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 OnlineStore.DeviceLibrary;
using System.IO.Ports;
using OnlineStore.LoadCSVLibrary; 
using UserFromControl;
using HuichuanLibrary;
using System.Diagnostics;

namespace OnlineStore.ACSingleStore
{
    public partial class FrmEquip : FrmBase
    { 
        public  EquipBean equip;
        private bool LoadOk = false;
        private System.Timers.Timer startTimer = null;
        public FrmEquip()
        {
            startTimer = new System.Timers.Timer();
            startTimer.Interval = 1000;
            startTimer.Enabled = false;
            startTimer.AutoReset = false;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent(); 
        }

        #region "初始化界面数据"
       
     

        private void FrmTest_Load(object sender, EventArgs e)
        {
            string version = GetVersion(true);

            equip = EquipManager.InitStore();
            if (equip == null)
            {
                this.Close();
                return;
            }
            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 (EquipManager.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";
            }
             
            this.Text = EquipManager.Equip.Name;
            this.timer1.Start();
            if (equip == null)
            {
                LogUtil.error("找不到对应的设备");
                this.Close();
                return;
            }
            LoadPosition();
            chbDebug.Checked = equip.IsDebug;
            this.ShowInTaskbar = true;
            tabPage2.Text = " 设备状态 ";
            this.Opacity = 1;
            DebugStatus(false);
            AddForm("  IO调试  ", new FrmLineIO());
            LogUtil.logBox = this.logBox;
            HCLogUtil.logBox = this.logBox;
            LoadOk = true;
        }
        private void AddForm(string text, Form form)
        {
            text = text.PadLeft(10, ' ');
            TabPage lineTabPage = new TabPage(text);

            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(); 
            tabControl1.Controls.Add(lineTabPage);
        }
        private void LoadPosition()
        { 
            cmbWork.SelectedIndex = 0;
            ShelfPosition ktkPosition = null;
            if (equip.PositionNumList.Count > 0)
            {
                cmbPosition.DataSource = equip.PositionNumList;
                cmbPosition.SelectedIndex = 0;
                ktkPosition = CSVPositionReader<ShelfPosition>.GetPositon(cmbPosition.Text); 
            }

            txtMiddleP1.Text = equip.Config.MiddleAxis_P1.ToString();
            txtUpDownP1.Text = equip.Config.UpDownAxis_DoorL_P1.ToString();
            txtInOutP1.Text = equip.Config.InOutAxis_P1.ToString();
            txtComP1.Text = equip.Config.CompressAxis_P1.ToString();

            txtUpDownP2.Text = equip.Config.UpDownAxis_DoorH_P2.ToString(); 
            txtUpDownP1.Text = equip.Config.UpDownAxis_DoorL_P1.ToString();
            txtUpDownP5.Text = equip.Config.UpDownAxis_DoorH_P5.ToString();
            txtUpDownP6.Text = equip.Config.UpDownAxis_DoorH_P6.ToString();
            txtInoutP4.Text = equip.Config.InOutAxis_P4.ToString();
            txtMiddleP3.Text = equip.Config.MiddleAxis_P3.ToString();
            ShowPosition(ktkPosition);
           
            timer1.Enabled = true;
        }

        private void ShowPosition(ShelfPosition position)
        {
            if (position != null)
            {
                lblSize.Text = "库位尺寸：" + position.BagWidth + "X" + position.BagHigh;
                txtMiddleP2.Text = position.MiddleAxis_P2.ToString();
                txtUpDownP4.Text = position.UpDownAxis_L_P4.ToString();
                txtUpDownP3.Text = position.UpDownAxis_H_P3.ToString();
                txtComP2.Text = position.CompressAxis_P2.ToString();
                txtComP3.Text = position.CompressAxis_P3.ToString();
                txtInOutP3.Text = position.InOutAxis_P3.ToString();
                txtInOutP2.Text = position.InOutAxis_P2.ToString();
            }
            else
            {
                lblSize.Text = "库位尺寸：未知";
            }
           
        }

        #endregion



        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!this.Visible)
            {
                return;
            }
            lblHeartMsg.Text = LineConnect.HeartMsg;
            if (chbDebug.Checked.Equals(equip.IsDebug).Equals(false))
            {
                LoadOk = false;
                chbDebug.Checked = equip.IsDebug;
                LoadOk = true;
            }
            lblMoveEquipInfo.Text = "" + (equip.lineConn.CanStartOut() ? "可取料" : "不可取料") + "  " + equip.lineConn.LastUpdateTime.ToLongTimeString() + "";
            lblThisSta.Text = equip.GetRunStr();
            lblMoveStr.Text = equip.GetMoveStr();
            //ReadPosistion();
            if (equip.storeRunStatus > StoreRunStatus.Wait)
            {
                string wmsg = "";
                //lblWarnMsg.Text = equip.WarnMsg;
                if (!String.IsNullOrEmpty(equip.WarnMsg))
                {
                    wmsg += equip.WarnMsg+"\r\n";
                }
                foreach (WorkStation s in equip.StationMap.Values)
                {
                    if (!string.IsNullOrEmpty(s.WarnMsg))
                    {
                        wmsg += s.WarnMsg + "\r\n"; 
                    }
                }
                //如果不在出料中，且叉子上有信号，需要提示检查叉子
                if (equip.storeRunStatus.Equals(StoreRunStatus.Runing) && equip.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
                {
                    wmsg += "叉子料盘检测有料，请检查" + "\r\n"; 
                }
                lblWarnMsg.Text = wmsg;
                //if (lblWarnMsg.Text.Equals(""))
                //{

                //    if (LineConnect.DoorPosInfo != null)
                //    {
                //        string msg = "出料口物料：" + LineConnect.DoorPosInfo?.ToStr()+"\r\n"+"料架信息："+equip.CurrTray?.ToStr();
                //        lblWarnMsg.Text = msg;
                //    }
                //} 
                if (equip.autoNext)
                {
                    string msg = equip.autoMsg;
                    lblAutoMsg.Text = msg;

                    try
                    {
                        msg = msg.Replace("自动出库：", "");
                        msg = msg.Replace("自动出料：", "");
                        msg = msg.Replace("自动盘点：", "");
                        int index = equip.PositionNumList.IndexOf(msg);
                        if (index >= 0 && (!msg.Equals("")))
                        {
                            cmbPosition.SelectedIndex = index;
                        }
                    }
                    catch (Exception ex) { } 
                }
                else
                {
                    // lblMsg.Text = "没有开启自动出料";
                    if (btnStartAuTo.Text.Equals("停止自动出料"))
                    {
                        btnStartAuTo.Text = "开始自动出料";
                    } 
                }
            }
            else
            {
                lblThisSta.Text = "等待启动";
                lblWarnMsg.Text = "";
                btnStartAuTo.Text = "开始自动出料"; 
            }
        } 
        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 btnInStore_Click(object sender, EventArgs e)
        {
            if (equip.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                LogUtil.info(equip.Name + "点击：出料测试");
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                equip.StartOutMove(new InOutParam(new InOutPosInfo( "", selectPositionNum), ktk));
            }
            else
            {
                int v = equip.Config.GetCompP2(8);
                MessageBox.Show("请先启动设备！");
            }
        }

        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.InOut_P4 = FormUtil.GetIntValue(txtInoutP4);

            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);
        
            return ktk;
        } 
        private void cmbPosition_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbPosition.SelectedIndex >= 0)
            {
                string selectPositionNum = cmbPosition.Text;
                ShelfPosition ktkPosition = CSVPositionReader<ShelfPosition>.GetPositon(selectPositionNum); 
                ShowPosition(ktkPosition);
            }
        } 
        private void btnSavePosition_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "点击：保存位置");
            //设备格子位置保存
            string pNum = cmbPosition.Text;
            ShelfPosition position = CSVPositionReader<ShelfPosition>.GetPositon(pNum);
            if (position != null)
            {
                position.MiddleAxis_P2 = FormUtil.GetIntValue(txtMiddleP2); 
                position.UpDownAxis_L_P4 = FormUtil.GetIntValue(txtUpDownP4);
                position.UpDownAxis_H_P3 = FormUtil.GetIntValue(txtUpDownP3); 

                position.InOutAxis_P3 = FormUtil.GetIntValue(txtInOutP3);
                position.CompressAxis_P3 = FormUtil.GetIntValue(txtComP3);
                position.CompressAxis_P2 = FormUtil.GetIntValue(txtComP2);
                position.InOutAxis_P2 = FormUtil.GetIntValue(txtInOutP2); 
            }
            //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); 
            bool result = CSVPositionReader<ShelfPosition>.SavePostion(positionConfigFile, position);
            if (!result)
            {
                MessageBox.Show("保存位置失败！");
            }
            //设备固定位置保存
            bool needUpdate = false;

            equip.Config.MiddleAxis_P1 = GetV(equip.Config.MiddleAxis_P1, txtMiddleP1, ref needUpdate);
            equip.Config.UpDownAxis_DoorL_P1 = GetV(equip.Config.UpDownAxis_DoorL_P1, txtUpDownP1, ref needUpdate);
            equip.Config.InOutAxis_P1 = GetV(equip.Config.InOutAxis_P1, txtInOutP1, ref needUpdate);
            equip.Config.CompressAxis_P1 = GetV(equip.Config.CompressAxis_P1, txtComP1, ref needUpdate);
            equip.Config.UpDownAxis_DoorH_P2 = GetV(equip.Config.UpDownAxis_DoorH_P2, txtUpDownP2 , ref needUpdate);
            equip.Config.UpDownAxis_DoorH_P5 = GetV(equip.Config.UpDownAxis_DoorH_P5, txtUpDownP5, ref needUpdate);
            equip.Config.UpDownAxis_DoorH_P6 = GetV(equip.Config.UpDownAxis_DoorH_P6, txtUpDownP6, ref needUpdate);
            equip.Config.MiddleAxis_P3 = GetV(equip.Config.MiddleAxis_P3, txtMiddleP3, ref needUpdate);
            equip.Config.InOutAxis_P4 = GetV(equip.Config.InOutAxis_P4, txtInoutP4, ref needUpdate);
          
            if (needUpdate)
            {
                //更新缓存
                EquipManager.UpdateStoreConfig(equip.Config);
            }
            MessageBox.Show("保存位置成功！"); 
        }

        private int GetV(int currV, TextBox text, ref bool  needUpdate)
        {
            int targetV = FormUtil.GetIntValue(text);
            if (currV != targetV)
            {
                needUpdate = true;
                return targetV;
            }
            return currV;
        }
        private bool InoutInP1()
        {
            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition); 
            int currValue = AxisManager.instance.GetActualtPosition(equip.Config.InOut_Axis.DeviceName, equip.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(equip.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 (InoutInP1())
            { 
                int value = FormUtil.GetIntValue(txtUpDownP1);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P1_Speed);
            }
        }

        private void btnUpDownP2_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP2);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P2_Speed);
            }
        } 
        private void btnUpDownP3_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP3);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P3_Speed);
            }
        }

        private void btnUpDownP4_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP4);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P4_Speed);
            }
        }

        private void btnUpDownP5_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP5);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P5_Speed);
            }
        }

        private void btnUpDownP6_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP6);
                AxisABSMove(equip.Config.UpDown_Axis, value, equip.Config.UpDownAxis_P6_Speed);
            }
        }
      
        private void btnMiddleP1_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP1);
                AxisABSMove(equip.Config.Middle_Axis, value, equip.Config.MiddleAxis_P1_Speed);
            }
        }

        private void btnMiddleP2_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP2);
                AxisABSMove(equip.Config.Middle_Axis, value, equip.Config.MiddleAxis_P2_Speed);
            }
        }


        private void btnInOutP1_Click(object sender, EventArgs e)
        { 
            int value = FormUtil.GetIntValue(txtInOutP1);
            AxisABSMove(equip.Config.InOut_Axis, value, equip.Config.InOutAxis_P1_Speed);
        }

        private void btnInOutP3_Click(object sender, EventArgs e)
        { 
            int value = FormUtil.GetIntValue(txtInOutP3);
            AxisABSMove(equip.Config.InOut_Axis, value, equip.Config.InOutAxis_P3_Speed);
        }

        private void btnInOutP2_Click(object sender, EventArgs e)
        { 
            int value = FormUtil.GetIntValue(txtInOutP2);
            AxisABSMove(equip.Config.InOut_Axis, value, equip.Config.InOutAxis_P2_Speed);
        }

        private void btnComP2_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP2);
            AxisABSMove(equip.Config.Comp_Axis, value, equip.Config.CompAxis_P2_Speed); 
        }

        private void btnComP1_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP1);
            AxisABSMove(equip.Config.Comp_Axis, value, equip.Config.CompAxis_P1_Speed); 
        }

        private void btnComP3_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP3);
            AxisABSMove(equip.Config.Comp_Axis, value, equip.Config.CompAxis_P3_Speed); 
        }
        
        private void button1_Click(object sender, EventArgs e)
        {
            FrmAxisDebug frm = new FrmAxisDebug(equip);
            frm.ShowDialog();
        }

        private void btnStartAuTo_Click(object sender, EventArgs e)
        {
            if (equip.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                if (equip.autoNext)
                {
                    equip.autoNext = false;
                    btnStartAuTo.Text = "开始自动出料";
                }
                else
                {
                    DialogResult res = MessageBox.Show("确定开始自动出料？", "提示", MessageBoxButtons.YesNo);
                    if (res.Equals(DialogResult.Yes))
                    {
                        equip.autoNext = true;
                        int jiange = FormUtil.GetIntValue(txtJiange);
                        equip.autoJiange = jiange;
                        if (cmbPosition.SelectedIndex >= 0)
                        {
                            int currIndex = cmbPosition.SelectedIndex;
                            equip.autoPositionIndex = currIndex;
                            equip.AutoStartIndex = currIndex;
                            string poText = cmbPosition.Text;
                            equip.autoMsg = "自动出库：" + poText;
                            LogUtil.info( equip.Name + "开启自动出料模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，出料开始！");
                            //store.StartOutStoreMove(new InOutStoreParam("", poText));
                            equip.StartOutMove(new InOutParam(new InOutPosInfo("AUTOINOUT", poText)));
                        }
                        btnStartAuTo.Text = "停止自动出料";
                    }
                }
            }
            else
            {
                MessageBox.Show("请先启动设备！");
            }
        } 
        private void 轴卡点动ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            button1_Click(null, null);
        } 
       

        private void 设备运转ONToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "打开所有伺服");
            this.Enabled = false;
            equip.OpenAllAxis(false );
            this.Enabled = true;
            LogUtil.info(equip.Name + "打开所有伺服 完成");
        } 

        private void 设备运转OFFToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "关闭所有伺服");
            equip.CloseAllAxis();
            LogUtil.info(equip.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.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(equip); 
        } 
     
       
        private void ExitApp()
        {
            DialogResult result = MessageBox.Show("是否确定退出设备客户端？", "提示", MessageBoxButtons.YesNo);
            if (result.Equals(DialogResult.Yes))
            {
                //如果设备还在运行状态，先关闭设备
                if (!equip.storeRunStatus.Equals(StoreRunStatus.Wait))
                {
                    LogUtil.info("ExitApp 停止" + equip.Name + "运行 ");
                    equip.StopRun();
                }
                try
                {
                    IOManager.instance.CloseAllDO();
                    IOManager.instance.CloseAllConnection();
                    AxisManager.instance.CloseAllPort();
                    AxisManager.instance.CloseCard();
                    RFIDManager.Close();
                    AgvClient.Dispose();
                }catch(Exception ex)
                {
                    LogUtil.error("ExitApp出错：" + ex.ToString());
                }

                System.Environment.Exit(System.Environment.ExitCode);
            }
        }
        private void FrmStoreBox_FormClosed(object sender, FormClosedEventArgs e)
        {
            ExitApp();
        } 

        private void button3_Click(object sender, EventArgs e)
        {
            equip.lineConn.StartConnect();
        }

        private void button5_Click(object sender, EventArgs e)
        {
            equip.lineConn.StopConnect();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            if (equip.lineConn.IsConnect())
            {
                int hasTray = (int)equip.IOValue(IO_Type.TrayCheck_Door);
                StoreStatus ss = StoreStatus.StoreOnline;
                if (equip.IsDebug)
                {
                    ss = StoreStatus.Debugging;
                }
                string posid = "";
                if (equip.MoveInfo.MoveType.Equals(StoreMoveType.None))
                {
                    if (equip.MoveInfo.MoveParam.PosInfo.IsNg)
                    {
                        posid = "";
                    }
                    else
                    {

                    }
                    posid = equip.MoveInfo.MoveParam?.PosInfo.BoxPosId;
                }
                StoreSendBean bean =  equip.lineConn.GetBean((int)ss, (int)StoreRunStatus.Runing, hasTray, (int)StoreAlarmType.None,posid,equip.GetShelfRfids()); 
                equip.lineConn.SendHeart(bean);
            }
        }

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

            if (chbDebug.Checked)
            {
                if (!equip.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))
                    {
                        equip.IsDebug = true;
                        equip.Config.ISDebug = 1;
                        EquipManager.UpdateStoreConfig(equip.Config);
                        LogUtil.info(equip.Name+"用户切换到调试状态 ");
                    }
                }
            }
            else
            {
                if (equip.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))
                    {
                        equip.IsDebug = false;
                        equip.Config.ISDebug = 0;
                        EquipManager.UpdateStoreConfig(equip.Config);
                        LogUtil.info(equip.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 equip.moveAxisList)
            {
                if (equip.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 (equip.Config.DIList.ContainsKey(IO_Type.Check_Pos))
            { 
                string ioIP = equip.Config.DIList[IO_Type.Check_Pos].IO_IP;
                int ioIndex = equip.Config.DIList[IO_Type.Check_Pos].GetIOAddr();
                if (frmTool == null)
                {
                    frmTool = new FrmTool(equip, ioIP, ioIndex, equip.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;
        } 
        public  void DebugStatus(bool status)
        { 
            axisMoveControl1.Enabled = status;
            //groupComAxis.Enabled = status;
            groupInout.Enabled = status;
            axisMoveControl1.Enabled = status;
        }
         
         
       
        private void logBox_VisibleChanged(object sender, EventArgs e)
        {
            if (logBox.Visible)
            {
                if (LogUtil.logBox == null)
                {
                    LogUtil.logBox = logBox;
                    LogUtil.UpdateLogbox();
                }
            }
        }
       
        private void frmInOutStore_FormClosed(object sender, FormClosedEventArgs e)
        {
            //frmInOutStore = null;
        }

        private void cmbWork_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbWork.SelectedIndex < 0)
            {
                return;
            }
            if (LoadOk)
            {
                int index = cmbWork.SelectedIndex;
                List<string> pos = new List<string>();
                foreach(string str in equip.PositionNumList)
                {
                    ShelfPosition position = CSVPositionReader<ShelfPosition>.GetPositon(str);
                    if(position.ShelfID.Equals(index)||index.Equals(0))
                    {
                        pos.Add(str);
                    }
                }
                cmbPosition.DataSource = null;
                cmbPosition.Items.Clear();
                cmbPosition.DataSource = pos;
                cmbPosition.SelectedIndex = 0;
            }
        }

        private void btnMiddleP3_Click(object sender, EventArgs e)
        {
            if (InoutInP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP3 );
                AxisABSMove(equip.Config.Middle_Axis, value, equip.Config.MiddleAxis_P3_Speed);
            }
        }

        private void btnInoutP4_Click(object sender, EventArgs e)
        { 
            int value = FormUtil.GetIntValue(txtInoutP4);
            AxisABSMove(equip.Config.InOut_Axis, value, equip.Config.InOutAxis_P4_Speed); 
        }
        private void btnNGMove_Click(object sender, EventArgs e)
        {
            if (equip.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                LogUtil.info(equip.Name + "点击："+btnNGMove.Text);
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                InOutPosInfo inOutPos = new InOutPosInfo("", selectPositionNum);
                inOutPos.IsNg = true;
                equip.StartOutMove(new InOutParam(inOutPos, ktk)); 
            }
            else
            {
                MessageBox.Show("请先启动设备！");
            }
        }




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

        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 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.ToString());
            }
        }

        private void 启动所有设备AToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (equip.storeRunStatus != StoreRunStatus.Wait)
            {
                MessageBox.Show(equip.Name + "当前状态：" + equip.storeRunStatus + "，不能启动！");
                return;
            }
            LogUtil.info(equip.Name + "点击：启动");
            startTimer.Interval = 300;
            startTimer.Elapsed += timer_Elapsed;
            startTimer.AutoReset = false;
            startTimer.Enabled = true;

        }

        private delegate void ShowFormDelegate();
        void timer_Elapsed(object sender, System.Timers.ElapsedEventArgs e)
        {
            startTimer.Enabled = false;
            if (equip.storeRunStatus > StoreRunStatus.Wait)
            {
                return;
            }
            if (equip.StartRun())
            {
                BeginInvoke(new ShowFormDelegate(ShowStatus));
            }
            LogM();
        }
        private void ShowStatus()
        {
            formLineStatus(true);
        }

        private void formLineStatus(bool isStart)
        {
            //frmBox.StoreOpenStatus(isStart); 
            启动AToolStripMenuItem.Enabled = !isStart;
            停止TToolStripMenuItem.Enabled = isStart;
        }
        private void 停止所有设备TToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "点击：停止");
            if (equip != null)
            {
                if (equip.storeRunStatus.Equals(StoreRunStatus.Wait))
                {
                    MessageBox.Show(equip.Name + "设备未启动，不需要停止");
                    return;
                }
                if (equip != null)
                {
                    equip.StopRun();
                }
                formLineStatus(false);
            }
        }

        private void 复位RToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "点击：复位");
            if (equip.storeRunStatus.Equals(StoreRunStatus.Wait))
            {
                MessageBox.Show(equip.Name + "设备未启动，无法复位");
                return;
            }
            equip.Reset();
        }
        private void FrmLineStore_FormClosed(object sender, FormClosedEventArgs e)
        {
            if (停止TToolStripMenuItem.Enabled)
            {
                停止所有设备TToolStripMenuItem_Click(null, null);
            }

        }
        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;
        private void LogM()
        {
            try
            {
                TimeSpan sp = DateTime.Now - lastLogTime;
                if (sp.TotalMinutes > 10)
                {
                    lastLogTime = DateTime.Now;
                    Process[] processes = Process.GetProcesses();
                    long totalMemery = 0;
                    StringBuilder sbResult = new StringBuilder();
                    int interval = 1000;

                    var prevCpuTime = TimeSpan.Zero;
                    foreach (Process process in processes)
                    {
                        if (process.ProcessName.EndsWith("OutletEquip"))
                        {
                            sbResult.AppendFormat(DateTime.Now.ToLongTimeString() + ", 名称：{0} 内存大小：{1}M ", process.ProcessName, process.PrivateMemorySize64 / 1024 / 1024F);
                            totalMemery += process.PrivateMemorySize64 / 1024;
                            double value = (process.TotalProcessorTime - prevCpuTime).TotalMilliseconds / interval / Environment.ProcessorCount;
                            sbResult.AppendFormat(" CPU : " + Math.Round(value, 2) + "%");
                            //    string result = string.Format("进程总数 {0} 个，共占内存：{1}MB \n", processes.Length, totalMemery / 1024) + sbResult.ToString();
                            LogUtil.info(sbResult.ToString());
                        }

                    }
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("LogM Error: " + ex.ToString());
            }
        } 

        private void 版本号ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FrmAbout about = new FrmAbout();
            about.ShowDialog();
        }
        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            LogUtil.info(equip.Name + "点击：退出");
            ExitApp();
        }
         

        private void toolStripMenuItem2_Click(object sender, EventArgs e)
        {
            if (toolStripMenuItem2.Text.Equals("启用调试"))
            {
                LogUtil.info(equip.Name + "点击：启用调试");
                DebugOpen(true);
            }
            else
            {
                LogUtil.info(equip.Name + "点击：禁用调试");
                DebugOpen(false);
            }
        }
        private void DebugOpen(bool isopen)
        {
            DebugStatus(isopen);
            if (isopen)
            {
                toolStripMenuItem2.Text = "禁用调试";
            }
            else
            {
                toolStripMenuItem2.Text = "启用调试";
            }
        }

        private void toolStripMenuItem3_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;
                }
                FrmIdConfig frm = new FrmIdConfig();
                frm.ShowDialog();
            }
            catch (Exception ex)
            {
                LogUtil.error("显示界面出错：" + ex.ToString());
            }
        }

        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(EquipManager.UseBuzzer))
            {
                return;
            }
            EquipManager.UseBuzzer = result;
            ConfigAppSettings.SaveValue(Setting_Init.UseBuzzer, (EquipManager.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 开启DEBUG日志ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }

            bool result = !开启DEBUG日志ToolStripMenuItem.Text.Contains(gouStr);
            if (result.Equals(LogUtil.debug_opened))
            {
                return;
            }
            LogUtil.debug_opened = result;
            if (result)
            {
                开启DEBUG日志ToolStripMenuItem.Text = gouStr + " 开启DEBUG日志";
            }
            else
            {
                开启DEBUG日志ToolStripMenuItem.Text = "开启DEBUG日志";
            }
            LogUtil.info(Name + " 点击：" + 开启DEBUG日志ToolStripMenuItem.Text);
        }

        private void 板卡调试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            DialogResult resul = MessageBox.Show("将关闭板卡，请确认设备未在运行中", "提示", MessageBoxButtons.OKCancel);
            if (resul.Equals(DialogResult.OK))
            {
                ACServerManager.instance.CloseCard();
                LogUtil.info("打开板卡测试界面前，先CloseCard");
                FrmHuiChuanTest frm = new FrmHuiChuanTest();
                frm.ShowDialog();
                HCLogUtil.logBox = this.logBox;
                LogUtil.info("板卡测试界面关闭后，调用OpenCard");
                ACServerManager.instance.OpenCard();
            }
        }

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

        private void 打开设备照明ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            equip.IOMove(IO_Type.Device_Led, IO_VALUE.HIGH);
        }

        private void 关闭设备照明ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            equip.IOMove(IO_Type.Device_Led, IO_VALUE.LOW);
        }
         

        private void btnMoni_Click(object sender, EventArgs e)
        {
            string text = txtMoni.Text.Trim();
            LogUtil.info("点击模拟按钮：" + text);
            equip.lineConn.HandlerMsg(text);
        }

        private void btnClearDoor_Click(object sender, EventArgs e)
        {
            DialogResult resul = MessageBox.Show("确定清除：" + LineConnect.DoorPosInfo?.ToStr() + "", "提示", MessageBoxButtons.OKCancel);
            if (resul.Equals(DialogResult.OK))
            {
                LogUtil.info(equip.Name + "点击：清理门口料盘：" + LineConnect.DoorPosInfo?.ToStr()); 
                LineConnect.DoorPosInfo = null;
            }
        }
        private void SReset(int num)
        {
            LogUtil.info(equip.Name + "点击：S"+ num + "复位");
            if (equip.storeRunStatus.Equals(StoreRunStatus.Wait))
            {
                MessageBox.Show(equip.Name + "设备未启动，无法复位");
                return;
            }
            equip.StationMap[num].Reset();
        }
        private void btnS1Reset_Click(object sender, EventArgs e)
        {
            SReset(1);
        }

        private void btnS2Reset_Click(object sender, EventArgs e)
        {
            SReset(2);
        }

        private void btnS3Reset_Click(object sender, EventArgs e)
        {
            SReset(3);
        }
        private void DisS(int num,CheckBox chebox)
        {
         
            if (!LoadOk)
            {
                return;
            }

            if (chebox.Checked)
            {
                if (!EquipManager.DisStationList.Contains(num))
                {
                    EquipManager.DisStationList.Add(num);
                    LogUtil.info(equip.Name + "用户勾选禁用工位S" + num);
                }
            }
            else
            {
                if (EquipManager.DisStationList.Contains(num))
                {
                    EquipManager.DisStationList.Remove(num);
                    LogUtil.info(equip.Name + "用户取消禁用工位S" + num);
                }
            }
        }
        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            int num = 1;
            DisS(num, checkBox1);
        }

        private void checkBox2_CheckedChanged(object sender, EventArgs e)
        {
            int num = 2;
            DisS(num, checkBox2);
        }

        private void checkBox3_CheckedChanged(object sender, EventArgs e)
        { 
            int num = 3;
            DisS(num, checkBox3);
        }

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

            equip.MoveStop = chbMoveStop.Checked;
            LogUtil.info(equip.Name + "用户切换是否暂停： " + equip.MoveStop);
        }         
    }
}