using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Runtime.CompilerServices;
using System.Threading;
using System.IO;
using System.Runtime.InteropServices;
using OnlineStore.DeviceLibrary;
using log4net;
using System.Reflection;
using UserFromControl;
using OnlineStore.LoadCSVLibrary;
using OnlineStore.Common;

namespace OnlineStore.XLRStore
{
    internal partial class FrmInputEquip : FrmBase
    {
        private bool IsLoad = false;

        private InputEquip inputEquip;
        internal FrmInputEquip(InputEquip moveEquip)
        {
            this.inputEquip = moveEquip;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            LoadIOList();
        }
        protected Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
        protected Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
        protected void ReadIOList()
        {
            foreach (string key in DIControlList.Keys)
            {
                IOTextControl control = DIControlList[key];
                int iov = (int)IOManager.IOValue(key, inputEquip.DeviceID);
                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, inputEquip.DeviceID);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }

        }

        protected void StartDebug()
        {
            if (inputEquip.runStatus.Equals(RunStatus.Wait))
            {
                bool result = inputEquip.StartRun();
                if (result)
                {
                    FormStatus(true);
                }
                else
                {
                    MessageBox.Show(inputEquip.WarnMsg, "启动失败", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
            else
            {
                MessageBox.Show(inputEquip.Name + "已启动，不能重复启动", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
        }
        private void StopRun()
        {
            try
            {
                if (inputEquip.runStatus <= RunStatus.Wait)
                {
                    MessageBox.Show(inputEquip.Name + "请先启动设备", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                }
                else
                {
                    LogUtil.info(inputEquip.Name + "点击：停止运行");
                    inputEquip.StopRun();
                    FormStatus(false);


                }
            }
            catch (Exception ex)
            {
                LogUtil.error("出错：", ex);
            }
        }
        private void Reset()
        {
            if (inputEquip.runStatus >= (RunStatus.HomeMoving))
            {
                LogUtil.info(inputEquip.Name + "点击 ：复位");
                inputEquip.Reset();
            }
            else
            {
                MessageBox.Show(inputEquip.Name + "请先启动设备", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            }
        }

        private void LoadIOList()
        {
            int maxCount = 20;
            int roleindex = 0;
            this.tableLayoutPanel1.RowStyles.Clear();
            this.tableLayoutPanel1.RowCount = maxCount;
            //this.tableLayoutPanel3.RowStyles.Clear();
            //this.tableLayoutPanel3.RowCount = maxCount;
            int i = 0;
            foreach (ConfigIO ioValue in inputEquip.Config.DIList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                //if (i >= maxCount)
                //{
                //    this.tableLayoutPanel3.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                //    this.tableLayoutPanel3.Controls.Add(control, 0, roleindex - maxCount);
                //}
                //else
                {
                    this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                    this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                }
                roleindex++;
                i++;
                DIControlList.Add(ioValue.ProName, control);
            }

            tableLayoutPanel2.RowStyles.Clear();
            this.tableLayoutPanel2.RowCount = maxCount;

            roleindex = 0;
            i = 0;
            foreach (ConfigIO ioValue in inputEquip.Config.DOList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                control.Click += Control_Click;

                this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);

                roleindex++;
                i++;
                DOControlList.Add(ioValue.ProName, control);
            }
            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 

            cmbWriteIO.DataSource = new List<ConfigIO>(inputEquip.Config.DOList.Values);
            cmbWriteIO.ValueMember = "ProName";
            cmbWriteIO.DisplayMember = "DisplayStr";

        }
        private void Control_Click(object sender, EventArgs e)
        {
            IOTextControl control = (IOTextControl)sender;
            string name = control.Name.Substring(3, control.Name.Length - 3);
            List<string> keyList = new List<string>(DOControlList.Keys);
            int index = keyList.IndexOf(name);
            if (index >= 0)
            {
                cmbWriteIO.SelectedIndex = index;
            }
        }
        private bool IsInCheck = false;
        private void timer1_Tick(object sender, EventArgs e)
        {
            try
            {
                if (!this.Visible)
                {
                    return;
                }
                clampJawControl1.UpdateSta();
                ReadIOList();
                lblName.BackColor = inputEquip.GetShowColor();
                lblStoreStatus.Text = inputEquip.GetRunStr();
                if (inputEquip.runStatus > RunStatus.Wait)
                {
                    if (btnStart.Enabled)
                    {
                        FormStatus(true);
                    }
                }
                else
                {
                    if (!btnStart.Enabled)
                    {
                        FormStatus(false);
                    }
                }
                lblThisSta.Text = inputEquip.WarnMsg;
                lblMoveInfo.Text = inputEquip.GetMoveStr();
                if (inputEquip.runStatus.Equals(RunStatus.Runing) && inputEquip.MoveInfo.MoveType.Equals(MoveType.None))
                {
                    groupBox12.Enabled = true;
                }
                else
                {
                    groupBox12.Enabled = false;
                }

                if (inputEquip.IsNoReelAlarm() && (!inputEquip.ClampEmptyMove))
                {
                    btnHlhasReel.Visible = true;
                }
                else
                {
                    btnHlhasReel.Visible = false;
                }
                string text = "";

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

        }

        private void FrmTest_FormClosing(object sender, FormClosingEventArgs e)
        {
            // KNDAIManager.NeedShow = false;
            try
            {
                if (this.timer1.Enabled)
                {
                    this.timer1.Enabled = false;
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.StackTrace, "Exception(异常)", MessageBoxButtons.OK, MessageBoxIcon.Error);
                LogUtil.error("", ex);
            }
        }
        private void btnOpenDo_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.HIGH);
        }
        private void btnWriteSingleDO_Click(object sender, EventArgs e)
        {
            WriteDO(IO_VALUE.LOW);
        }
        private void WriteDO(IO_VALUE value)
        {
            string deviceName = txtDoName.Text;
            int index = FormUtil.GetIntValue(txtDOIndex);
            //   IO_VALUE value = checkBox1.Checked ? IO_VALUE.HIGH : IO_VALUE.LOW;
            int time = FormUtil.GetIntValue(txtWriteTime);
            int slaveId = FormUtil.GetIntValue(txtSlaveId);
            if (time > 0)
            {
                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value, time);
            }
            else
            {
                IOManager.instance.WriteSingleDO(deviceName, (byte)slaveId, (ushort)index, (IO_VALUE)value);
            }
        }

        private ConfigIO GetSelectDO()
        {
            string text = cmbWriteIO.SelectedValue.ToString();
            string newType = text.Replace("SW1_", "SW_").Replace("SW2_", "SW_").Replace("SW3_", "SW_").Replace("SW4_", "SW_");
            if (inputEquip.Config.DOList.ContainsKey(newType))
            {
                ConfigIO io = inputEquip.Config.DOList[newType];
                return io;
            }
            return null;
        }
        IOTextControl selectControl = null;
        private void cmbWriteIO_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbWriteIO.SelectedIndex >= 0)
            {
                ConfigIO io = GetSelectDO();
                if (io != null)
                {
                    // txtIp.Text = io.DeviceName;
                    txtDOIndex.Text = io.GetIOAddr().ToString();
                    txtDoName.Text = io.IO_IP;
                    txtSlaveId.Text = io.SlaveID.ToString();
                    lblAddr.Text = txtDoName.Text + "_" + txtDOIndex.Text;
                    IOTextControl newControl = DOControlList[io.ProName];
                    if (selectControl != null) { selectControl.BackColor = Color.White; }
                    newControl.BackColor = Color.SkyBlue;
                    selectControl = newControl;
                    //txtIOInfo.Text = "IP：" + io.DeviceName + "  /" + io.GetIOAddr().ToString();
                }
            }
        }


        private void FrmInputEquip_Load(object sender, EventArgs e)
        {
            cmbInstoreShelf.SelectedIndex = 0;
            cmbInstoreTargetP.SelectedIndex = 0;
            cmbOutStartP.SelectedIndex = 0;
            cmbOutShelf.SelectedIndex = 0;
            LoadPosList(cmbInstorePos, 0);
            LoadPosList(cmbOutstorePos, 0);

            chbDebug.Checked = inputEquip.IsDebug;
            chbMoveStop.Checked = inputEquip.MoveStop;
            if (inputEquip.ClampJaw == null)
            {
                clampJawControl1.Visible = false;
                btnClampRelax.Visible = true;
                btnClampWork.Visible = true;
            }
            else
            {
                clampJawControl1.Visible = true;
                btnClampRelax.Visible = false;
                btnClampWork.Visible = false;
                clampJawControl1.clampJaw = inputEquip.ClampJaw;
                clampJawControl1.ShowData();
            }

            axisMoveControl1.LoadData(inputEquip, new AxisBean[] { inputEquip.MiddleAxis, inputEquip.UpdownAxis });
            FrmBatchMove frmMove1 = new FrmBatchMove(inputEquip.BatchMove_A);
            AddForm(tabControl1, "    " + inputEquip.BatchMove_A.Name + "    ", frmMove1);

            FrmBatchMove frmMove2 = new FrmBatchMove(inputEquip.BatchMove_B);
            AddForm(tabControl1, "    " + inputEquip.BatchMove_B.Name + "    ", frmMove2);
            PointEditEnable(false);
            checkBox1.Checked = inputEquip.AutoInput;
            LoadPoint();
            IsLoad = true;
        }
        private void LoadPoint()
        {
            InputEquip_Config config = inputEquip.Config;
            mideleAxisP1.SetMoveData(inputEquip.MiddleAxis, config.Middle_P1_Speed, config.Middle_P1);
            mideleAxisP2.SetMoveData(inputEquip.MiddleAxis, config.Middle_P2_Speed, config.Middle_P2_ATake);
            mideleAxisP3.SetMoveData(inputEquip.MiddleAxis, config.Middle_P3_Speed, config.Middle_P3_BTake);
            mideleAxisP4.SetMoveData(inputEquip.MiddleAxis, config.Middle_P4_Speed, config.Middle_P4_AUpper);
            mideleAxisP5.SetMoveData(inputEquip.MiddleAxis, config.Middle_P5_Speed, config.Middle_P5_BUpper);
            mideleAxisP6.SetMoveData(inputEquip.MiddleAxis, config.Middle_P6_Speed, config.Middle_P6_NG);
            mideleAxisP7.SetMoveData(inputEquip.MiddleAxis, config.Middle_P7_Speed, config.Middle_P7_AUnder);
            mideleAxisP8.SetMoveData(inputEquip.MiddleAxis, config.Middle_P8_Speed, config.Middle_P8_BUnder);

            updownAxisP1.SetMoveData(inputEquip.UpdownAxis, config.Updown_P1_Speed, config.Updown_P1);
            updownAxisP2.SetMoveData(inputEquip.UpdownAxis, config.Updown_P2_Speed, config.Updown_P2_ATake);
            updownAxisP3.SetMoveData(inputEquip.UpdownAxis, config.Updown_P3_Speed, config.Updown_P3_BTake);
            updownAxisP4.SetMoveData(inputEquip.UpdownAxis, config.Updown_P4_Speed, config.Updown_P4_AUpperH);
            updownAxisP5.SetMoveData(inputEquip.UpdownAxis, config.Updown_P5_Speed, config.Updown_P5_AUpperL);
            updownAxisP6.SetMoveData(inputEquip.UpdownAxis, config.Updown_P6_Speed, config.Updown_P6_AUnderH);
            updownAxisP7.SetMoveData(inputEquip.UpdownAxis, config.Updown_P7_Speed, config.Updown_P7_AUnderL);
            updownAxisP8.SetMoveData(inputEquip.UpdownAxis, config.Updown_P8_Speed, config.Updown_P8_NGH);
            updownAxisP9.SetMoveData(inputEquip.UpdownAxis, config.Updown_P9_Speed, config.Updown_P9_NGL);
            updownAxisP10.SetMoveData(inputEquip.UpdownAxis, config.Updown_P10_Speed, config.Updown_P10_BUpperH);
            updownAxisP11.SetMoveData(inputEquip.UpdownAxis, config.Updown_P11_Speed, config.Updown_P11_BUpperL);
            updownAxisP12.SetMoveData(inputEquip.UpdownAxis, config.Updown_P12_Speed, config.Updown_P12_BUnderH);
            updownAxisP13.SetMoveData(inputEquip.UpdownAxis, config.Updown_P13_Speed, config.Updown_P13_BUnderL);

        }
        protected void AddForm(TabControl tabcon, string text, Form form)
        {
            //text = text.PadRight(10, ' ');
            TabPage lineTabPage = new TabPage(text);
            // lineTabPage.AutoScroll = true;
            //   lineTabPage.Tag = StoreBean;
            Panel linePan = new Panel();
            linePan.Dock = DockStyle.Fill;
            linePan.AutoScroll = true;
            lineTabPage.Controls.Add(linePan);
            form.FormBorderStyle = FormBorderStyle.None;
            form.TopLevel = false;
            linePan.Controls.Add(form);
            form.Dock = DockStyle.Fill;
            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Show();
            //tabPageList.Add(lineTabPage);
            tabcon.Controls.Add(lineTabPage);
        }
        private void cmbWriteIO_DrawItem(object sender, DrawItemEventArgs e)
        {
            if (e.Index < 0)
            {
                return;
            }
            e.DrawBackground();
            e.DrawFocusRectangle();
            if (cmbWriteIO.Items.Count > e.Index)
            {
                ConfigIO io = (ConfigIO)cmbWriteIO.Items[e.Index];
                e.Graphics.DrawString(io.DisplayStr, e.Font, new SolidBrush(e.ForeColor), e.Bounds.X, e.Bounds.Y + 3);
            }
        }

        private void btnReadIO_Click(object sender, EventArgs e)
        {
            ReadIOList();
        }

        private void FrmIOStatus_Shown(object sender, EventArgs e)
        {

            timer1.Start();
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            if (inputEquip.runStatus.Equals(RunStatus.Wait))
            {
                LogUtil.info(inputEquip.Name + "点击：启用调试");
                StartDebug();
            }
            else
            {
                LogUtil.info(inputEquip.Name + "点击：复位");
                Reset();
            }
        }
        internal void FormStatus(bool isStart)
        {
            //btnStart.Enabled = !isStart;
            btnStop.Enabled = true;
            if (isStart)
            {
                btnStart.Text = "复位";
            }
            else
            {
                btnStart.Text = "启动调试";
            }
            //btnReset.Enabled = isStart; 
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.Name + "点击：停止");
            StopRun();
        }

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

            if (chbDebug.Checked)
            {
                if (!inputEquip.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))
                    {
                        inputEquip.IsDebug = true;
                        inputEquip.Config.IsDebug = 1;
                        StoreManager.SaveInputEquipConfig(inputEquip.Config);
                        inputEquip.ChangeDebug(true);
                        LogUtil.info(inputEquip.Name + "用户切换到调试状态 ");
                    }
                }
            }
            else
            {
                if (inputEquip.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))
                    {
                        inputEquip.IsDebug = false;
                        inputEquip.Config.IsDebug = 0;
                        StoreManager.SaveInputEquipConfig(inputEquip.Config);
                        inputEquip.ChangeDebug(false);
                        LogUtil.info(inputEquip.Name + "用户切换到正常工作状态 ");
                    }
                }
            }
        }

        private void btnCloseAll_Click(object sender, EventArgs e)
        {
            foreach (Control con in groupDO.Controls)
            {
                if (con is Button)
                {
                    con.BackColor = BackColor = Color.White;
                }
            }
            foreach (ConfigIO io in inputEquip.baseConfig.DOList.Values)
            {
                IOManager.instance.WriteSingleDO(io.IO_IP, io.SlaveID, io.GetIOAddr(), IO_VALUE.LOW);
            }
        }


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

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

        private void Shelf_StopUp_A_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_A.Name + "点击：" + Shelf_StopUp_A.Text);
            inputEquip.BatchMove_A.StopUp();
        }

        private void Shelf_StopDown_A_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_A.Name + "点击：" + Shelf_StopDown_A.Text);
            inputEquip.BatchMove_A.StopDown();
        }

        private void LineStart_A_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_A.Name + "点击：" + LineStart_A.Text);
            inputEquip.BatchMove_A.LineRun();
        }

        private void LineBack_A_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_A.Name + "点击：" + LineBack_A.Text);
            inputEquip.BatchMove_A.LineBack();
        }

        private void LineStop_A_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_A.Name + "点击：" + LineStop_A.Text);
            inputEquip.BatchMove_A.LineStop();
        }


        private void Shelf_StopUp_B_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_B.Name + "点击：" + Shelf_StopUp_B.Text);
            inputEquip.BatchMove_B.StopUp();
        }

        private void Shelf_StopDown_B_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_B.Name + "点击：" + Shelf_StopDown_B.Text);
            inputEquip.BatchMove_B.StopDown();
        }

        private void LineStart_B_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_B.Name + "点击：" + LineStart_B.Text);
            inputEquip.BatchMove_B.LineRun();
        }

        private void LineBack_B_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_B.Name + "点击：" + LineBack_B.Text);
            inputEquip.BatchMove_B.LineBack();
        }

        private void LineStop_B_Click(object sender, EventArgs e)
        {
            LogUtil.info(inputEquip.BatchMove_B.Name + "点击：" + LineStop_B.Text);
            inputEquip.BatchMove_B.LineStop();
        }


        private void btnSave_Click(object sender, EventArgs e)
        {
            inputEquip.Config.Updown_P1 = updownAxisP1.PointValue;
            inputEquip.Config.Updown_P2_ATake = updownAxisP2.PointValue;
            inputEquip.Config.Updown_P3_BTake = updownAxisP3.PointValue;
            inputEquip.Config.Updown_P4_AUpperH = updownAxisP4.PointValue;
            inputEquip.Config.Updown_P5_AUpperL = updownAxisP5.PointValue;
            inputEquip.Config.Updown_P6_AUnderH = updownAxisP6.PointValue;
            inputEquip.Config.Updown_P7_AUnderL = updownAxisP7.PointValue;
            inputEquip.Config.Updown_P8_NGH = updownAxisP8.PointValue;
            inputEquip.Config.Updown_P9_NGL = updownAxisP9.PointValue;
            inputEquip.Config.Updown_P10_BUpperH = updownAxisP10.PointValue;
            inputEquip.Config.Updown_P11_BUpperL = updownAxisP11.PointValue;
            inputEquip.Config.Updown_P12_BUnderH = updownAxisP12.PointValue;
            inputEquip.Config.Updown_P13_BUnderL = updownAxisP13.PointValue;

            inputEquip.Config.Middle_P1 = mideleAxisP1.PointValue;
            inputEquip.Config.Middle_P2_ATake = mideleAxisP2.PointValue;
            inputEquip.Config.Middle_P3_BTake = mideleAxisP3.PointValue;
            inputEquip.Config.Middle_P4_AUpper = mideleAxisP4.PointValue;
            inputEquip.Config.Middle_P5_BUpper = mideleAxisP5.PointValue;
            inputEquip.Config.Middle_P6_NG = mideleAxisP6.PointValue;
            inputEquip.Config.Middle_P7_AUnder = mideleAxisP7.PointValue;
            inputEquip.Config.Middle_P8_BUnder = mideleAxisP8.PointValue;

            StoreManager.SaveInputEquipConfig(inputEquip.Config);
            MessageBox.Show("保存成功");

        }

        private void panel1_Paint(object sender, PaintEventArgs e)
        {

        }
        private void PointEditEnable(bool enable)
        {
            groupBox2.Enabled = enable;
            groupBox5.Enabled = enable;
            groupBox7.Enabled = enable;
            groupBox8.Enabled = enable;
            groupBox9.Enabled = enable;
            groupBox10.Enabled = enable;
            groupBox11.Enabled = enable;
            axisMoveControl1.Enabled= enable;
        }
        private void btnPointEditEnable_Click(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            FrmPwd fw = new FrmPwd(10);
            DialogResult result = fw.ShowDialog();
            if (!result.Equals(DialogResult.OK))
            {
                LogUtil.info("打开入料机构点位调试时，没有正确输入密码");
                return;
            }
            PointEditEnable(true);
        }
        internal void FrmInputEquip_VisibleChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
        }

        private void tabControl1_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            PointEditEnable(false);
        }

        private void BtnInStoreTest_Click(object sender, EventArgs e)
        {
            int startShelf = cmbInstoreShelf.SelectedIndex + 1;
            string pos = cmbInstorePos.Text;
            if (String.IsNullOrEmpty(pos))
            {
                MessageBox.Show("请选择目标库位", "提示");
                return;
            }
            BoxPosition posiiton = CSVPositionReader<BoxPosition>.GetPositon(pos);
            InOutParam param = new InOutParam(new InOutPosInfo("InstoreTEST", pos, posiiton.BagHigh, posiiton.BagWidth));
            param.ShelfType = startShelf;
            LogUtil.info("点击 " + BtnInStoreTest.Text + " :料串[" + startShelf + "]->" + param.PosInfo.ToStr());
            inputEquip.StartInstore(param);
        }

        private void btnOutStoreTest_Click(object sender, EventArgs e)
        {
            int startShelf = cmbOutShelf.SelectedIndex + 1;
            string pos = cmbOutstorePos.Text;
            if (String.IsNullOrEmpty(pos))
            {
                MessageBox.Show("请选择目标库位", "提示");
                return;
            }
            BoxPosition posiiton = CSVPositionReader<BoxPosition>.GetPositon(pos);
            InOutParam param = new InOutParam(new InOutPosInfo("OutstoreTEST", pos, posiiton.BagHigh, posiiton.BagWidth));
            param.ShelfType = startShelf;
            LogUtil.info("点击 " + btnOutStoreTest.Text + " :" + param.PosInfo.ToStr() + "->料串[" + startShelf + "]");
            inputEquip.StartOutstore(param);
        }

        private void cmbInstoreTargetP_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            LoadPosList(cmbInstorePos, cmbInstoreTargetP.SelectedIndex);
        }

        private void cmbOutShelf_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }
            LoadPosList(cmbOutstorePos, cmbOutStartP.SelectedIndex);
        }

        private void LoadPosList(ComboBox cmb, int pIndex)
        {
            List<string> allList = StoreManager.XLRStore.boxEquip.PositionNumList;
            List<string> positions = new List<string>();
            if (pIndex.Equals(0))
            {
                positions = (from m in StoreManager.XLRStore.boxEquip.PositionNumList where m.Contains("AA") select m).ToList<string>();
            }
            else if (pIndex.Equals(1))
            {
                positions = (from m in StoreManager.XLRStore.boxEquip.PositionNumList where m.Contains("BB") select m).ToList<string>();
            }
            cmb.DataSource = null;
            cmb.Items.Clear();
            cmb.DataSource = positions;
            if (positions.Count > 0)
            {
                cmb.SelectedIndex = 0;
            }
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            if (!IsLoad)
            {
                return;
            }

            if (checkBox1.Checked)
            {
                if (!inputEquip.AutoInput)
                {
                    DialogResult result = MessageBox.Show("检测到料串自动入库？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        checkBox1.Checked = true;
                        inputEquip.AutoInput = true;
                        ConfigAppSettings.SaveValue(Setting_Init.AutoInput, 1);
                        LogUtil.info(inputEquip.Name + "检测到料串自动入库= " + checkBox1.Checked);
                    }
                }
            }
            else
            {
                if (inputEquip.AutoInput)
                {
                    DialogResult result = MessageBox.Show("关闭检测到料串自动入库？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        checkBox1.Checked = false;
                        inputEquip.AutoInput = false;
                        ConfigAppSettings.SaveValue(Setting_Init.AutoInput, 0);
                        LogUtil.info(inputEquip.Name + "检测到料串自动入库= " + checkBox1.Checked);
                    }
                }
            }
        }

        private void btnClampWork_Click(object sender, EventArgs e)
        {
            inputEquip.ClampWork(null, false);
        }

        private void btnClampRelax_Click(object sender, EventArgs e)
        {
            inputEquip.ClampRelax(null);
        }

        #region 夹爪循环测试
        Thread thread;
        private void btnClampJawStart_Click(object sender, EventArgs e)
        {
            if(inputEquip.ClampJaw.IsMoving())
            {
                MessageBox.Show("夹爪正在运行，稍后再开始！");
                return;
            }
            enable = true;
            cnt = 0;
            thread = new Thread(ClampJawCycleTest);
            thread.IsBackground = true;
            thread.Start();
            MessageBox.Show("夹爪循环测试开始！");
            MessageBox.Show("夹爪循环测试开始！");
        }
        private void btnClampJawStop_Click(object sender, EventArgs e)
        {
            enable = false;
            LogUtil.info($"夹爪循环测试结束！");
            MessageBox.Show("夹爪循环测试结束！");
        }
        bool enable = false;
        int cnt = 0;
        private void ClampJawCycleTest()
        {
            while (enable)
            {
                inputEquip.ClampJaw.Relax();
                while (!inputEquip.ClampJaw.IsReached())
                {
                    Thread.Sleep(300);
                }
                inputEquip.ClampJaw.Push();
                while (!inputEquip.ClampJaw.IsReached())
                {
                    Thread.Sleep(300);
                }
                cnt++;
                LogUtil.info($"夹爪释放夹紧{cnt}次");
                Thread.Sleep(8000);
            }

        }

        #endregion


    }

}