using CodeLibrary;
using DeviceLibrary;
using OnlineStore;
using OnlineStore.Common;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections.Generic; 
using System.Drawing;
using System.IO;
using System.Linq;
using System.Runtime.ExceptionServices;
using System.Runtime.Serialization.Formatters.Binary; 
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace TheMachine
{
    public partial class FormMain : Form
    {
        public FormMain()
        {
            crc.OpenResourceLog = true;
            InitializeComponent();
            this.FormClosing += Form1_FormClosing;
            this.Text = Setting_Init.App_Title +" "+ Setting_Init.Device_CID;
            crc.GetLanguageEvent += Crc_GetLanguageEvent;
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            crc.CurrLanguage = Crc_GetLanguageEvent();
            t1.Interval = 1000;
            t1.Tick += T1_Tick;
            t1.Start();
            GC.KeepAlive(t1);
        }

        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            if (tabc.TabCount > tabpagecount)
                addTablePage();


            LanguageProcess();
        }

        private string Crc_GetLanguageEvent()
        {
            return Setting_Init.Device_Default_Language;
        }

        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (e.CloseReason == CloseReason.UserClosing)
            {
                e.Cancel = true;
                this.WindowState = FormWindowState.Minimized;
                return;
            }
            LogUtil.info("系统强制退出应用 step1");
            btn_stop_Click(sender, EventArgs.Empty);
            Thread.Sleep(2000);
            LogUtil.info("系统强制退出应用 step2");
            Application.Exit();
            LogUtil.info("系统强制退出应用 step3");
        }

        LogControl lc = new LogControl();
        IOControls ioc = new IOControls();
        AxisControl ac = new AxisControl();
        uc_boxdebug bd = new uc_boxdebug();
        SettingControl sc = new SettingControl();

        readonly System.Windows.Forms.Timer t1 = new System.Windows.Forms.Timer();
        private void Form1_Load(object sender, EventArgs e)
        {   

            btn_run.Enabled = false;
            //btn_stop.Enabled = false;
            #region 报警信息listview初始化
            listView1.View = View.Details;
            AddHeader(listView1, "", 0);
            AddHeader(listView1, crc.GetString("Res0048", "时间"), 150);
            AddHeader(listView1, crc.GetString("Res0047", "信息"), listView1.Width-150-3);
            listView1.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            #region 状态信息listview初始化
            stateView.View = View.Details;
            AddHeader(stateView, "", 0);
            AddHeader(stateView, crc.GetString("Res0049", "模块"), 80);
            AddHeader(stateView, crc.GetString("Res0050", "步骤"), 130);
            AddHeader(stateView, crc.GetString("Res0047", "信息"), stateView.Width-80-130-3); 
            stateView.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion
            #region 物料信息显示列表
            listReelInfo.View = View.Details; 
            AddHeader(listReelInfo, "", 0);
            AddHeader(listReelInfo, "位置", 80);
            AddHeader(listReelInfo, "料盘信息", listReelInfo.Width-80-3);
            listReelInfo.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            LogUtil.info("开始初始化");
            AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
            RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
            
            RobotManage.UserPauseSet += RobotManage_UserPauseSet;

            //RobotManage.CameraA.camera_event += CameraA_camera_event;
            CodeManager.camera_event += CameraB_camera_event;
            var loadtask = Task.Run(() =>
            {
                RobotManage.Init();
            });

            ListViewItem lvi = new ListViewItem(new string[] { "", DateTime.Now.ToString(), crc.GetString(L.device_initializing, "设备加载中,请稍后...") });
            lvi.ForeColor = Color.DarkGreen;
            listView1.Items.Add(lvi);
            //while (!loadtask.IsCompleted) {
            //    Thread.Sleep(100);
            //    Application.DoEvents();
            //}
            pnl.Enabled = false;
            禁用蜂鸣器ToolStripMenuItem_Click(this, EventArgs.Empty);
        }

        private void AddHeader(ListView listView, string headerText,int width)
        {
            ColumnHeader header = new ColumnHeader();
            header.Text = headerText;
            header.Width = width;  
            listView.Columns.Add(header); 
        }

        //private void CameraA_camera_event(object sender, Bitmap e)
        //{
        //    this.Invoke((EventHandler<Bitmap>)delegate
        //    {
        //        pictureBox1.Visible = true;
        //        pictureBox1.Image = e;
        //    }, sender, e);
        //}
        private void CameraB_camera_event(object sender, Bitmap e)
        {
            this.Invoke((EventHandler<Bitmap>)delegate
            {
                return;
                pictureBox2.Visible = true;
                pictureBox2.Image = DeepClone(e);
            }, sender, e);
        }
        private void AlarmBuzzer_BuzzerStateChange(object sender, bool e)
        {
            this.Invoke((EventHandler<bool>)delegate {
                btn_PauseBuzzer.Visible = e;
            }, sender, e);
        }

        private void listView_ColumnWidthChanging(object sender, ColumnWidthChangingEventArgs e)
        {
            e.NewWidth = (sender as ListView).Columns[e.ColumnIndex].Width;
            e.Cancel = true;
        }
        const int tabpagecount = 4;
        void addTablePage() {
            AddForm("tab_io",crc.GetString(L.tab_io,"IO调试"), ioc);
            AddForm("tab_axis", crc.GetString(L.tab_axis, "伺服调试"), ac);
            AddForm("tab_store", crc.GetString(L.tab_store, "库位调试"), bd);
            AddForm("tab_setting", crc.GetString(L.tab_setting, "相关设置"), sc);
            crc.LanguageProcess(this);
        }

        private void T1_Tick(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine == null)
            {
                return;
            }
            SetState(MoveInfo.List);
            Dictionary<string, string> map = new Dictionary<string, string>();
            try
            {
                if (RobotManage.mainMachine.LoadOk)
                {
                    foreach (InReelBean bean in RobotManage.mainMachine.inReelBeans)
                    {
                        if (bean.CurrTray != null)
                        {
                            map.Add(bean.Name, bean.CurrTray.ToStr());
                        }
                    }

                    foreach (string key in RobotManage.mainMachine.NgPosMap.Keys)
                    {
                        ReelParam param = RobotManage.mainMachine.NgPosMap[key];
                        map.Add(key, param.ToStr());
                    }
                    ShowReelList(map);
                }
            }
            catch (Exception ex)
            {

            }

        }
        void SetState(List<MoveInfo> moveInfoList)
        {
            if (RobotManage.mainMachine == null)
                return;

            this.SuspendLayout();
            stateView.Items.Clear(); 
            foreach (MoveInfo moveInfo in moveInfoList)
            {
                if (moveInfo.Equals(RobotManage.mainMachine.ResetMoveInfo) && RobotManage.mainMachine.runStatus != RunStatus.HomeReset)
                {
                    continue;
                }
                else if (moveInfo.Equals(RobotManage.mainMachine.AIOTMoveInfo) && !RobotManage.mainMachine.AutoInOutTest)
                {
                    continue;
                }
                var stateinfo = moveInfo.GetStateStr();
                if (!RobotManage.isRunning)
                {
                    stateinfo = crc.GetString("Res0051", "未启动");
                }
                string name = moveInfo.Name;
                OutShelfBean bean = RobotManage.mainMachine.getOutShelf(name);
                if (bean != null && bean.CurrShelf != null)
                { 
                    stateinfo += "[" + bean.CurrShelf.ToStr() + "]["+bean.getAgvStatus()+"]";
                }
                else
                {
                    InReelBean inReelBean = RobotManage.mainMachine.getInReelBean(name);
                    if (inReelBean != null&& inReelBean.CurrTray!=null)
                    {
                        stateinfo += "[" + inReelBean.CurrTray.ToStr() + "]";
                    } 
                } 
                ListViewItem lvi = new ListViewItem(new string[] { "", name, moveInfo.MoveStep.ToString(), stateinfo });
                stateView.Items.Add(lvi);
            }
            this.ResumeLayout(true);

        }
        void ShowReelList(Dictionary<string, string> reelMap)
        {
            if (RobotManage.mainMachine == null)
                return;

            this.SuspendLayout();
            listReelInfo.Items.Clear();
            List<string> keys = new List<string>(reelMap.Keys);
            foreach (string key in keys)
            {
                ListViewItem lvi = new ListViewItem(new string[] { "", key, reelMap[key] });
                listReelInfo.Items.Add(lvi);
            }
            this.ResumeLayout(true);

        }
        private void AddForm(string id, string text, UserControl form)
        {
            foreach (TabPage tp in tabc.TabPages)
            {
                if (tp.Name == id)
                {
                    tp.Text = text;
                    return;
                }
            }

            TabPage lineTabPage = new TabPage(text);
            lineTabPage.Name = id;
            Panel linePan = new Panel();
            linePan.Dock = DockStyle.Fill;
            linePan.AutoScroll = true;
            lineTabPage.Controls.Add(linePan);
            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();
            tabc.TabPages.Add(lineTabPage);
        }

        private void 启用调试模式ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!RobotManage.IsConfigMode && !FrmPassCheck.CheckPassword())
                return;


            RobotManage.IsConfigMode = RobotManage.IsConfigMode ? false : true;

            (sender as ToolStripMenuItem).Text = !RobotManage.IsConfigMode ? crc.GetString(L.enable_config_mode,"启用配置模式") : crc.GetString(L.disable_config_mode, "停用配置模式");
            

            if (RobotManage.IsConfigMode)
            {
                //RobotManage.Config = (Robot_Config)CSVConfigReader.LoadConfig(RobotManage.Config);
                addTablePage();
                RobotManage.LoadDebug();
            }
            else
            {
                var tc = tabc.TabPages.Count;
                for (int i = 1; i <=tabpagecount; i++)
                {
                    tabc.TabPages[tc-i].Parent = null;
                }
            }
        }

        public delegate void setmsgdelegate(List<Msg> msgs);
        private void MainMachine_ProcessMsgEvent(List<Msg> msgs)
        {
            if (msgs == null)
                return;
            try
            {
                var d = new setmsgdelegate(SetMsg);
                this.Invoke(d, msgs);
            }
            catch(Exception e) {
                LogUtil.info("MainMachine_ProcessMsgEvent:" + e.ToString());
            }
        }

        private void RobotManage_LoadFinishEvent(bool state, string msg)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler)delegate
                {
                    RobotManage_LoadFinishEvent(state, msg);
                });
                return;
            }
            启用调试模式ToolStripMenuItem.Enabled = true;
            pnl.Enabled = true;
            if (state)
            {
                
                //btn_stop.Enabled = true;
                if (!btn_run.Enabled)
                {
                    RobotManage.mainMachine.ProcessMsgEvent += MainMachine_ProcessMsgEvent;
                    RobotManage.mainMachine.ButtenEvent += MainMachine_ButtenEvent;
                }
                btn_run.Enabled = true;
            }

            ioc.Config = RobotManage.Config;
            bd.Config = RobotManage.Config;
            var lm = new List<Msg>();
            foreach (string ms in msg.Split(new char[] { '\n' },StringSplitOptions.RemoveEmptyEntries))
            {
                var m = new Msg();
                m.datetime = DateTime.Now;
                m.msgtxt = ms;
                m.msgLevel = state ? MsgLevel.info : MsgLevel.warning;
                lm.Add(m);
            }
            SetMsg(lm);

            //if (!RobotManage.isRunning)
            //{
            //    this.BeginInvoke((EventHandler)delegate { btn_run_Click(this, EventArgs.Empty); });
            //}
        }

        private void MainMachine_ButtenEvent(object sender, ErrInfo e)
        {
            LogUtil.info("UI " + e.ToString());
            if (e == ErrInfo.RunBtn  )
            //if (e == ErrInfo.RunBtn || e == ErrInfo.ResetBtn)
                {

                Task.Run(() => {
                    if (!RobotManage.isRunning)
                    {
                        LogUtil.info("Task.Run");
                        this.Invoke((EventHandler)delegate
                        {
                            LogUtil.info("Invoke((EventHandler)delegate");
                            btn_run_Click(this, EventArgs.Empty);
                        });
                    }
                });

            }
            else if (e == ErrInfo.SuddenStop)
            {
                Task.Run(() => {
                    if (RobotManage.isRunning)
                        this.Invoke((EventHandler)delegate
                        {
                            btn_stop_Click(this, EventArgs.Empty);
                        });
                });

            }
        }

        void SetMsg(List<Msg> msgs)
        {
            this.SuspendLayout();
            listView1.Items.Clear();
            msgs.Sort((a, b) =>
            {
                if (a.msgLevel == MsgLevel.alarm)
                    return -1;
                if (a.msgLevel != MsgLevel.info)
                    return -1;
                return 0;
            });
            foreach (Msg msg in msgs)
            {
                if (string.IsNullOrEmpty(msg.msgtxt) || msg.datetime==null)
                    continue;

                ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
                if (msg.msgLevel == MsgLevel.info)
                    lvi.ForeColor = Color.DarkGreen;
                else
                    lvi.ForeColor = Color.Red;
                listView1.Items.Add(lvi);
                
                if (msg.errInfo == ErrInfo.X09_BoxNotDetect)
                {
                    btn_IgnoreX09.Visible = true;
                }else if (msg.errInfo == ErrInfo.X09_Clear)
                {
                    btn_IgnoreX09.Visible = false;
                }
                
            }
            this.ResumeLayout(true);
        }
        bool userpause = false;


        private void btn_run_Click(object sender, EventArgs e)
        {
            LogUtil.info("btn_run_Click:"+sender+e.ToString());
            if (!RobotManage.isRunning)
            {
                RobotManage.Start();
                userpause = false;
                if (RobotManage.isRunning)
                {
                    btn_stop.Enabled = true;
                    RobotManage_UserPauseSet(this, false);
                    //(sender as Button).Text = "暂停运行";
                }
                LogUtil.info("用户按下启动");
            }
            else if (!userpause)
            {
                userpause = true;
                RobotManage.UserPause(userpause);
                LogUtil.info("用户按下暂停1");
            }
            else if (userpause)
            {
                userpause = false;
                RobotManage.UserPause(userpause);
                LogUtil.info("用户取消暂停2");
            }
        }
        private void RobotManage_UserPauseSet(object sender, bool e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler<bool>)delegate
                {
                    RobotManage_UserPauseSet(sender, e);
                }, sender, e);
                return;
            }
            
            if (e)
            {
                userpause = true;
                (btn_run).Text = crc.GetString(L.device_resume, "恢复运行");
                (btn_run).BackColor = Color.LightGreen;
            }
            else
            {
                userpause = false;
                btn_run.Text = crc.GetString(L.device_pause, "暂停运行");
                (btn_run).BackColor = Color.Yellow;
            }
            
        }
        private void btn_stop_Click(object sender, EventArgs e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler)delegate
                {
                    btn_stop_Click(sender, e);
                }, sender, e);
                return;
            }
            if (!btn_stop.Enabled)
                return;
            btn_stop.Enabled = false;
            RobotManage.UserPause(false);
            userpause = false;
            Task.Run(() => { RobotManage.Stop(); });
            btn_run.Text = crc.GetString(L.start, "启动");
            btn_run.BackColor = Color.Transparent;
        }

        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (RobotManage.isRunning) {
                MessageBox.Show(crc.GetString(L.device_isrunning_cant_exit, "机器尚在运行,不能退出,请先停止运行."));
            } else {
                RobotManage.Stop();
                RobotManage.ShutDown();
                Thread.Sleep(2000);
                Application.Exit();
            }
        }

        private void cb_IgnoreSafecheck_CheckedChanged(object sender, EventArgs e)
        {
            RobotManage.IgnoreSafecheck((sender as CheckBox).Checked);
        }

        private void cb_IgnoreGratingSignal_CheckedChanged(object sender, EventArgs e)
        {
            RobotManage.IgnoreGratingSignal((sender as CheckBox).Checked);
        }
        private void 关于ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            AboutBox1 aboutBox1 = new AboutBox1();
            aboutBox1.ShowDialog();
        }

        private void btn_PauseBuzzer_Click(object sender, EventArgs e)
        {
            AlarmBuzzer.MuteOnce();
        }

        private void pictureBox1_DoubleClick(object sender, EventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
            else
            {
                obj.BringToFront();
                obj.Dock = DockStyle.Fill;
            }
        }

        private void pictureBox1_MouseDown(object sender, MouseEventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
        }


        private void btn_IgnoreX09_Click(object sender, EventArgs e)
        {
            RobotManage.mainMachine.IgnoreX09();
            btn_IgnoreX09.Visible = false;
        }

        [HandleProcessCorruptedStateExceptions]
        public static T DeepClone<T>(T _object)
        {
            try
            {
                T dstobject;
                using (MemoryStream mStream = new MemoryStream())
                {
                    BinaryFormatter bf = new BinaryFormatter();
                    bf.Serialize(mStream, _object);
                    mStream.Seek(0, SeekOrigin.Begin);//指定当前流的位置为流的开头。
                    dstobject = (T)bf.Deserialize(mStream);
                    mStream.Close();
                }
                return dstobject;
            }
            catch (Exception e)
            {
                LogUtil.info("GetStringCenterA" + e.ToString());
                return default;
            }
        }

        private void Form1_Shown(object sender, EventArgs e)
        {
            LanguageProcess();
        }
        void LanguageProcess()
        {
            crc.LanguageProcess(this, this.GetType().Name);
            crc.ProcessListItem(menuStrip1.Items, "menuStrip1");

            listView1.Columns[1].Text = crc.GetString(L.table_datetime, "时间");
            listView1.Columns[2].Text = crc.GetString(L.table_info, "信息");

            stateView.Columns[1].Text = crc.GetString(L.table_module, "模块");
            stateView.Columns[2].Text = crc.GetString(L.table_step, "步骤");
            stateView.Columns[3].Text = crc.GetString(L.table_info, "信息");

            启用调试模式ToolStripMenuItem.Text = !RobotManage.IsConfigMode ? crc.GetString(L.enable_config_mode, "启用配置模式") : crc.GetString(L.disable_config_mode, "停用配置模式");
            
            btn_run.Text = crc.GetString(L.start, "启动");

            if (RobotManage.isRunning)
            {
                if (userpause)
                    (btn_run).Text = crc.GetString(L.device_resume, "恢复运行");
                else
                    (btn_run).Text = crc.GetString(L.device_pause, "暂停运行");
            }
        }

        private void 简体中文ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            Setting_Init.Device_Default_Language = "zh-CN";
            crc.LanguageChange();
        }

        private void 日本语ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            Setting_Init.Device_Default_Language = "ja-JP";
            crc.LanguageChange();
        }

        private void englishToolStripMenuItem_Click(object sender, EventArgs e)
        {
            Setting_Init.Device_Default_Language = "en-US";
            crc.LanguageChange();
        }

        private void 禁用蜂鸣器ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (e == EventArgs.Empty)
            {
                AlarmBuzzer.Enable = !Setting_Init.Device_EnableBuzzer;
            }
            AlarmBuzzer.Enable = !AlarmBuzzer.Enable;
            if (AlarmBuzzer.Enable)
            {
                禁用蜂鸣器ToolStripMenuItem.Text = crc.GetString("Res0052","禁用蜂鸣器");
            }
            else
                禁用蜂鸣器ToolStripMenuItem.Text = crc.GetString("Res0053","起用蜂鸣器");

            Setting_Init.Device_EnableBuzzer = AlarmBuzzer.Enable;
        }
        private void outSheftReset(string name)
        {
            //设备未复位
            if (RobotManage.mainMachine.runStatus.Equals(RunStatus.Stop))
            {
                MessageBox.Show("设备还未启动，无法复位", "提示");
                return;
            }
            
            OutShelfBean outShelf = RobotManage.mainMachine.getOutShelf(name);
            DialogResult result = MessageBox.Show("确定复位出料机构" + name + "?", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
            if (result.Equals(DialogResult.OK))
            {
                LogUtil.info("手动操作：" + name + "复位");
                outShelf.Reset();
            }
        }
        private void btnResetOut1_Click(object sender, EventArgs e)
        {
            outSheftReset("U1");
        }

        private void btnResetOut2_Click(object sender, EventArgs e)
        {
            outSheftReset("U2"); 
        }

        private void btnResetOut3_Click(object sender, EventArgs e)
        {
            outSheftReset("U3"); 
        }

        private void btnResetOut4_Click(object sender, EventArgs e)
        {
            outSheftReset("U4"); 
        }

        private void toolStripMenuItem1_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
            if (Camera._cam != null)
            {
                Camera._cam.CloseAll();
            }
            CodeLibrary.CodeResourceControl.GetLanguageEvent += Crc_GetLanguageEvent;
            CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
            frm.CurrLanguage = Crc_GetLanguageEvent();

            frm.chbZxing.Checked = false;
            try
            {
                frm.ShowDialog();
                frm.Dispose();
            }
            catch (Exception ex)
            {
                LogUtil.error("出错：" + ex.ToString());
            }


        }

        private void btnUpScan_Click(object sender, EventArgs e)
        {
            string[] cameras = Setting_Init.CameraScan_IN_1;
            ScanTest(cameras);
        }
        private void ScanTest(string[] cameras)
        {
            List<CodeLibrary.CodeInfo> codeInfos = CodeManager.CameraScan(cameras.ToList());
            string lastCode = "";

            foreach (CodeLibrary.CodeInfo ca in codeInfos)
            {
                lastCode += ca.CodeStr + "#";
            }
            LogUtil.info("[" + String.Join(",", cameras) + "]扫码测试结果：\r\n" + lastCode);
            MessageBox.Show("[" + String.Join(",", cameras) + crc.GetString("Res0109", "]扫码测试结果：") + lastCode);
        }
        private void btnDownScan_Click(object sender, EventArgs e)
        {
            string[] camers = Setting_Init.CameraScan_IN_2;
            ScanTest(camers);
        }

        private void chbDIsAgv_CheckedChanged(object sender, EventArgs e)
        {
            if (chbDIsAgv.Checked.Equals(AgvClient.DisAgv))
            {
                return;
            }
            LogUtil.info("勾选：" + chbDIsAgv.Text + " =" + (chbDIsAgv.Checked ? "√" : "×"));
            AgvClient.setDisAgv(chbDIsAgv.Checked);

        }

        private void btnClearNgPos_Click(object sender, EventArgs e)
        { 
            LogUtil.info("用户点击了【"+btnClearNgPos.Text+"】");
            RobotManage.mainMachine.ClearNgPos();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            string name = "IN_1";
            InBeanReset(name);
        }

        private void button2_Click(object sender, EventArgs e)
        {
            string name = "IN_2";
            InBeanReset(name); 
        }

        private void InBeanReset(string name)
        {            //设备未复位
            if (RobotManage.mainMachine.runStatus.Equals(RunStatus.Stop))
            {
                MessageBox.Show("设备还未启动，无法复位", "提示");
                return;
            }
            InReelBean InBean = RobotManage.mainMachine.getInReelBean(name);
            DialogResult result = MessageBox.Show("确定复位" + name + "?", "提示", MessageBoxButtons.OKCancel, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
            if (result.Equals(DialogResult.OK))
            {
                LogUtil.info("手动操作：" + name + "复位");
                InBean.Reset();
            }
        }
    }
}