid).ToString();
            this.nudMaxSpeed.Text = PUSICANControl.GetMaxSpeed(nodeid).ToString();
            this.nudAddSpeed.Text = PUSICANControl.GetAddSpeed(nodeid).ToString();
            this.nudDelSpeed.Text = PUSICANControl.GetDelSpeed(nodeid).ToString();
            this.nudStartSpeed.Text = PUSICANControl.GetStartSpeed(nodeid).ToString();
            this.nudStopSpeed.Text = PUSICANControl.GetStopSpeed(nodeid).ToString();
            this.cmbXiFen.SelectedIndex = PUSICANControl.getXifenList().IndexOf(PUSICANControl.GetMicroStepping(nodeid).ToString());
            this.nudFengzhi.Text = PUSICANControl.GetMaxPhaseCurrent(nodeid).ToString();
            this.nudShuaijian.Text = PUSICANControl.GetDelPhaseCurrent(nodeid).ToString();
        }

        private void btnWriteAll_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            int value = Convert.ToInt32(this.nudAddSpeed.Value);
            PUSICANControl.SetAddSpeed(nodeid, value);
            value = FormUtil.GetIntValue(this.txtGetPosition);
            PUSICANControl.SetPosition(nodeid, value);

            value = (int)this.nudDelSpeed.Value;
            PUSICANControl.SetDelSpeed(nodeid, value);
            value = (int)this.nudStartSpeed.Value;
            PUSICANControl.SetStartSpeed(nodeid, value);
            value = (int)this.nudStopSpeed.Value;
            PUSICANControl.SetStopSpeed(nodeid, value);
            value = Convert.ToInt32(this.cmbXiFen.Text);
            PUSICANControl.SetMicroStepping(nodeid, value);

            value = Convert.ToInt32(this.nudMaxSpeed.Text);
            PUSICANControl.SetMaxSpeed(nodeid, value);

            value = Convert.ToInt32(this.nudShuaijian.Text);
            PUSICANControl.SetDelPhaseCurrent(nodeid, value);

            value = Convert.ToInt32(this.nudFengzhi.Text);
            PUSICANControl.SetMaxPhaseCurrent(nodeid, value); 
        }

        private void btnSpeedMove_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            int speed = Convert.ToInt32(nudMaxSpeed.Text);
            PUSICANControl.VolMove(nodeid, speed);
        }

        private void btnRelMove_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            int position = FormUtil.GetIntValue(txtPosition);
            PUSICANControl.RelMove(nodeid, position);  
        }

        private void btnAbsMove_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            int position = FormUtil.GetIntValue(txtPosition);
            PUSICANControl.AbsMove(nodeid, position);
        }

        private void btnStopMove_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            PUSICANControl.StopMove(nodeid); 
        }

        private void btnGetStatus_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            int value = 0;
            if (PUSIResult.RET_SUCCESS == PUSICANControl.ReadSDO(nodeid, CAN_Address.ControlStatus, out value))
            {
                string str = Convert.ToString(value, 2).PadLeft(5, '0');

                lblControlStatus.Text = ("status：stop 3:[" + str.Substring(0, 1) + "],busy:[" + str.Substring(1, 1) + "],Locked-rotor state:["
                    + str.Substring(2, 1) + "],stop 2:[" + str.Substring(3, 1) + "],stop 1:[" + str.Substring(4, 1) + "]");
            }
            lblControlStatus.Text += PUSICANControl.GetGPIO(nodeid);
        }

        private void btnClearStatus_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.ControlStatus, 1))
            {
                lblControlStatus.Text = ("write CAN_Address.ControlStatus sdo ok.");
            }
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            if (PUSICANControl.Open().Equals(""))
            {
                uint nodeid = GetSelectNode();
                txtGetPosition.Text = PUSICANControl.GetPosition(nodeid).ToString();
            }
        }

        private void lkSetMaxSpeed_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            uint nodeid = GetSelectNode();
            if (PUSIResult.RET_SUCCESS == PUSICANControl.WriteSDO(nodeid, CAN_Address.MaxSpeed, Convert.ToInt32(this.nudMaxSpeed.Text)))
            {
                lblControlStatus.Text = ("write CAN_Address.MaxSpeed sdo ok.");
            }
        }

        private void cmbNode_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbNode.SelectedItem != null)
            {
                NodeInfo node = (NodeInfo)cmbNode.SelectedItem;
                txtNode.Text = node.NodeId.ToString();

                uint nodeid = GetSelectNode();
                if (nodeid.Equals(LWidthManager.Line_NodeAddr))
                {
                    txtHomeMoveSpeed.Text = ConfigAppSettings.GetValue(Setting_Init.Line_HomeSpeed);
                    ShowP1(false,(int)nodeid);
                }
                else
                {
                    txtHomeMoveSpeed.Text = ConfigAppSettings.GetValue(Setting_Init.RotateNode_HomeSpeed);
                    ShowP1(true,(int)nodeid);
                }
                showConfigParam();
                if (btnReadAll.Enabled)
                {
                    btnReadAll_Click(null, null);
                }
            }
        }

        private void ShowP1(bool v, int nodeId)
        {

            linkP1.Visible = v;
            linkSetP1.Visible = v;
            lblP1.Visible = v;
            txtCurrP1.Visible = v;

            lblPosL.Visible = v;
            cmbPostionList.Visible = v;
            txtPosValue.Visible = v;
            linkPosSave.Visible = v; 
            if (v)
            {

                txtCurrP1.Text = Setting_NInit.getRotateMotorP1(nodeId).ToString();

                //查找所有位置
                List<TSAVPosition> positions = new List<TSAVPosition>();

                List<TSAVPosition> allPos = CSVPositionReader<TSAVPosition>.getPositionList();
                foreach (TSAVPosition pos in allPos)
                {
                    if (pos.PositionType == 1)
                    { 
                        NodeInfo node = pos.GetNode(TSAVBean.RotateMap);
                        if (((int)node.NodeId).Equals(nodeId))
                        {
                            positions.Add(pos);
                        }
                    }
                }
                txtPosValue.Text = "";
                cmbPostionList.DataSource = null;
                cmbPostionList.Items.Clear();
                cmbPostionList.DataSource = positions;
                cmbPostionList.DisplayMember = "PositionName";
                if (positions.Count > 0)
                {
                    cmbPostionList.SelectedIndex = 0;
                }

                if (Setting_NInit.App_IsDebug)
                {

                }
                else
                {
                    linkSetP1.Visible = false;
                    linkP1.Visible = false;
                    linkPosSave.Visible = false;
                }
            }
             
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            timer1.Enabled = checkBox1.Checked;
        }

        private void FrmPusicanTest_Shown(object sender, EventArgs e)
        {
            SetSkin(this);
            lblCanMsg.ForeColor = Color.Red;
            lblControlStatus.ForeColor = Color.Red;
        }

        private void btnSetPosition_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            uint nodeid = GetSelectNode();
            int value = FormUtil.GetIntValue(txtGetPosition);
            PUSICANControl.SetPosition(nodeid, value);
        }

        private void btnHomeMove_Click(object sender, EventArgs e)
        {
            uint nodeid = GetSelectNode();
            if (nodeid.Equals(LWidthManager.Line_NodeAddr))
            {
                int homeSpeed = FormUtil.GetIntValue(txtHomeMoveSpeed);
                PUSICANControl.HomeMove(nodeid, true, homeSpeed);
            }
            else
            {
                int homeSpeed = FormUtil.GetIntValue(txtHomeMoveSpeed);
                PUSICANControl.HomeMove(nodeid,false, homeSpeed);
            }
        }

        private void llblClearp_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            uint nodeid = GetSelectNode(); 
            PUSICANControl.SetPosition(nodeid, 0);
        }

        private void lblControlStatus_Click(object sender, EventArgs e)
        {

        }

        private void linkP1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {

            uint nodeid = GetSelectNode();
            int pos = Convert.ToInt32(txtGetPosition.Text);
            string msg = ResourceCulture.GetString("SureSaveToP1","是否要将位置{0}设为轴{1}的P1点？", pos, nodeid);
            DialogResult result=MessageBox.Show(msg, ResourceCulture.GetString("提示", "提示"), MessageBoxButtons.YesNo, MessageBoxIcon.Question);
            if (result.Equals(DialogResult.Yes))
            {
                Setting_NInit.UpdateRotateMotorP1((int)nodeid, pos);
                LogUtil.info($"点击：{linkP1.Text} 设置 轴{nodeid} 的待机点={pos}");
                txtCurrP1.Text = Setting_NInit.getRotateMotorP1((int)nodeid).ToString();
            }
        }

        private void linkSetP1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            uint nodeid = GetSelectNode();
            int pos = Convert.ToInt32(txtCurrP1.Text);
            string msg = ResourceCulture.GetString("SureSaveToP1", "是否要将位置{0}设为轴{1}的P1点？", pos, nodeid);
            DialogResult result = MessageBox.Show(msg, ResourceCulture.GetString("提示", "提示"), MessageBoxButtons.YesNo, MessageBoxIcon.Question);
            if (result.Equals(DialogResult.Yes))
            {
                Setting_NInit.UpdateRotateMotorP1((int)nodeid, pos);
                LogUtil.info($"点击：{linkP1.Text} 设置 轴{nodeid} 的待机点={pos}");
                txtCurrP1.Text = Setting_NInit.getRotateMotorP1((int)nodeid).ToString();
                MessageBox.Show(ResourceCulture.GetString(ResourceCulture.SaveOk, "保存成功"));
            }
        }

        private void cmbPostionList_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbPostionList.SelectedIndex != -1)
            {
                string text=cmbPostionList.Text;
                List<TSAVPosition> allPos = CSVPositionReader<TSAVPosition>.getPositionList();
                List<TSAVPosition> positions = (from m in allPos where m.PositionName.Equals(text) select m).ToList();
                if(positions!=null&& positions.Count > 0)
                {

                    TSAVPosition tSAVPosition = positions[0];
                    if (tSAVPosition != null)
                    {
                        txtPosValue.Text = tSAVPosition.RotatePosition.ToString();
                    }
                }
            }
        }

        private void linkPosSave_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            if (cmbPostionList.SelectedIndex != -1)
            {
                try
                {

                    string text = cmbPostionList.Text;
                    int value = Convert.ToInt32(txtPosValue.Text);
                    LogUtil.info("点击按钮，保存库位" + text + "的位置=" + value);
                    List<TSAVPosition> allPos = CSVPositionReader<TSAVPosition>.getPositionList();
                    TSAVPosition tSAVPosition = (from m in allPos where m.PositionName.Equals(text) select m).First();
                    if (tSAVPosition != null)
                    {
                        tSAVPosition.RotatePosition = value;
                        string positionFileName = CSVPositionReader<TSAVPosition>.getPositionFilePath();
                        CSVPositionReader<TSAVPosition>.SavePostion(positionFileName, tSAVPosition);

                        MessageBox.Show(ResourceCulture.GetString(ResourceCulture.SaveOk, "保存成功"));
                    }
                   
                }
                catch(Exception ex)
                {
                    LogUtil.error(ex.ToString());
                }
            }
        }

        private void btnjogF_MouseDown(object sender, MouseEventArgs e)
        { 
            if (btnjogF.BackColor.Equals(Color.Black))
            {
                uint nodeid = GetSelectNode();
                int speed = Math.Abs((int)nudMaxSpeed.Value)/5*-1; 
                if (speed == 0)
                { 
                   return;
                }
                btnjogF.BackColor = Color.Green;
                PUSICANControl.VolMove(nodeid, speed); 
            }
        }

        private void btnjogF_MouseUp(object sender, MouseEventArgs e)
        {
            if (btnjogF.BackColor == Color.Green)
            {
                btnjogF.BackColor = Color.Black;
              PUSICANControl.StopMove(GetSelectNode());
            }
        }

        private void btnjog_MouseDown(object sender, MouseEventArgs e)
        {
            if (btnjog.BackColor.Equals(Color.Black))
            {
                uint nodeid = GetSelectNode();
                int speed = Math.Abs(Convert.ToInt32(nudMaxSpeed.Text)) /5* 1;
                if (speed == 0)
                {
                    return;
                }
                btnjog.BackColor = Color.Green;
                PUSICANControl.VolMove(nodeid, speed);
            }
        }

        private void btnjog_MouseUp(object sender, MouseEventArgs e)
        {

            if (btnjog.BackColor == Color.Green)
            {
                btnjog.BackColor = Color.Black;
                PUSICANControl.StopMove(GetSelectNode());
            }
        }
    }

}