using log4net;
using OnlineStore.AutoInOutStore;
using OnlineStore.Common;
using OnlineStore.DeviceLibrary;
using OnlineStore.LoadCSVLibrary;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Text.RegularExpressions;
using System.Threading.Tasks;
using System.Windows.Forms;
using static OnlineStore.AutoInOutStore.ResourceCulture;

namespace OnlineStore.ACSingleStore.useControl
{
    public partial class uc_boxdebug : UserControl
    {
        static AxisManager ACServerManager = AxisManager.instance;
        private AC_SA_BoxBean store;
        private string StartAuto = ResourceCulture.GetString("开始自动出入库");
        private string StopAuto = ResourceCulture.GetString("停止自动出入库");
        private string AutoOut = ResourceCulture.GetString("自动出库：");
        private string AutoIn = ResourceCulture.GetString("自动入库：");
        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        Dictionary<string,PosState> posState = new Dictionary<string, PosState>();
        //如果总配置文件存在，保存到总的配置文件
        static string appPath = Application.StartupPath;
        static string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config);
        class PosState {
            public int InStoreCheck = 0;
            public int OutStoreCheck = 0;

        }
        public uc_boxdebug()
        {
            InitializeComponent();
            
        }
        public void Init(AC_SA_BoxBean store)
        {
            this.store = this.store = store;
            if (store == null)
            {
                LogUtil.error(LOGGER, "找不到对应的料仓");
                return;
            }
            StartAuto = ResourceCulture.GetString("开始自动出入库");
            StopAuto = ResourceCulture.GetString("停止自动出入库");
            AutoOut = ResourceCulture.GetString("自动出库：");
            AutoIn = ResourceCulture.GetString("自动入库：");


            FillBoxPos();
            store.InOutEndProcessEvent += Store_InOutEndProcessEvent;
            timer1.Enabled = true;

            setAxisPopup(txtUpDownP3, btnUpDownP3, store.Config.UpDown_Axis);
            setAxisPopup(txtUpDownP4, btnUpDownP4, store.Config.UpDown_Axis);
            setAxisPopup(txtUpDownP5, btnUpDownP5, store.Config.UpDown_Axis);
            setAxisPopup(txtUpDownP6, btnUpDownP6, store.Config.UpDown_Axis);
            setAxisPopup(txtMiddleP2, btnMiddleP2, store.Config.Middle_Axis);
            setAxisPopup(txtInOutP2, btnInOutP2, store.Config.InOut_Axis);
            setAxisPopup(txtInOutP3, btnInOutP3, store.Config.InOut_Axis);
            setAxisPopup(txtComP2, btnComP2, store.Config.Comp_Axis);
            setAxisPopup(txtComP3, btnComP3, store.Config.Comp_Axis);

            return;
        }

        private void Store_InOutEndProcessEvent(string arg1, StoreMoveType arg2, bool arg3)
        {
            //LogUtil.info($"出入库完成状态:{arg2},库位:{arg1}");
            int InStoreCheck = 0;
            int OutStoreCheck = 0;
            if (arg2 == StoreMoveType.InStore)
                InStoreCheck = 1;
            else if (arg2 == StoreMoveType.OutStore)
                OutStoreCheck = 1;
            var pps = SavePosCheck(arg1, InStoreCheck, OutStoreCheck);

            if (htpp.ContainsKey(arg1))
            {
                var pp = (PosPos)htpp[arg1];
                var cells = dataGridView1.Rows[pp.row].Cells[pp.col];
                cells.Style = GetStyle(arg1);
            }
            checkVerify();
        }
        DataGridViewCellStyle GetStyle(string posid) {
            if (htpp.ContainsKey(posid) && posState.ContainsKey(posid))
            {
                var pp = (PosPos)htpp[posid];
                var pps = (PosState)posState[posid];
                var cells = dataGridView1.Rows[pp.row].Cells[pp.col];
                cells.Selected = true;
                if (pps.InStoreCheck == 1 && pps.OutStoreCheck == 1)
                    return dgv_ok;
                else if (pps.InStoreCheck == 1)
                    return dgv_oin;
                else if (pps.OutStoreCheck == 1)
                    return dgv_oout;
            }
            return dgv_none;
        }
        Hashtable htpp = new Hashtable();
        class PosPos {
            public string Posid;
            public int index;
            public int row;
            public int col;
        }
        int PosCompare(string a, string b)
        {

            if (a.StartsWith("fix"))
                return -1;
            if (b.StartsWith("fix"))
                return 1;

            string[] pa = a.Split('_');
            string[] pb = b.Split('_');

            if (int.TryParse(pa[1], out _))
                pa[1] += "A";
            if (int.TryParse(pb[1], out _))
                pb[1] += "A";

            var pa1 = pa[1][0] + (pa[1][1].Equals('A') ? "1" : "2");
            var pb1 = pb[1][0] + (pb[1][1].Equals('A') ? "1" : "2");

            var pa2 = pa[2];
            var pb2 = pb[2];
            if (pa[2].Length == 2)
            {
                if (pa[2][1].Equals('A') || pa[2][1].Equals('B'))
                {
                    pa2 = (pa[2][1].Equals('A') ? "1" : "2") + pa[2][0];
                }
                else if (pa[2][1].Equals('1') || pa[2][1].Equals('2'))
                {
                    pa2 = (pa[2][1].Equals('1') ? "1" : "2") + pa[2][0];
                }
            }

            if (pb[2].Length == 2)
            {
                if ((pb[2][1].Equals('A') || pb[2][1].Equals('B')))
                {
                    pb2 = (pb[2][1].Equals('A') ? "1" : "2") + pb[2][0];
                }
                else if ((pb[2][1].Equals('1') || pb[2][1].Equals('2')))
                {
                    pb2 = (pb[2][1].Equals('1') ? "1" : "2") + pb[2][0];
                }
            }

            var isa = Regex.Replace(pa[1], @"[^\d]*", "") + pa1 + pa2 + pa[3].PadLeft(2, '0');
            var isb = Regex.Replace(pb[1], @"[^\d]*", "") + pb1 + pb2 + pb[3].PadLeft(2, '0');

            if (int.Parse(isa) == int.Parse(isb))
                return 0;
            else if (int.Parse(isa) > int.Parse(isb))
                return 1;
            else
                return -1;

        }
        void LoadPosCheck() {
            var poscheckfile = positionConfigFile + ".check";
            if (File.Exists(poscheckfile))
            {
                try
                {
                    posState = JsonHelper.DeserializeJsonToObject<Dictionary<string, PosState>>(File.ReadAllText(poscheckfile));
                    File.Copy(poscheckfile, poscheckfile + ".backup", true);
                }
                catch {
                    if (File.Exists(poscheckfile + ".backup"))
                    {
                        File.Copy(poscheckfile + ".backup", poscheckfile, true);
                        File.Delete(poscheckfile + ".backup");
                        LoadPosCheck();
                    }
                }
            }
            else
            {
                File.WriteAllText(poscheckfile, JsonHelper.SerializeObject(posState));
            }
        }
        PosState SavePosCheck(string posid,int inStoreCheck,int outStoreCheck) {

            if (!posState.ContainsKey(posid))
                posState.Add(posid, new PosState());
            if (inStoreCheck>0)
                posState[posid].InStoreCheck = inStoreCheck;
            if (outStoreCheck > 0)
                posState[posid].OutStoreCheck = outStoreCheck;
            var poscheckfile = positionConfigFile + ".check";
            File.WriteAllText(poscheckfile, JsonHelper.SerializeObject(posState));
            return posState[posid];
        }
        static Font font = new Font("宋体",10);
        DataGridViewCellStyle dgv_ok = new DataGridViewCellStyle() { BackColor = Color.LightGreen, Font = font };
        DataGridViewCellStyle dgv_oin = new DataGridViewCellStyle() { BackColor = Color.LightGray, Font = font };
        DataGridViewCellStyle dgv_oout = new DataGridViewCellStyle() { BackColor = Color.LightSeaGreen, Font = font };
        DataGridViewCellStyle dgv_none = new DataGridViewCellStyle() { BackColor = Color.White,Font= font };
        void FillBoxPos() {
            LoadPosCheck();
            Comparison<string> comparison = new Comparison<string>(PosCompare);
            store.PositionNumList.Sort(comparison);
            //store.PositionNumList.Reverse();

            string[] posstr = store.PositionNumList[store.PositionNumList.Count-1].Split('_');
            int colcount = 0;
            if (!int.TryParse(posstr[1],out colcount))
                colcount= int.Parse(posstr[1][0].ToString());
            colcount++;
            for (int i = 0; i < colcount; i++)
            {
                dataGridView1.Columns.Add("Col" + i + "_A", "Col" + i + "_A");
                dataGridView1.Columns.Add("Col" + i + "_B", "Col" + i + "_B");
                
            }
            for (int i = 0; i < dataGridView1.Columns.Count; i++)
            {
                dataGridView1.Columns[i].Width = 64;
                dataGridView1.Columns[i].SortMode = DataGridViewColumnSortMode.NotSortable;
            }
            dataGridView1.Rows.Add();
            int currentRowIndex = 0;
            int lastcol = -1;
            string lastAB = "";
            for (int i = 0; i < store.PositionNumList.Count; i++)
            {
                int ci = store.PositionNumList.Count-1 - i;
                string posname = store.PositionNumList[ci];
                if (posname.StartsWith("fix"))
                    continue;
                string[] _posstr = posname.Split('_');
                int col = 0;
                if (!int.TryParse(_posstr[1],out col))
                    col = int.Parse(_posstr[1][0].ToString());
                string ab = "A";
                if (_posstr[2].Length > 1)
                    ab = _posstr[2][1].ToString();
                if (ab != "A" && ab != "B")
                {
                    if (ab == "1")
                        ab = "A";
                    else if (ab == "2")
                        ab = "B";
                    else
                        ab = "A";
                }
                if (col != lastcol || lastAB!= ab)
                    currentRowIndex = 0;

                lastcol = col;
                lastAB = ab;
                if (currentRowIndex >= dataGridView1.Rows.Count-1)
                {
                    int x = dataGridView1.Rows.Add();
                }
                
                var currentRow = dataGridView1.Rows[currentRowIndex];

                int currentColIndex = col * 2;
                if (ab.ToLower() == "b")
                    currentColIndex++;
                currentRow.Cells[currentColIndex].Value = $"{_posstr[1]}_{_posstr[2]}_{_posstr[3]}";
                currentRow.Cells[currentColIndex].Tag = posname;
                htpp.Add(posname, new PosPos() { Posid = posname, index = i, row = currentRowIndex, col = currentColIndex });
                currentRow.Cells[currentColIndex].Style = GetStyle(posname);
                
                currentRowIndex++;                
            }
            dataGridView1.Rows.RemoveAt(dataGridView1.Rows.Count - 1);
            for (int i = 0; i < dataGridView1.Columns.Count; i++)
            {
                if (dataGridView1.Rows[0].Cells[i].Value == null)
                {
                    dataGridView1.Columns[i].Width = 0;
                }
            }
            if (dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 1].Value != null)
            {
                dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 1].Selected = true;
            }
            else if (dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 2].Value != null)
            {
                dataGridView1.Rows[0].Cells[dataGridView1.Columns.Count - 2].Selected = true;
            }
            if (dataGridView1.SelectedCells.Count > 0)
                setData(dataGridView1.SelectedCells[0].Tag.ToString());

            checkVerify();
        }
        void setData(string posid) {
            AutoStorePosition ktkPosition = CSVPositionReader<AutoStorePosition>.GetPositon(posid);
            cmbPosition.Text = posid;
            if (ktkPosition != null)
            {
                txtMiddleP2.Text = ktkPosition.MiddleAxis_Position_P2.ToString();
                txtUpDownP3.Text = ktkPosition.UpDownAxis_IHPosition_P3.ToString();
                txtUpDownP4.Text = ktkPosition.UpDownAxis_ILPosition_P4.ToString();
                txtUpDownP5.Text = ktkPosition.UpDownAxis_OHPosition_P5.ToString();
                txtUpDownP6.Text = ktkPosition.UpDownAxis_OLPosition_P6.ToString();
                txtComP2.Text = ktkPosition.CompressAxis_Position_P2.ToString();
                txtComP3.Text = ktkPosition.CompressAxis_CPosition_P3.ToString();
                txtInOutP3.Text = ktkPosition.InOutAxis_Position_P3.ToString();
                txtInOutP2.Text = ktkPosition.InOutAxis_DoorOutPosition_P4.ToString();
            }

        }

        private void btnInStore_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                store.StartInStoreMove(new InOutStoreParam("", selectPositionNum, ktk));
            }
            else
            {
                MyMessage.Show("请先启动料仓！");
            }
        }

        private void btnOutStore_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                store.StartOutStoreMove(new InOutStoreParam("", selectPositionNum, ktk),false);
            }
            else
            {
                MyMessage.Show("请先启动料仓！");
            }
        }
        private void btnStartAuTo_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                if (store.autoNext)
                {
                    store.autoNext = false;
                    //btnStart.Text = StartAuto;
                }
                else
                {
                    DialogResult res = MessageBox.Show(ResourceCulture.GetString("确定开始自动出入库？", "确定开始自动出入库？"), ResourceCulture.GetString(ResourceCulture.MsgTitle, "提示"), MessageBoxButtons.YesNo);
                    if (res.Equals(DialogResult.Yes))
                    {
                        int jiange = int.Parse(txtJiange.Text);
                        store.autoJiange = jiange;
                        if (cmbPosition.Text.Length >= 0)
                        {
                            int currIndex = store.PositionNumList.FindIndex(new Predicate<string>((pos)=>{ return pos == cmbPosition.Text; }));
                            store.autoPositionIndex = currIndex;
                            store.AutoStartIndex = currIndex;
                            string poText = cmbPosition.Text;
                            ConfigAppSettings.SaveValue(Setting_Init.DebugPosId, poText);

                            store.autoMsg = ResourceCulture.GetString("自动出入库", "自动出入库") + "：" + poText;
                            store.autoNext = true;
                            LogUtil.info(LOGGER, store.StoreName + "开启自动出入库模式，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "");
                            //btnStart.Text = StopAuto;
                            //DebugStatus(false);
                            string msg = AutomaticBaiting.doStartBatchIn();
                            LogUtil.info("自动出入库： 开始自动入库：库位号【" + poText + "】，开始入库，结果：" + msg);
                        }
                    }
                }
            }
            else
            {
                MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
            }
        }
        void checkVerify()
        {
            int finish = 0;
            for (int i = 0; i < store.PositionNumList.Count; i++)
            {
                var posid = store.PositionNumList[i];
                if (htpp.ContainsKey(posid) && posState.ContainsKey(posid))
                {
                    var pps = (PosState)posState[posid];
                    if (pps.InStoreCheck == 1 && pps.OutStoreCheck == 1)
                    {
                        finish++;
                    }
                }
            }
            double s = (double)finish / store.PositionNumList.Count*100;
            label_verify.Text = s.ToString("0.0") + "%";
        }
        private LineMoveP LoadPostion()
        {
            LineMoveP ktk = new LineMoveP();
            //ktk.ComPress_P1 = FormUtil.GetIntValue(txtComP1);
            ktk.ComPress_P1 = store.Config.CompressAxis_P1_Position;
            ktk.ComPress_P2 = FormUtil.GetIntValue(txtComP2);
            ktk.ComPress_P3 = FormUtil.GetIntValue(txtComP3);
            //ktk.InOut_P1 = FormUtil.GetIntValue(txtInOutP1);
            ktk.InOut_P1 = store.Config.InOutAxis_P1_Position;
            ktk.InOut_P2 = FormUtil.GetIntValue(txtInOutP2);
            ktk.InOut_P3 = FormUtil.GetIntValue(txtInOutP3);
            //ktk.Middle_P1 = FormUtil.GetIntValue(txtMiddleP1);
            ktk.Middle_P1 = store.Config.MiddleAxis_P1_Position;
            ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);

            //ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1);
            //ktk.UpDown_P1 = store.Config.UpDownAxis_DoorOPosition_P1;
            //ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2);
            //ktk.UpDown_P2 = store.Config.UpDownAxis_DoorIPosition_P2;
            ktk.UpDown_P3 = FormUtil.GetIntValue(txtUpDownP3);
            ktk.UpDown_P4 = FormUtil.GetIntValue(txtUpDownP4);
            ktk.UpDown_P5 = FormUtil.GetIntValue(txtUpDownP5);
            ktk.UpDown_P6 = FormUtil.GetIntValue(txtUpDownP6);
            //ktk.UpDown_P7 = FormUtil.GetIntValue(txtUpDownP7);
            //ktk.UpDown_P7 = store.Config.UpDownAxis_DoorOBPosition_P7;
            //ktk.UpDown_P8 = FormUtil.GetIntValue(txtUpDownP8);
            //ktk.UpDown_P8 = store.Config.UpDownAxis_DoorIBPosition_P8;
            return ktk;
        }
        private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
        {
            moveAxis.TargetPosition = targetPosition;
            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed, targetSpeed * 4, targetSpeed * 4);
        }
        /// <summary>
        /// 判断进出轴是否在P1点
        /// </summary> 
        private bool InOutIsIsP1()
        {
            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
            int currValue = ACServerManager.GetActualtPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
            if (currValue <= InOutDefaultPosition)
            {
                return true;
            }
            MyMessage.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 btnUpDownP3_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP3);
                AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P3_Speed);
            }
        }

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

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

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

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


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

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

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


        private void btnComP3_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP3);
            AxisABSMove(store.Config.Comp_Axis, value, store.Config.CompAxis_P3_Speed);
            //ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }

        private void btnSavePosition_Click(object sender, EventArgs e)
        {
            //料仓格子位置保存
            string selectPositionNum = cmbPosition.Text;
            AutoStorePosition ktkPosition = CSVPositionReader<AutoStorePosition>.GetPositon(selectPositionNum);
            if (ktkPosition != null)
            {
                ktkPosition.MiddleAxis_Position_P2 = FormUtil.GetIntValue(txtMiddleP2);
                ktkPosition.UpDownAxis_IHPosition_P3 = FormUtil.GetIntValue(txtUpDownP3);
                ktkPosition.UpDownAxis_ILPosition_P4 = FormUtil.GetIntValue(txtUpDownP4);

                ktkPosition.UpDownAxis_ILPosition_P4 = FormUtil.GetIntValue(txtUpDownP4);
                ktkPosition.InOutAxis_Position_P3 = FormUtil.GetIntValue(txtInOutP3);
                ktkPosition.CompressAxis_CPosition_P3 = FormUtil.GetIntValue(txtComP3);
                ktkPosition.UpDownAxis_OHPosition_P5 = FormUtil.GetIntValue(txtUpDownP5);
                ktkPosition.UpDownAxis_OLPosition_P6 = FormUtil.GetIntValue(txtUpDownP6);
                ktkPosition.CompressAxis_Position_P2 = FormUtil.GetIntValue(txtComP2);
                //ktkPosition.InOutAxis_DoorPosition_P4 = FormUtil.GetIntValue(txtInOutP2);
            }
            //位置配置

            if (!File.Exists(positionConfigFile))
            {
                positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config, "_" + store.StoreID.ToString());
            }
            bool result = CSVPositionReader<AutoStorePosition>.SavePostion(positionConfigFile, ktkPosition);
            if (!result)
            {
                MyMessage.Show("保存位置失败！");
            }

        }
        bool preOpen = false;

        private void timer1_Tick(object sender, EventArgs e)
        {
            if (!Visible)
                return;

            if (store.storeRunStatus == StoreRunStatus.Wait)
            {
                btnStartAuTo.Text = StartAuto;
                return;
            }

                if (store.autoNext)
            {
                string msg = store.autoMsg;
                lblMsg.Text = msg;
                if (btnStartAuTo.Text.Equals(StartAuto))
                {
                    btnStartAuTo.Text = StopAuto;
                }
                try
                {
                    msg = msg.Replace(AutoOut, "");
                    msg = msg.Replace(AutoIn, "");
                    if (htpp.ContainsKey(msg))
                    {
                        var pp = (PosPos)htpp[msg];
                        dataGridView1.Rows[pp.row].Cells[pp.col].Selected=true;
                        setData(msg);
                    }
                }
                catch (Exception ex) { }
            }
            else
            {
                // lblMsg.Text = "没有开启自动出入库";
                if (btnStartAuTo.Text.Equals(StopAuto))
                {
                    btnStartAuTo.Text = StartAuto;
                }
            }
        }

        private void dataGridView1_CellContentClick(object sender, DataGridViewCellEventArgs e)
        {
            if (e.RowIndex<0 || dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag == null)
                return;
            var posid = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag.ToString();
            setData(posid);
        }

        private void checkBox_Double_Alternate_CheckedChanged(object sender, EventArgs e)
        {
            var obj = sender as CheckBox;
            //store.Double_Alternate = obj.Checked;
            if (obj.Checked)
            {
                txtJiange.Text = "1";
                txtJiange.Enabled = false;
            }
            else
                txtJiange.Enabled = true;
        }

        private void btnInOutP1_Click(object sender, EventArgs e)
        {
            //if (store.InOutAxisCanMove().Equals(false))
            //{
            //    MyMessage.Show("定位气缸不在下降端，不能移动进出轴", "警告", MessageBoxButtons.OK, MessageBoxIcon.Warning);
            //    return;
            //}
            AxisABSMove(store.Config.InOut_Axis, store.Config.InOutAxis_P1_Position, store.Config.InOutAxis_P1_Speed);
        }

        private void dataGridView1_CellMouseDown(object sender, DataGridViewCellMouseEventArgs e)
        {
            if (e.RowIndex < 0 || dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag == null)
                return;
            var posid = dataGridView1.Rows[e.RowIndex].Cells[e.ColumnIndex].Tag.ToString();
            setData(posid);
        }

        void setAxisPopup(Control c, Control title, ConfigMoveAxis configMoveAxis)
        {
            c.Tag = "A";
            c.Click += (cc, e) =>
            {
                AxisTipControl axisTipControl = new AxisTipControl();
                axisTipControl.ShowTips((Control)cc, title.Text, configMoveAxis.GetAxisValue(), configMoveAxis.TargetSpeed);
            };
        }
    }
}