using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Drawing;
using System.Data;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;
using OnlineStore.Common;
using System.Threading;
using OnlineStore.LoadCSVLibrary;
using HuichuanLibrary;
using OnlineStore;
using System.Security.Permissions;

namespace DeviceLibrary
{
    public partial class AxisMoveControl : UserControl
    {
        public bool IsHuiChuan = true;
        private List<AxisBean> axisList;
        //private IRobot boxBean = null;
        private string PortName = "";
        private short SlvAddr = 0;
        AxisBean currentAxis;
        public AxisMoveControl()
        {
            InitializeComponent();
            crc.OpenResourceLog = true;
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            crc.CurrLanguage = Setting_Init.Device_Default_Language;
        }

        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            crc.LanguageProcess(this);
        }

        public void LoadData(List<AxisBean> axisList, bool isHc = true)
        {
            //this.boxBean = equipBase;
            this.axisList = axisList;
            //axisList = new List<ConfigMoveAxis>(equipBase.Config.moveAxisList);

            if (axisList.Count > 0)
            {
                cmbAxis.Items.Clear();
                foreach (var a in axisList)
                {
                    cmbAxis.Items.Add(crc.GetString(a.Config.ProName,a.Config.Explain));
                }
                cmbAxis.SelectedIndex = 0;
                currentAxis = axisList[0];
                PortName = axisList[0].Config.DeviceName;
                SlvAddr = axisList[0].Config.GetAxisValue();
                txtAxisDeviceName.Text = PortName;
                txtAxisValue.Text = SlvAddr.ToString();
            }
            btnAddMove.BackColor = Color.White;
            btnDelMove.BackColor = Color.White;
            this.IsHuiChuan = isHc;
            if (IsHuiChuan)
            {
                groupBox1.Visible = false;
                groupBox2.Visible = true;
                timer1.Start();
            }
            else
            {
                groupBox1.Visible = true;
                groupBox2.Visible = false;
            }
            crc.LanguageProcess(this);
        }


        private bool CanMove()
        {
            if (axis == null)
            {
                MessageBox.Show("请先选择运动轴", "警告 ", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return false;
            }

                return true;
        }
        private void btnOpenAxis_Click(object sender, EventArgs e)
        {
            //timer1.Start();
            LogUtil.info(""+"点击【打开伺服】，【" + PortName + "_" + SlvAddr + "】 "); 
            AxisManager.ServoOn(PortName, SlvAddr);
        }

        private void btnCloseAxis_Click(object sender, EventArgs e)
        {
            LogUtil.info(""+"点击【关闭伺服】，【" + PortName + "_" + SlvAddr + "】 ");
            AxisManager.ServoOff(PortName, SlvAddr); 
        }

        private void btnAxisAMove_Click(object sender, EventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed);
            if (!currentAxis.IsSafe(position,out string msg))
            {
                MessageBox.Show(msg);
                return;
            }

            LogUtil.info(""+"点击【绝对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
            var targetSpeed = speed;
            var AddSpeed = currentAxis.Config.AddSpeed > 0 ? currentAxis.Config.AddSpeed : targetSpeed * 4;
            var DelSpeed = currentAxis.Config.DelSpeed > 0 ? currentAxis.Config.DelSpeed : targetSpeed * 4;
            AxisManager.AbsMove(PortName, SlvAddr, position, speed, AddSpeed, DelSpeed);//,axis.AddSpeed,axis.DelSpeed);
        }

        private void btnAxisRMove_Click(object sender, EventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed);

            if (!currentAxis.IsSafe(currentAxis.GetAclPosition()+position, out string msg))
            {
                MessageBox.Show(msg);
                return;
            }

            LogUtil.info(""+"点击【相对运动】，【" + PortName + "_" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
            var targetSpeed = speed;
            var AddSpeed = currentAxis.Config.AddSpeed > 0 ? currentAxis.Config.AddSpeed : targetSpeed * 4;
            var DelSpeed = currentAxis.Config.DelSpeed > 0 ? currentAxis.Config.DelSpeed : targetSpeed * 4;
            AxisManager.RelMove(PortName, SlvAddr, position, speed, AddSpeed, DelSpeed);
        }

        private void btnAxisVMove_Click(object sender, EventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            int speed = FormUtil.GetIntValue(txtASpeed);
            //LogUtil.info(""+"点击【匀速运动】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】");
            //AxisManager.SpeedMove(PortName, SlvAddr, speed,acc,dec);
            
            var axis = axisList.Single(a => a.Config.IsSameAxis(PortName, SlvAddr));
            var targetSpeed = speed;
            var AddSpeed = axis.Config.AddSpeed > 0 ? axis.Config.AddSpeed : targetSpeed * 4;
            var DelSpeed = axis.Config.DelSpeed > 0 ? axis.Config.DelSpeed : targetSpeed * 4;
            LogUtil.info("" + "点击【匀速运动】，【" + PortName + "_" + SlvAddr + "】 速度【" + speed + "】" + $",AddSpeed:{AddSpeed}, DelSpeed:{DelSpeed}");
            AxisManager.SpeedMove(PortName, SlvAddr, speed, AddSpeed, DelSpeed);

        }
        private void btnAxisStop_Click(object sender, EventArgs e)
        {
            LogUtil.info(""+"点击【停止运动】，【" + PortName + "_" + SlvAddr + "】 ");
            AxisManager.SuddenStop(PortName, SlvAddr);
            if (btnAddMove.BackColor == Color.Green)
            {
                btnAddMove.BackColor = System.Drawing.SystemColors.Control;
            }
            if (btnDelMove.BackColor == Color.Green)
            {
                btnDelMove.BackColor = System.Drawing.SystemColors.Control;
            }
           // btnReadPosition_Click(null, null);
        }

        private void btnComAlarmClear_Click(object sender, EventArgs e)
        {
            LogUtil.info(""+"点击【清理报警】，【" + PortName + "_" + SlvAddr + "】 ");
            AxisManager.AlarmClear(PortName, SlvAddr);
            Thread.Sleep(100);
            AxisManager.ServoOn(PortName, SlvAddr);
        }

        private void btnAxisReturnHome_Click(object sender, EventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            
            LogUtil.info("" + "点击【原点返回】，【" + PortName + "_" + SlvAddr + "】 速度【" + currentAxis.Config.HomeHighSpeed + "】");

            var HomeLowSpeed = currentAxis.Config.HomeLowSpeed > 0 ? currentAxis.Config.HomeLowSpeed : currentAxis.Config.HomeHighSpeed / 10;
            var HomeAddSpeed = currentAxis.Config.HomeAddSpeed > 0 ? currentAxis.Config.HomeAddSpeed : currentAxis.Config.HomeHighSpeed * 5;

            AxisManager.HomeMove(PortName, SlvAddr, currentAxis.Config.HomeHighSpeed, HomeLowSpeed, HomeAddSpeed);
        }

        private void btnGetAlarm_Click(object sender, EventArgs e)
        {
            this.txtAlarmStatus.Text = AxisManager.GetAlarmStatus(PortName, SlvAddr).ToString();
            this.txtBusyStatus.Text = AxisManager.GetBusyStatus(PortName, SlvAddr).ToString();
            //this.txtStb.Text = AxisManager.instance.GetSTBState(PortName, SlvAddr).ToString();
            this.txtHomeStatus.Text = AxisManager.GetHomeEndStatus(PortName, SlvAddr).ToString();
            this.txtHomeSingle.Text = AxisManager.GetHomeSingle(PortName, SlvAddr).ToString();
            this.txtLimit1.Text = AxisManager.GetLimitPositiveSingle(PortName, SlvAddr).ToString();
            this.txtLimit2.Text = AxisManager.GetLimitNegativeSingle(PortName, SlvAddr).ToString();
            txtServoStatue.Text = AxisManager.IsServeoOn(PortName, SlvAddr) ? "✔" : "✘";
        }


        private void btnReadPosition_Click(object sender, EventArgs e)
        {
            lblCountPulse.Text = AxisManager.GetActualtPosition(PortName, SlvAddr).ToString();
        }

        private ConfigMoveAxis axis = null;
        private List<Color> colorsList = new List<Color>();
        private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbAxis.SelectedIndex >= 0)
            {
                currentAxis = axisList[cmbAxis.SelectedIndex];
                axis = axisList[cmbAxis.SelectedIndex].Config;
                PortName = axis.DeviceName;
                SlvAddr = axis.GetAxisValue();
                txtAxisDeviceName.Text = PortName;
                txtAxisValue.Text = SlvAddr.ToString();
                Color color = Color.Black;

                int targetSpeed = axis.TargetSpeed;
                comjSpeed.Items.Clear();
                for (int i = 1; i <= 10; i++)
                {
                    comjSpeed.Items.Add(targetSpeed * i / 10);
                }
                comjSpeed.SelectedIndex = 4;
                //btnAddMove.Text = "点动+ ";
                //btnDelMove.Text = "点动- ";
                txtASpeed.Text = targetSpeed.ToString();
                int SelIndex = cmbAxis.SelectedIndex;

                if (colorsList.Count <= 0)
                {
                    colorsList.Add(Color.Blue);
                    colorsList.Add(Color.Red);
                    colorsList.Add(Color.Green);
                    colorsList.Add(System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(0)))), ((int)(((byte)(192))))));
                    colorsList.Add(System.Drawing.Color.FromArgb(((int)(((byte)(255)))), ((int)(((byte)(128)))), ((int)(((byte)(0))))));
                    colorsList.Add(Color.BlueViolet);
                    colorsList.Add(Color.Firebrick);
                    colorsList.Add(Color.Coral);
                }
                color = colorsList[SelIndex];

                btnOpenAxis.ForeColor = color;
                btnCloseAxis.ForeColor = color;
                btnAxisAMove.ForeColor = color;
                btnAxisRMove.ForeColor = color;
                btnAxisVMove.ForeColor = color;
                btnAxisReturnHome.ForeColor = color;
                btnAxisStop.ForeColor = color;
                btnComAlarmClear.ForeColor = color;
                //btnReadPosition.ForeColor = color;
                btnGetAlarm.ForeColor = color;
                btnAddMove.ForeColor = color;
                btnDelMove.ForeColor = color;

                this.txtAlarmStatus.Text = "";
                this.txtBusyStatus.Text = "";
                this.txtHomeStatus.Text = "";
                this.txtHomeSingle.Text = "";
                this.txtLimit1.Text = "";
                this.txtLimit2.Text = "";
                txtServoStatue.Text = "";
            }
        }
        private void AxisMove(int speed)
        {
            LogUtil.info("" + "【" + PortName + "_" + SlvAddr + "】点动： 速度：" + speed );
            AxisManager.SpeedMove(PortName, SlvAddr, speed, 0, 0);
        }
        private void btnAddMove_MouseDown(object sender, MouseEventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            if (btnAddMove.BackColor.Equals(Color.White))
            {
                int speed = Convert.ToInt32(comjSpeed.Text);
                if (speed <= 0)
                {
                    MessageBox.Show("提示", "请先输入正确的速度");
                    return;
                }
                btnAddMove.BackColor = Color.Green;
                AxisMove(speed);
            }
        }

        private void btnAddMove_MouseUp(object sender, MouseEventArgs e)
        {
            if (btnAddMove.BackColor == Color.Green)
            {
                btnAddMove.BackColor = Color.White;
                AxisManager.SuddenStop(PortName, SlvAddr);
                //btnReadPosition_Click(null, null);
            }
        }

        private void btnDelMove_MouseDown(object sender, MouseEventArgs e)
        {
            if (!CanMove())
            {
                return;
            }
            if (btnDelMove.BackColor.Equals(Color.White))
            {
                int speed = Convert.ToInt32(comjSpeed.Text);
                if (speed <= 0)
                {
                    MessageBox.Show("提示", "请先输入正确的速度");
                    return;
                }
                btnDelMove.BackColor = Color.Green;
                AxisMove(-speed);
            }
        }

        private void btnDelMove_MouseUp(object sender, MouseEventArgs e)
        {
            if (btnDelMove.BackColor == Color.Green)
            {
                btnDelMove.BackColor = Color.White;
                AxisManager.SuddenStop(PortName, SlvAddr);
                //btnReadPosition_Click(null, null);
            }
        }

        private void linkLabel1_LinkClicked(object sender, LinkLabelLinkClickedEventArgs e)
        {
            Clipboard.SetDataObject(lblCountPulse.Text, true);
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            LogUtil.OutputDebugString($"timer1_Tick:{this.Visible}");
            if (this.Visible)
            {
                ReadAxisStatus();
            }
        }
        private void ReadAxisStatus()
        {
            groupBox2.Text = cmbAxis.Text + "-"+crc.GetString(L.AxisMoveControl_status_monitor, "状态监控");
            //【1】更新轴号
            short axisNo = SlvAddr;
            if (axisNo < 0)
            {
                return;
            }
            short modeValue = HCBoardManager.GetAxisPrfMode(axisNo);

            if (modeValue < 0)
            {
                return;
            }
            else
            {
                string mode = HCBoardManager.AxisPrfMode(modeValue);
                if (crc.CurrLanguage == "zh-CN")
                    lblAxisPrfMode.Text = mode;
                else
                    lblAxisPrfMode.Text = modeValue.ToString();
            }


            //【2】读取轴状态，如果读取出错将关闭此定时器
            AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
            if (sts.ServoOn < 0)
            {
                return;
            }
            //【3】更新界面显示
            ShowlbSts(lblALM, sts.ALM,true);  //报警信号
            ShowlbSts(lblWARN, sts.WARN);  //警告信号
            ShowlbSts(lblEMG, sts.EMG);//急停信号
            ShowlbSts(lblSvOn, sts.ServoOn); //使能信号
            ShowlbSts(lblBUSY, sts.BUSY);  //轴忙信号
            ShowlbSts(lblINP, sts.INP); //轴到位信号 
            if (sts.ORG < 0)
            {
                return;
            }
            ShowlbSts(lblPEL, sts.PEL); //正限位信号 
            ShowlbSts(lblORG, sts.ORG); //原点信号 
            ShowlbSts(lblNEL, sts.NEL); //负限位信号  

            //label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]);   //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
            lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
            lblAxPrfVel.Text = HCBoardManager.GetAxisPrfVel(axisNo).ToString();
            //label62.Text = nTimerAxPrfAcc[0].ToString();
            lblAxEncPos.Text = HCBoardManager.GetAxisCurrPos(axisNo).ToString();
            lblAxEncVel.Text = HCBoardManager.GetAxisCurrVel(axisNo).ToString();
            lblAxEncAcc.Text = HCBoardManager.GetAxisCurrAcc(axisNo).ToString();
            //label65.Text = nTimerAxEncAcc[0].ToString();

            short value = HCBoardManager.GetHomeStatus(axisNo);
            string homesstr = HCBoardManager.AxisHomeSts(value);
            if (crc.CurrLanguage == "zh-CN")
                lblhomeSts.Text = homesstr;
            else
                lblhomeSts.Text =  value.ToString();
            btnReadPosition_Click(null, null);
        }
        private void ShowlbSts(Label lbl, int value,bool isAlarm=false )
        {
            if (value.Equals(1))
            {
                if (isAlarm)
                {

                    lbl.BackColor = Color.Red   ;
                    lblAlarmcode.Visible = true;
                    lblAlarmcode.ForeColor = Color.Red;
                    var err = HCBoardManager.GetAxisErrorDetail(SlvAddr);
                    lblAlarmcode.Text = "错误码：" + err[0]+" "+ err[1];
                }
                else
                {
                    lbl.BackColor = Color.Lime;
                }
            }
            else if (value.Equals(0))
            {
                lbl.BackColor = Color.LightGray;
                if (isAlarm)
                {
                    lblAlarmcode.Visible = false ;
                }
            }
            else
            {
                lbl.BackColor = this.BackColor;
            }
        }
        
    }
}