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.Common;
using System.Reflection;
using log4net;
using OnlineStore.DeviceLibrary;
using System.IO.Ports;
using OnlineStore.LoadCSVLibrary; 
using UserFromControl;

namespace OnlineStore.ACSingleStore
{
    public partial class FrmBox : FrmBase
    { 
        public  BoxBean boxBean; 
        public FrmBox()
        {
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent(); 
        }

        #region "初始化界面数据"
        private bool LoadOk = false;

        private void FrmTest_Load(object sender, EventArgs e)
        {

            LoadStore();

            chbDebug.Checked = boxBean.IsDebug;
            this.ShowInTaskbar = true;
            tabPage2.Text = " 设备[" + boxBean.CID + "]状态 ";
            this.Opacity = 1;
            DebugStatus(false);
            LoadOk = true;
        }
        private void LoadStore()
        {
            //this.boxBean = StoreManager.InitStore();
            if (boxBean == null)
            {
                LogUtil.error( "找不到对应的料仓");
                this.Close();
                return;
            }
        

            ACStorePosition ktkPosition = null;
            if (boxBean.PositionNumList.Count > 0)
            {
                cmbPosition.DataSource = boxBean.PositionNumList;
                cmbPosition.SelectedIndex = 0;
                ktkPosition = CSVPositionReader<ACStorePosition>.GetPositon(cmbPosition.Text);
                //store.PositionNumList = positionNumList;
            }

            txtMiddleP1.Text = boxBean.Config.MiddleAxis_P1_Position.ToString();
            txtUpDownP1.Text = boxBean.Config.UpDownAxis_DoorOPosition_P1.ToString();
            txtInOutP1.Text = boxBean.Config.InOutAxis_P1_Position.ToString();
            txtComP1.Text = boxBean.Config.CompressAxis_P1_Position.ToString();

            txtUpDownP2.Text = boxBean.Config.UpDownAxis_DoorIPosition_P2.ToString();
            txtUpDownP7.Text = boxBean.Config.UpDownAxis_DoorOBPosition_P7.ToString();
            txtUpDownP8.Text = boxBean.Config.UpDownAxis_DoorIBPosition_P8.ToString();
            //txtInOutP2.Text = store.Config.InOutAxis_DoorPosition_P2.ToString();
            txtUpDownP1.Text = boxBean.Config.UpDownAxis_DoorOPosition_P1.ToString();
            if (ktkPosition != null)
            {
                txtMiddleP2.Text = ktkPosition.MiddleAxis_Position_P2.ToString();
                //txtMiddleP3.Text = ktkPosition.MiddleAxis_Position_P3.ToString();
                txtUpDownP3.Text = ktkPosition.UpDownAxis_IHPosition_P3.ToString();
                txtUpDownP4.Text = ktkPosition.UpDownAxis_ILPosition_P4.ToString();
                txtUpDownP5.Text = ktkPosition.UpDownAxis_OLPosition_P5.ToString();
                txtUpDownP6.Text = ktkPosition.UpDownAxis_OHPosition_P6.ToString();
                //txtUpDownP9.Text = ktkPosition.UpDownAxis_Position_P9.ToString();
                txtComP2.Text = ktkPosition.CompressAxis_Position_P2.ToString();
                txtComP3.Text = ktkPosition.CompressAxis_CPosition_P3.ToString();
                txtInOutP3.Text = ktkPosition.InOutAxis_Position_P3.ToString();

                //txtUpDownP2.Text = ktkPosition.UpDownAxis_DoorIPosition_P2.ToString();
                //txtUpDownP7.Text = ktkPosition.UpDownAxis_DoorOBPosition_P7.ToString();
                //txtUpDownP8.Text = ktkPosition.UpDownAxis_DoorIBPosition_P8.ToString();
                txtInOutP2.Text = ktkPosition.InOutAxis_DoorPosition_P2.ToString();
                //txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString(); 
            }

            LoadIOList();
            timer1.Enabled = true;
        }
        private Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
        private Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
        private void LoadIOList()
        {
            int roleindex = 0;
            this.tableLayoutPanel1.RowStyles.Clear();
            this.tableLayoutPanel1.RowCount = boxBean.Config.DIList.Count;
            foreach (ConfigIO ioValue in boxBean.Config.DIList.Values)
            {
                this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                control.Click += Control_Click;
                this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                roleindex++;
                DIControlList.Add(ioValue.ProName, control);
                if (ioValue.ProName.Equals(IO_Type.CheckPos))
                {
                    ioSingle.IOName = ioValue.ElectricalDefinition + "_" + ioValue.Explain;
                }
            }

            tableLayoutPanel2.RowStyles.Clear();
            this.tableLayoutPanel2.RowCount = boxBean.Config.DOList.Count;
            roleindex = 0;
            foreach (ConfigIO ioValue in boxBean.Config.DOList.Values)
            {
                this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                control.Click += Control_Click;
                this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                roleindex++;
                DOControlList.Add(ioValue.ProName, control);
            }
            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 
            cmbWriteIO.Items.Clear();
            cmbWriteIO.DataSource = new List<ConfigIO>(boxBean.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;
            }
        }
      
        #endregion

          
        private bool preOpen = false;
        public void StoreOpenStatus(bool isOpen)
        {
            if (preOpen.Equals(isOpen))
            {
                return;
            }
            preOpen = isOpen;

            btnOutStore.Enabled = isOpen;
            btnInStore.Enabled = isOpen;  
            btnStoreStop.Enabled = isOpen;
            if (isOpen)
            {
                btnStoreStart.Text = "复位";
            }
            else
            {
                btnStoreStart.Text = "启动调试";
            }
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!this.Visible)
            {
                return;
            }
            ioSingle.IOValue = (int)boxBean.IOValue(IO_Type.CheckPos);
            ioSingle.ShowData();

            ReadIOList();

            if (chbDebug.Checked.Equals(boxBean.IsDebug).Equals(false))
            {
                LoadOk = false;
                chbDebug.Checked = boxBean.IsDebug;
                LoadOk = true;
            }
            lblTemp.Text = boxBean.humBean.currTempStr;
            lblMoveEquipInfo.Text = "移栽状态：" + (boxBean.lineConnect.CanStartOut() ? "可出库" : "不可出库") + "  " + boxBean.lineConnect.LastUpdateTime.ToLongTimeString() + "";

            lblThisSta.Text = boxBean.GetRunStr();
            lblMoveStr.Text = boxBean.GetMoveStr();
            //ReadPosistion();
            if (boxBean.storeRunStatus > StoreRunStatus.Wait)
            {
                if (boxBean.OutCheckAlarm())
                {
                    btnCon.Visible = true;
                }
                if (btnStoreStart.Enabled.Equals(true))
                {
                    StoreOpenStatus(true);
                }

                //复位按钮状态显示 
                if (boxBean.storeRunStatus > StoreRunStatus.Wait)
                {
                    if (btnStoreStart.Text.Equals("启用调试"))
                    {
                        btnStoreStart.Text = "复位";
                    }
                }
                else
                {
                    if (btnStoreStart.Text.Equals("复位"))
                    {
                        btnStoreStart.Text = "启用调试";
                    }
                }

                lblWarnMsg.Text = boxBean.WarnMsg;


                //如果不在出入库中，且叉子上有信号，需要提示检查叉子
                if (boxBean.storeRunStatus.Equals(StoreRunStatus.Runing) && boxBean.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
                {
                    lblWarnMsg.Text = lblWarnMsg.Text + "   叉子料盘检测有料，请检查";
                }

                if (boxBean.humBean.TempOrHumidityIsAlarm)
                {
                    lblWarnMsg.Text = lblWarnMsg.Text + "   温湿度报警[" + boxBean.humBean.TempAlarmTime.ToLongTimeString() + "]";
                }
                if (lblWarnMsg.Text.Equals(""))
                {
                    List<string> list = new List<string>(boxBean.lineConnect.WaitInStoreList);
                    if (list.Count > 0)
                    {
                        string msg = "等待入库：";
                        foreach (string s in list)
                        {
                            msg += s + "  ";
                        }
                        lblWarnMsg.Text = msg;
                    }
                }
                if (groupBox1.Visible)
                {
                    if (HuichuanLibrary.HCBoardManager.CardInitOk())
                    {
                        ReadA(boxBean.Config.Middle_Axis, lblActual1, lblTargetP1, lblTargetP1);
                        ReadA(boxBean.Config.UpDown_Axis, lblActual2, lblTargetP2, lblTargetP2);
                        ReadA(boxBean.Config.InOut_Axis, lblActual3, lblTargetP3, lblTargetP3);
                        ReadA(boxBean.Config.Comp_Axis, lblActual4, lblTargetP4, lblTargetP4);
                    }
                }
                if (boxBean.autoNext)
                {
                    string msg = boxBean.autoMsg;
                    lblAutoMsg.Text = msg;

                    try
                    {
                        msg = msg.Replace("自动出库：", "");
                        msg = msg.Replace("自动入库：", "");
                        msg = msg.Replace("自动盘点：", "");
                        int index = boxBean.PositionNumList.IndexOf(msg);
                        if (index >= 0 && (!msg.Equals("")))
                        {
                            cmbPosition.SelectedIndex = index;
                        }
                    }
                    catch (Exception ex) { }
                  
                }
                else
                {
                    // lblMsg.Text = "没有开启自动出入库";
                    if (btnStartAuTo.Text.Equals("停止自动出入库"))
                    {
                        btnStartAuTo.Text = "开始自动出入库";
                    }
                    if (btnStartAutoCheck.Text.Equals("停止自动盘点"))
                    {
                        btnStartAutoCheck.Text = "开始自动盘点";
                    }
                }
            }
            else
            {
                lblThisSta.Text = "等待启动";
                lblWarnMsg.Text = "";
                btnStartAuTo.Text = "开始自动出入库";
                btnCon.Visible = false;
            }
        }
        private void ReadIOList()
        {
            foreach (string key in DIControlList.Keys)
            {
                IOTextControl control = DIControlList[key];
                int iov = (int)boxBean.IOValue(key);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }
            foreach (string key in this.DOControlList.Keys)
            {
                IOTextControl control = DOControlList[key];
                int iov = (int)IOManager.DOValue(key,boxBean.DeviceID);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }

        }

        private void ReadA(ConfigMoveAxis axis,TextBox lblActual, TextBox lblTarget,TextBox lblT )
        {
           
            if (AxisManager.instance.IsServeoOn(axis.DeviceName, axis.GetAxisValue()))
            {
                //sta.IOValue = AxisManager.instance.GetAlarmStatus(axis.DeviceName, axis.GetAxisValue());
                int tP = AxisManager.instance.GetTargetPosition(axis.DeviceName, axis.GetAxisValue());
                lblTarget.Text = string.Format("{0:d}", tP);
                int aP = AxisManager.instance.GetActualtPosition(axis.DeviceName, axis.GetAxisValue());
                lblActual.Text = string.Format("{0:d}", aP);
                lblT.Text = axis.TargetPosition.ToString(); 
            }
        }
     
      
        private void FrmTest_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 btnOutStore_Click(object sender, EventArgs e)
        {
            LogUtil.info(boxBean.Name + "点击：出库测试");
            if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                boxBean.StartOutStoreMove(new InOutParam(new InOutPosInfo( "", selectPositionNum), ktk));
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        }

        private void btnInStore_Click(object sender, EventArgs e)
        {
            if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                LogUtil.info(boxBean.Name + "点击：入库测试");
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                boxBean.StartInStoreMove(new InOutParam(new InOutPosInfo( "", selectPositionNum), ktk));
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        }

        private LineMoveP LoadPostion()
        {
            LineMoveP ktk = new LineMoveP();
            ktk.ComPress_P1 = FormUtil.GetIntValue(txtComP1);
            ktk.ComPress_P2 = FormUtil.GetIntValue(txtComP2);
            ktk.ComPress_P3 = FormUtil.GetIntValue(txtComP3);
            ktk.InOut_P1 = FormUtil.GetIntValue(txtInOutP1);
            ktk.InOut_P2 = FormUtil.GetIntValue(txtInOutP2);
            ktk.InOut_P3 = FormUtil.GetIntValue(txtInOutP3);
            ktk.Middle_P1 = FormUtil.GetIntValue(txtMiddleP1);
            ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);
            //ktk.Middle_P3 = FormUtil.GetIntValue(txtMiddleP3);

            ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1);
            ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2);
            ktk.UpDown_P3 = FormUtil.GetIntValue(txtUpDownP3);
            ktk.UpDown_P4 = FormUtil.GetIntValue(txtUpDownP4);
            ktk.UpDown_P5 = FormUtil.GetIntValue(txtUpDownP5);
            ktk.UpDown_P6 = FormUtil.GetIntValue(txtUpDownP6);
            ktk.UpDown_P7 = FormUtil.GetIntValue(txtUpDownP7);
            ktk.UpDown_P8 = FormUtil.GetIntValue(txtUpDownP8);
           // ktk.UpDown_P9 = FormUtil.GetIntValue(txtUpDownP9);
            return ktk;
        }
     

        private void cmbPosition_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbPosition.SelectedIndex >= 0)
            {
                string selectPositionNum = cmbPosition.Text;
                ACStorePosition ktkPosition = CSVPositionReader<ACStorePosition>.GetPositon(selectPositionNum);

                if (ktkPosition != null)
                {
                    txtMiddleP2.Text = ktkPosition.MiddleAxis_Position_P2.ToString();
                    //txtMiddleP3.Text = ktkPosition.MiddleAxis_Position_P3.ToString();
                    txtUpDownP3.Text = ktkPosition.UpDownAxis_IHPosition_P3.ToString();
                    txtUpDownP4.Text = ktkPosition.UpDownAxis_ILPosition_P4.ToString();
                    txtUpDownP5.Text = ktkPosition.UpDownAxis_OLPosition_P5.ToString();
                    txtUpDownP6.Text = ktkPosition.UpDownAxis_OHPosition_P6.ToString();
                    //txtUpDownP9.Text = ktkPosition.UpDownAxis_Position_P9.ToString();
                    txtComP2.Text = ktkPosition.CompressAxis_Position_P2.ToString();
                    txtComP3.Text = ktkPosition.CompressAxis_CPosition_P3.ToString();
                    txtInOutP3.Text = ktkPosition.InOutAxis_Position_P3.ToString();
                    txtInOutP2.Text = ktkPosition.InOutAxis_DoorPosition_P2.ToString();

                    //txtUpDownP2.Text = ktkPosition.UpDownAxis_DoorIPosition_P2.ToString();
                    //txtUpDownP7.Text = ktkPosition.UpDownAxis_DoorOBPosition_P7.ToString();
                    //txtUpDownP8.Text = ktkPosition.UpDownAxis_DoorIBPosition_P8.ToString();
                    //txtInOutP2.Text = ktkPosition.InOutAxis_DoorPosition_P2.ToString();
                    //txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString(); 
                }
            }
        }
        
        private void btnSavePosition_Click(object sender, EventArgs e)
        {
            LogUtil.info(boxBean.Name + "点击：保存位置");
            //料仓格子位置保存
            string selectPositionNum = cmbPosition.Text;
            ACStorePosition ktkPosition = CSVPositionReader<ACStorePosition>.GetPositon(selectPositionNum);
            if (ktkPosition != null)
            {
                ktkPosition.MiddleAxis_Position_P2 = FormUtil.GetIntValue(txtMiddleP2);
               // ktkPosition.MiddleAxis_Position_P3 = FormUtil.GetIntValue(txtMiddleP3);

                ktkPosition.UpDownAxis_IHPosition_P3 = FormUtil.GetIntValue(txtUpDownP3);
                ktkPosition.UpDownAxis_ILPosition_P4 = FormUtil.GetIntValue(txtUpDownP4);
                ktkPosition.UpDownAxis_OLPosition_P5 = FormUtil.GetIntValue(txtUpDownP5);
                ktkPosition.UpDownAxis_OHPosition_P6 = FormUtil.GetIntValue(txtUpDownP6);
                //ktkPosition.UpDownAxis_Position_P9 = FormUtil.GetIntValue(txtUpDownP9);

                ktkPosition.InOutAxis_Position_P3 = FormUtil.GetIntValue(txtInOutP3);
                ktkPosition.CompressAxis_CPosition_P3 = FormUtil.GetIntValue(txtComP3);
                ktkPosition.CompressAxis_Position_P2 = FormUtil.GetIntValue(txtComP2);
                ktkPosition.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
                //ktkPosition.UpDownAxis_DoorIPosition_P2 = FormUtil.GetIntValue(txtUpDownP2);
                //ktkPosition.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7);
                //ktkPosition.UpDownAxis_DoorIBPosition_P8 = FormUtil.GetIntValue(txtUpDownP8);
                //ktkPosition.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
                //ktkPosition.UpDownAxis_DoorOPosition_P1 = FormUtil.GetIntValue(txtUpDownP1);
            }
            //位置配置
            string appPath = Application.StartupPath;
            //如果总配置文件存在，保存到总的配置文件
            string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config);
            if (!File.Exists(positionConfigFile))
            {
                positionConfigFile = positionConfigFile.Replace(".csv",  "_" + boxBean.DeviceID.ToString()+".csv");
            }
            bool result = CSVPositionReader<ACStorePosition>.SavePostion(positionConfigFile, ktkPosition);
            if (!result)
            {
                MessageBox.Show("保存位置失败！");
            }
            //料仓固定位置保存
            bool needUpdate = false;
            if (boxBean.Config.MiddleAxis_P1_Position != FormUtil.GetIntValue(txtMiddleP1))
            {
                boxBean.Config.MiddleAxis_P1_Position = FormUtil.GetIntValue(txtMiddleP1);
                needUpdate = true;
            }
            if (boxBean.Config.UpDownAxis_DoorOPosition_P1 != FormUtil.GetIntValue(txtUpDownP1))
            {
                boxBean.Config.UpDownAxis_DoorOPosition_P1 = FormUtil.GetIntValue(txtUpDownP1);
                needUpdate = true;
            }

            if (boxBean.Config.InOutAxis_P1_Position != FormUtil.GetIntValue(txtInOutP1))
            {
                boxBean.Config.InOutAxis_P1_Position = FormUtil.GetIntValue(txtInOutP1);
                needUpdate = true;
            }

            if (boxBean.Config.CompressAxis_P1_Position != FormUtil.GetIntValue(txtComP1))
            {
                boxBean.Config.CompressAxis_P1_Position = FormUtil.GetIntValue(txtComP1);
                needUpdate = true;
            }
            if (boxBean.Config.UpDownAxis_DoorIPosition_P2 != FormUtil.GetIntValue(txtUpDownP2))
            {
                boxBean.Config.UpDownAxis_DoorIPosition_P2 = FormUtil.GetIntValue(txtUpDownP2);
                needUpdate = true;
            }
            if (boxBean.Config.UpDownAxis_DoorOBPosition_P7 != FormUtil.GetIntValue(txtUpDownP7))
            {
                boxBean.Config.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7);
                needUpdate = true;
            }
            if (boxBean.Config.UpDownAxis_DoorIBPosition_P8 != FormUtil.GetIntValue(txtUpDownP8))
            {
                boxBean.Config.UpDownAxis_DoorIBPosition_P8 = FormUtil.GetIntValue(txtUpDownP8);
                needUpdate = true;
            }
            //if (store.Config.InOutAxis_DoorPosition_P2 != FormUtil.GetIntValue(txtInOutP2))
            //{
            //    store.Config.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
            //    needUpdate = true;
            //}
            if (boxBean.Config.UpDownAxis_DoorOPosition_P1 != FormUtil.GetIntValue(txtUpDownP1))
            {
                boxBean.Config.UpDownAxis_DoorOPosition_P1 = FormUtil.GetIntValue(txtUpDownP1);
                needUpdate = true;
            }
            if (needUpdate)
            {
                //更新缓存
                StoreManager.UpdateBoxConfig(boxBean.Config);
            }
            MessageBox.Show("保存位置成功！"); 
        }

     
        private bool InOutIsIsP1()
        {
            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); 
            int currValue = AxisManager.instance.GetActualtPosition(boxBean.Config.InOut_Axis.DeviceName, boxBean.Config.InOut_Axis.GetAxisValue());  
            if (currValue <= InOutDefaultPosition)
            {
                return true;
            }
            MessageBox.Show("叉子不在待机位，请先将叉子退回待机位("+InOutDefaultPosition+")", "警告（叉子在待机位时，才能移动升降轴和旋转轴） ", MessageBoxButtons.OK, MessageBoxIcon.Exclamation);
            return false;
        } 
        private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
        {
            LogUtil.info(boxBean.Name + " 点击点位运动：" + moveAxis.DisplayStr + " [" + targetPosition + "] [" + targetSpeed + "] ");
            moveAxis.TargetPosition = targetPosition;
            AxisManager.instance.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, moveAxis.AddSpeed, moveAxis.DelSpeed);
        }
        private void btnUpDownP1_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            { 
                int value = FormUtil.GetIntValue(txtUpDownP1);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P1_Speed);
            }
        }

        private void btnUpDownP2_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP2);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P2_Speed);
            }
        }
        private void btnUpDownP7_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP7);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P7_Speed);
            }
        }

        private void btnUpDownP8_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP8);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P8_Speed);
            }
        }

        private void btnUpDownP3_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP3);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P3_Speed);
            }
        }

        private void btnUpDownP4_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP4);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P4_Speed);
            }
        }

        private void btnUpDownP5_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP5);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P5_Speed);
            }
        }

        private void btnUpDownP6_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP6);
                AxisABSMove(boxBean.Config.UpDown_Axis, value, boxBean.Config.UpDownAxis_P6_Speed);
            }
        }
      
        private void btnMiddleP1_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP1);
                AxisABSMove(boxBean.Config.Middle_Axis, value, boxBean.Config.MiddleAxis_P1_Speed);
            }
        }

        private void btnMiddleP2_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP2);
                AxisABSMove(boxBean.Config.Middle_Axis, value, boxBean.Config.MiddleAxis_P2_Speed);
            }
        }


        private void btnInOutP1_Click(object sender, EventArgs e)
        {
            if (boxBean.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            int value = FormUtil.GetIntValue(txtInOutP1);
            AxisABSMove(boxBean.Config.InOut_Axis, value, boxBean.Config.InOutAxis_P1_Speed);
        }

        private void btnInOutP3_Click(object sender, EventArgs e)
        {
            if (boxBean.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            int value = FormUtil.GetIntValue(txtInOutP3);
            AxisABSMove(boxBean.Config.InOut_Axis, value, boxBean.Config.InOutAxis_P3_Speed);
        }

        private void btnInOutP2_Click(object sender, EventArgs e)
        {
            if (boxBean.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            int value = FormUtil.GetIntValue(txtInOutP2);
            AxisABSMove(boxBean.Config.InOut_Axis, value, boxBean.Config.InOutAxis_P2_Speed);
        }

        private void btnComP2_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP2);
            AxisABSMove(boxBean.Config.Comp_Axis, value, boxBean.Config.CompAxis_P2_Speed);
            //ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }

        private void btnComP1_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP1);
            AxisABSMove(boxBean.Config.Comp_Axis, value, boxBean.Config.CompAxis_P1_Speed);
            //ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }

        private void btnComP3_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP3);
            AxisABSMove(boxBean.Config.Comp_Axis, value, boxBean.Config.CompAxis_P3_Speed);
            //ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }
        int xWidth = SystemInformation.PrimaryMonitorSize.Width;//获取显示器屏幕宽度
        int yHeight = SystemInformation.PrimaryMonitorSize.Height;//高度

        private void button1_Click(object sender, EventArgs e)
        {
            FrmAxisDebug frm = new FrmAxisDebug(boxBean);
            frm.ShowDialog();
        }

        private void btnStartAuTo_Click(object sender, EventArgs e)
        {
            if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                if (boxBean.autoNext)
                {
                    boxBean.autoNext = false;
                    btnStartAuTo.Text = "开始自动出入库";
                }
                else
                {
                    DialogResult res = MessageBox.Show("确定开始自动出入库？", "提示", MessageBoxButtons.YesNo);
                    if (res.Equals(DialogResult.Yes))
                    {
                        boxBean.autoNext = true;
                        int jiange = FormUtil.GetIntValue(txtJiange);
                        boxBean.autoJiange = jiange;
                        if (cmbPosition.SelectedIndex >= 0)
                        {
                            int currIndex = cmbPosition.SelectedIndex;
                            boxBean.autoPositionIndex = currIndex;
                            boxBean.AutoStartIndex = currIndex;
                            string poText = cmbPosition.Text;
                            boxBean.autoMsg = "自动出库：" + poText;
                            LogUtil.info( boxBean.Name + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
                            //store.StartOutStoreMove(new InOutStoreParam("", poText));
                            boxBean.StartInStoreMove(new InOutParam(new InOutPosInfo("AUTOINOUT", poText)));
                        }
                        btnStartAuTo.Text = "停止自动出入库";
                    }
                }
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        } 
        private void 轴卡点动ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            button1_Click(null, null);
        } 
        private void btnStoreStart_Click(object sender, EventArgs e)
        {
            if (boxBean.storeRunStatus >= StoreRunStatus.Wait)
            {
                LogUtil.info(boxBean.Name + "点击：启用调试");
                boxBean.StartRun();
                if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
                {
                    StoreOpenStatus(true);
                }
            }
            else
            {
                LogUtil.info(boxBean.Name + "点击：复位");
                this.boxBean.Reset(); 
            }
        }

        private void 停止ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(boxBean.Name + "点击：停止");
            StopMove();
        } 
        private void 料仓运转ONToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(boxBean.Name + "打开所有伺服");
            this.Enabled = false;
            boxBean.OpenAllAxis(false );
            this.Enabled = true;
            LogUtil.info(boxBean.Name + "打开所有伺服 完成");
        } 

        private void 料仓运转OFFToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(boxBean.Name + "关闭所有伺服");
            boxBean.CloseAllAxis();
            LogUtil.info(boxBean.Name + "关闭所有伺服 完成");
        }  
        private void FrmStoreBox_Shown(object sender, EventArgs e)
        { 
            this.btnUpDownP1.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP2.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP3.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP4.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP5.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP6.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP7.ForeColor = System.Drawing.Color.Red;
            this.btnUpDownP8.ForeColor = System.Drawing.Color.Red;


            this.btnComP1.ForeColor = System.Drawing.Color.Purple;
            this.btnComP3.ForeColor = System.Drawing.Color.Purple;
            this.btnComP2.ForeColor = System.Drawing.Color.Purple;

            this.btnInOutP2.ForeColor = System.Drawing.Color.Green;
            this.btnInOutP1.ForeColor = System.Drawing.Color.Green;
            this.btnInOutP3.ForeColor = System.Drawing.Color.Green;
            this.btnMiddleP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));
            this.btnMiddleP2.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));

            axisMoveControl1.LoadData(boxBean); 
        } 
        private void StopMove()
        {
            try
            {
                boxBean.StopRun();
                StoreOpenStatus(false);
            }
            catch (Exception ex)
            {
                LogUtil.error(boxBean.Name + "出错：" + ex.StackTrace);
            }
        }
        private void ExitApp()
        {
            try
            {
                if (this.timer1.Enabled)
                {
                    this.timer1.Enabled = false;
                }
                if (this.btnStoreStop.Enabled)
                {
                    StopMove();
                }
                axisMoveControl1.StopTimer( );
                StoreOpenStatus(false);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.StackTrace, "Exception(异常)", MessageBoxButtons.OK, MessageBoxIcon.Error);
                LogUtil.error( ex.StackTrace);
            }
        } 
        private void FrmStoreBox_FormClosed(object sender, FormClosedEventArgs e)
        {
            ExitApp();
        } 

        private void button3_Click(object sender, EventArgs e)
        {
            boxBean.lineConnect.StartConnect();
        }

        private void button5_Click(object sender, EventArgs e)
        {
            boxBean.lineConnect.StopConnect();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            if (boxBean.lineConnect.IsConnect())
            {
                int hasTray = (int)boxBean.IOValue(IO_Type.TrayCheck_Door);
                StoreStatus ss = StoreStatus.StoreOnline;
                if (boxBean.IsDebug)
                {
                    ss = StoreStatus.Debugging;
                }
                StoreSendBean bean =  boxBean.lineConnect.GetBean((int)ss, (int)StoreRunStatus.Runing, hasTray, (int)StoreAlarmType.None);
                //bean.data.Add(ParamDefine.posId, cmbPosition.Text);
                //bean.data.Add(ParamDefine.plateH, "8");
                //bean.data.Add(ParamDefine.plateW, "7");
                //bean.data.Add(ParamDefine.cutReel, false.ToString());
                //bean.data.Add(ParamDefine.smallReel, true.ToString());
                //bean.data.Add(ParamDefine.urgentReel, false.ToString());
                //bean.data.Add(ParamDefine.rfid, "E99");
                //bean.data.Add(ParamDefine.rfidLoc, 72.ToString());
                //bean.data.Add(ParamDefine.barcode, "code");
                boxBean.lineConnect.SendHeart(bean);
            }
        }

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

            if (chbDebug.Checked)
            {
                if (!boxBean.IsDebug)
                {
                    DialogResult result = MessageBox.Show("是否切换到调试状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        boxBean.IsDebug = true;
                        boxBean.Config.ISDebug = 1;
                        StoreManager.UpdateBoxConfig(boxBean.Config);
                        LogUtil.info(boxBean.Name+"用户切换到调试状态 ");
                    }
                }
            }
            else
            {
                if (boxBean.IsDebug)
                {
                    DialogResult result = MessageBox.Show("是否切换到正常工作状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        boxBean.IsDebug = false;
                        boxBean.Config.ISDebug = 0;
                        StoreManager.UpdateBoxConfig(boxBean.Config);
                        LogUtil.info(boxBean.Name + "用户切换到正常工作状态 ");
                    }
                }
            }
        }

        private FrmTool frmTool = null;
        private void btnUpdown_Click(object sender, EventArgs e)
        {
            foreach (ConfigMoveAxis axis in boxBean.moveAxisList)
            {
                if (boxBean.Config.Comp_Axis.IsSameAxis(axis.DeviceName, axis.GetAxisValue()))
                {
                    continue;
                }
                //判断伺服是否已经打开
                bool inoutOn = AxisManager.instance.IsServeoOn(axis.DeviceName, axis.GetAxisValue());
                if (!inoutOn)
                {
                    MessageBox.Show(axis.DisplayStr + "伺服未打开，清先打开伺服");
                    return;
                }
            }


            if (boxBean.Config.DIList.ContainsKey(IO_Type.CheckPos))
            { 
                string ioIP = boxBean.Config.DIList[IO_Type.CheckPos].IO_IP;
                int ioIndex = boxBean.Config.DIList[IO_Type.CheckPos].GetIOAddr();
                if (frmTool == null)
                {
                    frmTool = new FrmTool(boxBean, ioIP, ioIndex, boxBean.Name);
                }
                frmTool.Show();
                frmTool.FormClosed += FrmTool_FormClosed;
                frmTool.Focus();
            }
            else
            {
                MessageBox.Show("未配置激光检测信号");
            }         
        }

        private void FrmTool_FormClosed(object sender, FormClosedEventArgs e)
        {
            frmTool = null;
        }

        /// <summary>
        /// 盘点测试
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void btnCheckPos_Click(object sender, EventArgs e)
        {
            if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                boxBean.StartInventoryMove(new InOutParam(new InOutPosInfo("", selectPositionNum), ktk));
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        }
        /// <summary>
        /// 启动自动盘点
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button1_Click_1(object sender, EventArgs e)
        {
            if (boxBean.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                if (boxBean.autoNext)
                {
                    boxBean.autoNext = false;
                    btnStartAutoCheck.Text = "开始自动盘点";
                }
                else
                {
                    DialogResult res = MessageBox.Show("确定开始自动盘点？", "提示", MessageBoxButtons.YesNo);
                    if (res.Equals(DialogResult.Yes))
                    {
                        boxBean.autoNext = true;
                        int jiange = FormUtil.GetIntValue(txtJiange);
                        boxBean.autoJiange = jiange;
                        if (cmbPosition.SelectedIndex >= 0)
                        {
                            int currIndex = cmbPosition.SelectedIndex;
                            boxBean.autoPositionIndex = currIndex;
                            boxBean.AutoStartIndex = currIndex;
                            string poText = cmbPosition.Text;
                            boxBean.autoMsg = "自动盘点：" + poText;
                            LogUtil.info( boxBean.Name + "开启自动盘点模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，盘点开始！");
                            //store.StartOutStoreMove(new InOutStoreParam("", poText));                           
                            boxBean.StartInventoryMove(new InOutParam(new InOutPosInfo("AUTOINOUT", poText)));
                        }
                        btnStartAutoCheck.Text = "停止自动盘点";
                    }
                }
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        }
        public  void DebugStatus(bool status)
        { 
            axisMoveControl1.Enabled = status;
            //groupComAxis.Enabled = status;
            groupInout.Enabled = status;
            axisMoveControl1.Enabled = status;
        }

        private void btnCon_Click(object sender, EventArgs e)
        {
            btnCon.Visible = false;
            boxBean.ContinueOut();
        }

        private ConfigIO GetSelectDO()
        {
            string text = cmbWriteIO.SelectedValue.ToString();
            if (boxBean.Config.DOList.ContainsKey(text))
            {
                ConfigIO io = boxBean.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;
                    IOTextControl newControl = DOControlList[io.ProName];
                    if (selectControl != null)
                    {
                        selectControl.BorderStyle = BorderStyle.None;
                        selectControl.BackColor = Color.White;
                    }
                    newControl.BorderStyle = BorderStyle.FixedSingle; 
                    newControl.BackColor = Color.SkyBlue;
                    selectControl = newControl;
                }
            }
        }
        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 = 0;
            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 void btnOpenDo_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.HIGH);
        }

        private void btnCloseDO_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.LOW);
        }

        private void btnOpenDoor_Click(object sender, EventArgs e)
        {
            boxBean.OpenDoor(false);
        }
        private void btnCloseDoor_Click(object sender, EventArgs e)
        {
            boxBean.CloseDoor(false);
        }

        private void btnOpenD_Click(object sender, EventArgs e)
        {
            boxBean.OpenDoor(false);
        }

        private void btnCloseD_Click(object sender, EventArgs e)
        {
            boxBean.CloseDoor(false);
        }

        private void lblThisSta_Click(object sender, EventArgs e)
        {

        }

        private void btnInOutTest_Click(object sender, EventArgs e)
        {
            FrmInOutStore frmInOutStore = new FrmInOutStore(boxBean);
            frmInOutStore.Show();
        }
    }
}