using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;


namespace OnlineStore.LoadCSVLibrary
{
    public class AC_BOX_Config : BaseConfig
    {
        public AC_BOX_Config()
            : base()
        {
        }
        public AC_BOX_Config(int id, string cid, string type, string filepath)
            : base(id, cid, type, filepath)
        {
        }

        /// <summary>
        ///    PRO,AGV小车站号名称,AgvNodeName,B2,,,,,,,  
        /// </summary>
        [ConfigProAttribute("AgvNodeName")]
        public string  AgvNodeName { get; set; }

        /// <summary>
        ///  PRO	（轴一）旋转轴原点目标速度	MiddleAxis_TargetSpeed	30000
        /// </summary>
        [ConfigProAttribute("MiddleAxis_TargetSpeed")]
        public int MiddleAxis_TargetSpeed { get; set; }

        /// <summary>
        ///  PRO	（轴一）旋转轴加速度 	MiddleAxis_AddSpeed	500
        /// </summary>
        [ConfigProAttribute("MiddleAxis_AddSpeed")]
        public short MiddleAxis_AddSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴一）旋转轴减速度 MiddleAxis_DelSpeed	500
        /// </summary>
        [ConfigProAttribute("MiddleAxis_DelSpeed")]
        public short MiddleAxis_DelSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴二）升降轴轴原点目标速度	UpdownAxis_TargetSpeed	120000
        /// </summary>
        [ConfigProAttribute("UpdownAxis_TargetSpeed")]
        public int UpdownAxis_TargetSpeed { get; set; }

        /// <summary>
        ///  PRO	（轴二）升降轴轴加速度 	UpdownAxis_AddSpeed	200
        /// </summary>
        [ConfigProAttribute("UpdownAxis_AddSpeed")]
        public short UpdownAxis_AddSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴二）升降轴轴减速度 UpdownAxis_DelSpeed	200
        /// </summary>
        [ConfigProAttribute("UpdownAxis_DelSpeed")]
        public short UpdownAxis_DelSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴三）进出轴原点目标速度	InoutAxis_TargetSpeed	12000
        /// </summary>
        [ConfigProAttribute("InoutAxis_TargetSpeed")]
        public int InoutAxis_TargetSpeed { get; set; }

        /// <summary>
        ///  PRO	（轴三）进出轴加速度 	InoutAxis_AddSpeed	200
        /// </summary>
        [ConfigProAttribute("InoutAxis_AddSpeed")]
        public short InoutAxis_AddSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴三）进出轴减速度 InoutAxis_DelSpeed	200
        /// </summary>
        [ConfigProAttribute("InoutAxis_DelSpeed")]
        public short InoutAxis_DelSpeed { get; set; }


        /// <summary>
        ///   PRO	（轴一）旋转轴原点低速度 MiddleAxis_HomeLowSpeed	50
        /// </summary>
        [ConfigProAttribute("MiddleAxis_HomeLowSpeed")]
        public short MiddleAxis_HomeLowSpeed { get; set; }
        /// <summary>
        ///   PRO	（轴一）旋转轴原点高速 MiddleAxis_HomeHighSpeed	100
        /// </summary>
        [ConfigProAttribute("MiddleAxis_HomeHighSpeed")]
        public short MiddleAxis_HomeHighSpeed { get; set; }
        /// <summary>
        ///   PRO	（轴一）旋转轴原点加速度 MiddleAxis_HomeAddSpeed	30
        /// </summary>
        [ConfigProAttribute("MiddleAxis_HomeAddSpeed")]
        public short MiddleAxis_HomeAddSpeed { get; set; }



        /// <summary>
        ///   PRO	（轴二）升降轴轴原点低速度 UpdownAxis_HomeLowSpeed	50
        /// </summary>
        [ConfigProAttribute("UpdownAxis_HomeLowSpeed")]
        public short UpdownAxis_HomeLowSpeed { get; set; }


        /// <summary>
        ///   PRO	（轴二）升降轴轴原点高速 UpdownAxis_HomeHighSpeed	100
        /// </summary>
        [ConfigProAttribute("UpdownAxis_HomeHighSpeed")]
        public short UpdownAxis_HomeHighSpeed { get; set; }
        /// <summary>
        ///   PRO	（轴二）升降轴轴原点加速度 UpdownAxis_HomeAddSpeed	30
        /// </summary>
        [ConfigProAttribute("UpdownAxis_HomeAddSpeed")]
        public short UpdownAxis_HomeAddSpeed { get; set; }



        /// <summary>
        ///   PRO	（轴三）进出轴原点低速 InoutAxis_HomeLowSpeed	50
        /// </summary>
        [ConfigProAttribute("InoutAxis_HomeLowSpeed")]
        public short InoutAxis_HomeLowSpeed { get; set; }
        /// <summary>
        ///   PRO	（轴三）进出轴原点高速 InoutAxis_HomeHighSpeed	100
        /// </summary>
        [ConfigProAttribute("InoutAxis_HomeHighSpeed")]
        public short InoutAxis_HomeHighSpeed { get; set; }
        /// <summary>
        ///   PRO	（轴三）进出轴原点加速度 InoutAxis_HomeAddSpeed	30
        /// </summary>
        [ConfigProAttribute("InoutAxis_HomeAddSpeed")]
        public short InoutAxis_HomeAddSpeed { get; set; }


        /// <summary>
        /// PRO	升降轴（轴2）P1速度	UpDownAxis_P1_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P1_Speed")]
        public int UpDownAxis_P1_Speed { get; set; }
        /// <summary>
        /// PRO	升降轴（轴2）P2速度	UpDownAxis_P2_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P2_Speed")]
        public int UpDownAxis_P2_Speed { get; set; }
        /// <summary>
        /// PRO	升降轴（轴2）P3速度	UpDownAxis_P3_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P3_Speed")]
        public int UpDownAxis_P3_Speed { get; set; }
        /// <summary>
        /// PRO	升降轴（轴2）P4速度	UpDownAxis_P4_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P4_Speed")]
        public int UpDownAxis_P4_Speed { get; set; }
        /// <summary>
        /// PRO	升降轴（轴2）P5速度	UpDownAxis_P5_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P5_Speed")]
        public int UpDownAxis_P5_Speed { get; set; }
        /// <summary>
        /// PRO	升降轴（轴2）P6速度	UpDownAxis_P6_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P6_Speed")]
        public int UpDownAxis_P6_Speed { get; set; }


        /// <summary>
        /// PRO	升降轴（轴2）P7速度	UpDownAxis_P7_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P7_Speed")]
        public int UpDownAxis_P7_Speed { get; set; }

        /// <summary>
        /// PRO	升降轴（轴2）P8速度	UpDownAxis_P8_Speed
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P8_Speed")]
        public int UpDownAxis_P8_Speed { get; set; }

        /// <summary>
        /// PRO	旋转轴（轴1）P1速度	MiddleAxis_P1_Speed
        /// </summary>
        [ConfigProAttribute("MiddleAxis_P1_Speed")]
        public int MiddleAxis_P1_Speed { get; set; }

        /// <summary>
        /// PRO	旋转轴（轴1）P2速度	MiddleAxis_P2_Speed
        /// </summary>
        [ConfigProAttribute("MiddleAxis_P2_Speed")]
        public int MiddleAxis_P2_Speed { get; set; }

        /// <summary>
        /// PRO	进出轴（轴3）P1速度	InOutAxis_P1_Speed
        /// </summary>
        [ConfigProAttribute("InOutAxis_P1_Speed")]
        public int InOutAxis_P1_Speed { get; set; }

        /// <summary>
        /// PRO	进出轴（轴3）P2速度	InOutAxis_P2_Speed
        /// </summary>
        [ConfigProAttribute("InOutAxis_P2_Speed")]
        public int InOutAxis_P2_Speed { get; set; }
        /// <summary>
        /// PRO	进出轴（轴3）P3速度	InOutAxis_P3_Speed	
        /// </summary>
        [ConfigProAttribute("InOutAxis_P3_Speed")]
        public int InOutAxis_P3_Speed { get; set; }


        /// <summary>
        ///  PRO	（轴一）旋转轴停止时可误差的脉冲数的最小值	MiddleAxis_ErrorCountMin	200
        /// </summary>
        [ConfigProAttribute("MiddleAxis_ErrorCountMin")]
        public int MiddleAxis_ErrorCountMin { get; set; }
        /// <summary>
        ///  PRO	（轴二）升降轴轴停止时可误差的脉冲数的最小值	UpdownAxis_ErrorCountMin	200
        /// </summary>
        [ConfigProAttribute("UpdownAxis_ErrorCountMin")]
        public int UpdownAxis_ErrorCountMin { get; set; }
        /// <summary>
        ///  PRO	（轴三）进出轴停止时可误差的脉冲数的最小值	InoutAxis_ErrorCountMin	200
        /// </summary>
        [ConfigProAttribute("InoutAxis_ErrorCountMin")]
        public int InoutAxis_ErrorCountMin { get; set; }


        /// <summary>
        ///  PRO	（轴一）旋转轴停止时可误差的脉冲数的最大值	MiddleAxis_ErrorCountMax	500
        /// </summary>
        [ConfigProAttribute("MiddleAxis_ErrorCountMax")]
        public int MiddleAxis_ErrorCountMax { get; set; }
        /// <summary>
        ///  PRO	（轴二）升降轴轴停止时可误差的脉冲数的最大值	UpdownAxis_ErrorCountMax	500
        /// </summary>
        [ConfigProAttribute("UpdownAxis_ErrorCountMax")]
        public int UpdownAxis_ErrorCountMax { get; set; }
        /// <summary>
        ///  PRO	（轴三）进出轴停止时可误差的脉冲数的最大值	InoutAxis_ErrorCountMax	500
        /// </summary>
        [ConfigProAttribute("InoutAxis_ErrorCountMax")]
        public int InoutAxis_ErrorCountMax { get; set; }


        /// <summary>
        ///   PRO,进出轴（轴3）P11-NG放料点,InOutAxis_P11_Position,1000,,,,,,,
        /// </summary>
        [ConfigProAttribute("InOutAxis_P11_Position")]
        public int InOutAxis_P11_Position { get; set; }

        /// <summary>
        ///  PRO 升降轴（轴2）P11-NG放料低点 UpDownAxis_P11	403000
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P11")]
        public int UpDownAxis_P11 { get; set; }

        /// <summary>
        /// PRO 升降轴（轴2）P12-NG放料高点 UpDownAxis_P12	403000
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P12")]
        public int UpDownAxis_P12 { get; set; }
        /// <summary>
        /// PRO 旋转轴（轴1）P11-NG放料点 MiddleAxis_P11	268093
        /// </summary>
        [ConfigProAttribute("MiddleAxis_P11")]
        public int MiddleAxis_P11 { get; set; }
        /// <summary>
        /// PRO 进出轴（轴3）P2-扫码放料点 InOutAxis_P2_Position	1000
        /// </summary>
        [ConfigProAttribute("InOutAxis_P2_Position")]
        public int InOutAxis_P2_Position { get; set; }

        /// <summary>
        /// PRO 升降轴（轴2）P1待机点/扫码放料低点 UpDownAxis_P1	403000
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P1")]
        public int UpDownAxis_P1 { get; set; }
        /// <summary>
        /// PRO 升降轴（轴2）P2扫码放料高点缓冲点 UpDownAxis_P2	415000
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P2")]
        public int UpDownAxis_P2 { get; set; }



        /// <summary>
        /// PRO 旋转轴（轴1）P1待机点/扫码放料点 MiddleAxis_P1	268093
        /// </summary>
        [ConfigProAttribute("MiddleAxis_P1")]
        public int MiddleAxis_P1 { get; set; }
        /// <summary>
        /// PRO	进出轴（轴3）P1待机原位点	InOutAxis_P1_Position
        /// </summary>
        [ConfigProAttribute("InOutAxis_P1_Position")]
        public int InOutAxis_P1_Position { get; set; }
        /// <summary>
        /// PRO	压紧轴（轴4）P1待机原位点	CompAxis_P1_Position
        /// </summary>
        [ConfigProAttribute("CompAxis_P1_Position")]
        public int CompAxis_P1_Position { get; set; }
 
        /// <summary>
        ///轴2升降轴 运动上下轴
        /// </summary>
        [ConfigProAttribute("UpDown_Axis")]
        public ConfigMoveAxis UpDown_Axis { get; set; }
        /// <summary>
        /// 轴1旋转轴 运动中轴
        /// </summary>
        [ConfigProAttribute("Middle_Axis")]
        public ConfigMoveAxis Middle_Axis { get; set; }
        /// <summary>
        /// 轴3进出轴
        /// </summary>
        [ConfigProAttribute("InOut_Axis")]
        public ConfigMoveAxis InOut_Axis { get; set; }
        /// <summary>
        /// 轴3压紧轴
        /// </summary>
        [ConfigProAttribute("Comp_Axis")]
        public ConfigMoveAxis Comp_Axis { get; set; }


        /// <summary>
        /// PRO	（轴四）压紧轴目标速度 CompAxis_TargetSpeed	100
        /// </summary>
        [ConfigProAttribute("CompAxis_TargetSpeed")]
        public int CompAxis_TargetSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴四）压紧轴加速度 CompAxis_AddSpeed	300
        /// </summary>
        [ConfigProAttribute("CompAxis_AddSpeed")]
        public short CompAxis_AddSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴四）压紧轴减速度 CompAxis_DelSpeed	300
        /// </summary>
        [ConfigProAttribute("CompAxis_DelSpeed")]
        public short CompAxis_DelSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴四）压紧轴原点低速 CompAxis_HomeLowSpeed	20
        /// </summary>
        [ConfigProAttribute("CompAxis_HomeLowSpeed")]
        public int CompAxis_HomeLowSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴四）压紧轴原点高速 CompAxis_HomeHighSpeed	60
        /// </summary>
        [ConfigProAttribute("CompAxis_HomeHighSpeed")]
        public int CompAxis_HomeHighSpeed { get; set; }
        /// <summary>
        ///  PRO	（轴四）压紧轴原点加速度 CompAxis_HomeAddSpeed	200
        /// </summary>
        [ConfigProAttribute("CompAxis_HomeAddSpeed")]
        public int CompAxis_HomeAddSpeed { get; set; }
         



        /// <summary>
        /// PRO 压紧轴（轴4）P1速度 CompAxis_P1_Speed	100
        /// </summary>
        [ConfigProAttribute("CompAxis_P1_Speed")]
        public int CompAxis_P1_Speed { get; set; }
        /// <summary>
        /// PRO 压紧轴（轴4）P2速度 CompAxis_P2_Speed	100
        /// </summary>
        [ConfigProAttribute("CompAxis_P2_Speed")]
        public int CompAxis_P2_Speed { get; set; }
        /// <summary>
        ///PRO 压紧轴（轴4）P3速度 CompAxis_P3_Speed	100
        /// </summary>
        [ConfigProAttribute("CompAxis_P3_Speed")]
        public int CompAxis_P3_Speed { get; set; }

        /// <summary>
        ///  PRO,压紧轴（轴4）P4速度,CompAxis_P4_Speed,100,,,,,,,
        /// </summary>
        [ConfigProAttribute("CompAxis_P4_Speed")]
        public int CompAxis_P4_Speed { get; set; }

        /// <summary>
        ///   PRO,压紧轴（轴4）压紧确认信号收到之后下降的位置,CompAxis_Down_Position,2000,,,,,,,
        /// </summary>
        [ConfigProAttribute("CompAxis_Down_Position")]
        public int CompAxis_Down_Position { get; set; }
        /// <summary>
        /// PRO,压紧轴（轴4）P4目标压紧点,CompAxis_P4_Position,10000,,,,,,,
        /// </summary>
        [ConfigProAttribute("CompAxis_P4_Position")]
        public int CompAxis_P4_Position { get; set; }
        /// <summary>
        ///     PRO,升降轴（轴2）P101速度,UpDownAxis_P101_Speed,100,,,,,, ,
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P101_Speed")]
        public int UpDownAxis_P101_Speed { get; set; }
        /// <summary>
        ///  PRO,升降轴（轴2）P102速度,UpDownAxis_P102_Speed,100,,,,,,,
        /// </summary>
        [ConfigProAttribute("UpDownAxis_P102_Speed")]
        public int UpDownAxis_P102_Speed { get; set; }
        /// <summary>
        ///  PRO,进出轴（轴3）P101速度,InOutAxis_P101_Speed,100,,,,,,,
        /// </summary>
        [ConfigProAttribute("InOutAxis_P101_Speed")]
        public int InOutAxis_P101_Speed { get; set; }
        /// <summary>
        ///  PRO,旋转轴（轴1）P101速度,MiddleAxis_P101_Speed,120,,,,,,,
        /// </summary>
        [ConfigProAttribute("MiddleAxis_P101_Speed")]
        public int MiddleAxis_P101_Speed { get; set; }



        /// <summary>
        /// PRO	（轴一）旋转轴最小限位	MiddleAxis_PositionMin
        /// </summary>
        [ConfigProAttribute("MiddleAxis_PositionMin", false)]
        public int MiddleAxis_PositionMin { get; set; }
        /// <summary>
        /// PRO	（轴二）升降轴最小限位	UpdownAxis_PositionMin
        /// </summary>
        [ConfigProAttribute("UpdownAxis_PositionMin", false)]
        public int UpdownAxis_PositionMin { get; set; }
        /// <summary>
        /// PRO	（轴三）进出轴最小限位	InoutAxis_PositionMin
        /// </summary>
        [ConfigProAttribute("InoutAxis_PositionMin", false)]
        public int InoutAxis_PositionMin { get; set; }
        /// <summary>
        /// PRO	（轴一）旋转轴最大限位	MiddleAxis_PositionMax
        /// </summary>
        [ConfigProAttribute("MiddleAxis_PositionMax", false)]
        public int MiddleAxis_PositionMax { get; set; }
        /// <summary>
        /// PRO	（轴二）升降轴最大限位	UpdownAxis_PositionMax
        /// </summary>
        [ConfigProAttribute("UpdownAxis_PositionMax", false)]
        public int UpdownAxis_PositionMax { get; set; }
        /// <summary>
        /// PRO	（轴三）进出轴最大限位	InoutAxis_PositionMax
        /// </summary>
        [ConfigProAttribute("InoutAxis_PositionMax", false)]
        public int InoutAxis_PositionMax { get; set; }
        /// <summary>
        /// 预警温度
        /// </summary>
        [ConfigProAttribute("WarnTemperate")]
        public int WarnTemperate { get; set; }
        /// <summary>
        /// 预警湿度
        /// </summary>
        [ConfigProAttribute("WarnHumidity")]
        public int WarnHumidity { get; set; }
        /// <summary>
        /// 气压检测IO关闭需要持续的时间（=3表示需要关闭三秒以上才算关闭）
        /// </summary>
        [ConfigProAttribute("AirCheckSeconds")]
        public int AirCheckSeconds { get; set; }

        /// <summary>
        ///  PRO,BOX出入库次数多少次时，会自动重置旋转轴,Box_ResetMCount,10,,,,,
        /// </summary>
        [ConfigProAttribute("Box_ResetMCount")]
        public int Box_ResetMCount { get; set; }
        /// <summary>
        ///  PRO,BOX出入库次数多少次时，会自动重置操作（会重置所有轴）,Box_ResetACount,100,,,,,
        /// </summary>
        [ConfigProAttribute("Box_ResetACount")]
        public int Box_ResetACount { get; set; }

        /// <summary>
        ///  PRO	IO信号超时时间（毫秒）	IOSingle_TimerOut	5000
        /// </summary>
        [ConfigProAttribute("IOSingle_TimerOut", false)]
        public int IOSingle_TimerOut { get; set; }


        /// <summary>
        /// PRO	需要吹气的温度(温度标准)	Max_Temperature	10
        /// </summary>
        [ConfigProAttribute("Max_Temperature", false)]
        public int Max_Temperature { get; set; }
        /// <summary>
        /// PRO	需要吹气的湿度(湿度标准)	Max_Humidity	10
        /// </summary>
        [ConfigProAttribute("Max_Humidity", false)]
        public int Max_Humidity { get; set; }

        /// <summary>
        /// PRO	每次吹气的时间（分钟）	BlowAir_Time	10
        /// </summary>
        [ConfigProAttribute("BlowAir_Time", false)]
        public int BlowAir_Time { get; set; }

        /// <summary>
        /// PRO	两次吹气间隔（分钟）	BlowAir_Interval	10
        /// </summary>
        [ConfigProAttribute("BlowAir_Interval", false)]
        public int BlowAir_Interval { get; set; }
         
        /// <summary>
        /// PRO,温湿度端口号,Humiture_Port,COM1,,,,,,,
        /// </summary>
        [ConfigProAttribute("Humiture_Port", true)]
        public string Humiture_Port { get; set; }

        /// <summary>
        /// PRO,0,扫码的相机名称(多个用#分隔),CameraNameList,Name1#Name1,,,,,
        /// </summary>
        [ConfigProAttribute("CameraNameList")]
        public string CameraNameList { get; set; }

        /// <summary>
        /// PRO,RFID读卡器IP,RFID_IP,192.168.200.11,,,,,,,
        /// </summary>
        [ConfigProAttribute("RFID_IP")]
        public string RFID_IP { get; set; }
        /// <summary>
        ///    PRO,是否是调试状态,IsInDebug,1,,,,,,,
        /// </summary>
        [ConfigProAttribute("IsInDebug")]
        public int IsInDebug { get; set; }
        private List<string> CameraList = null;

        /// <summary>
        /// PRO,压紧轴（轴4）非七寸取料时的压紧前点相对压紧点的位置,CompAxis_P3_P2_Value,-50000,,,,,,,
        /// /// </summary>
        [ConfigProAttribute("CompAxis_P3_P2_Value")]
        public int CompAxis_P3_P2_Value { get; set; }

        /// <summary>
        /// PRO,压紧轴（轴4）七寸盘取料时的压紧前点相对压紧点的位置,CompAxis7_P3_P2_Value,-50000,,,,,,,
        ///   </summary>
        [ConfigProAttribute("CompAxis7_P3_P2_Value")]
        public int CompAxis7_P3_P2_Value { get; set; }

        public int GetCom_P3_P2(int width = 13)
        {
            if (width.Equals(7))
            {
                return CompAxis7_P3_P2_Value;
            }
            return CompAxis_P3_P2_Value;
        }
        public int GetCom_P3_P2(string width = "13")
        {
            if (width.Equals("7"))
            {
                return CompAxis7_P3_P2_Value;
            }
            return CompAxis_P3_P2_Value;
        }

        /// <summary>
        ///   PRO 压紧轴（轴4）P2压紧点范围对应值 CompAxis_P2_List	 8 = 1000; 2000#12=2001;3000#16=3001;4000#20=4001;5000#22=5001;6000#24=6001;7000# 
        /// </summary>
        [ConfigProAttribute("CompAxis_P2_List")]
        public string  CompAxis_P2_List { get; set; }


        /// <summary>
        ///  PRO,压紧轴（轴4）P3最大压紧前点,CompAxis_Max_P3,10000,,,,,,,
        /// </summary>
        [ConfigProAttribute("CompAxis_Max_P3")]
        public int CompAxis_Max_P3 { get; set; }
        private List< ComP2Info> ComP2List = null;
        public ComP2Info GetComP2(int plateh)
        {
            //查找指定的高度
            analysisComP2();
            List<ComP2Info> list = (from m in ComP2List where m.PlateH.Equals(plateh) select m).ToList<ComP2Info>();
            if (list.Count > 0)
            {
                return list[0];
            }
            //查找类似的高度
            list = (from com in ComP2List orderby com.PlateH descending select com).ToList<ComP2Info>();
            foreach (ComP2Info comp2 in list)
            {
                if (plateh >=comp2.PlateH)
                {
                    return comp2;
                }
            }
            return new ComP2Info(plateh, CompAxis_P4_Position, CompAxis_P4_Position+CompAxis_Down_Position); 
        }
        public int GetComP2PlateH(int currP)
        {
            analysisComP2();
            List<ComP2Info> list = (from com in ComP2List where com.MinComP <= currP && com.MaxComP >= currP select com).ToList<ComP2Info>();
            if (list.Count > 0)
            {
                return list[0].PlateH;
            }

            //查找最相似的盘高
            int height = 8;
            list = (from com in ComP2List orderby com.PlateH descending select com).ToList<ComP2Info>();
            foreach (ComP2Info comp2 in list)
            {
                if (currP <=comp2.MinComP)
                {
                    height = comp2.PlateH+4;
                    break;
                }
            }
            if (currP > CompAxis_P4_Position)
            {
                height = 8;
            }

            LOGGER.Error("GetComP2PlateH [" + currP + "] 未找到对应的盘高，使用相似盘高 [" + height + "]");
            return height;
        }

        public void UpdateComP2(int height, ComP2Info p2Info)
        {
            analysisComP2();
            bool isUpdate = false;
            foreach (ComP2Info p in ComP2List)
            {
                if (p.PlateH.Equals(height))
                {
                    p.MinComP = p2Info.MinComP;
                    p.MaxComP = p2Info.MaxComP;
                    isUpdate = true;
                }
            }
            if (!isUpdate)
            {
                ComP2List.Add(p2Info);
            }

            string tt = "";
            foreach(ComP2Info p in ComP2List)
            {
                tt += ComP2InfoToStr(p);
            }
            CompAxis_P2_List = tt;
        }
        private string ComP2InfoToStr(ComP2Info p2)
        {
            return p2.PlateH + "=" + p2.MinComP + ";" + p2.MaxComP + "#";
        }
        private void analysisComP2()
        {
            if (ComP2List == null)
            {
                try
                {
                    //    8 = 1000; 2000#12=2001;3000#16=3001;4000#20=4001;5000#22=5001;6000#24=6001;7000# 
                    ComP2List = new List<ComP2Info>();
                    string[] arrayList = CompAxis_P2_List.Split('#');
                    foreach (string str in arrayList)
                    {
                        if (str.Equals(""))
                        {
                            continue;
                        }
                        string[] com2A = str.Split('=');
                        if (com2A.Length.Equals(2))
                        {
                            int plateH = Convert.ToInt32(com2A[0]);
                            string[] pArray = com2A[1].Split(';');
                            if (pArray.Length.Equals(2))
                            {
                                int minP = Convert.ToInt32(pArray[0]);
                                int maxP = Convert.ToInt32(pArray[1]);
                                if (minP > CompAxis_P1_Position && maxP > CompAxis_P1_Position)
                                {
                                    ComP2List.Add(new ComP2Info(plateH, minP, maxP));
                                }
                                else
                                {
                                    LOGGER.Error (DeviceID+ "压紧轴P2 盘高【"+plateH+"】范围【"+minP +"~"+maxP+"】无效，位置小于待机点P1【"+CompAxis_P1_Position+"】");
                                }
                            }
                        }
                    }
                }
                catch (Exception ex)
                {
                    LOGGER.Error("解析CompAxis_P2_List【" + CompAxis_P2_List + "】出错：" + ex.ToString());
                }
            }
        }

        public List<string> GetCameraList()
        {
            if (CameraList == null)
            {
                CameraList = new List<string>();
                string[] arrayList = CameraNameList.Split('#');
                foreach (string str in arrayList)
                {
                    string camera = str.Trim();
                    if (string.IsNullOrEmpty(camera).Equals(false))
                    {
                        CameraList.Add(camera);
                    }
                }
            }
            return CameraList;
        }
        protected override void initMustHavePro()
        { 
        }
        public static void ConfigAxis(AC_BOX_Config Config)
        {
            Config.Middle_Axis.TargetSpeed = Config.MiddleAxis_TargetSpeed;
            Config.Middle_Axis.AddSpeed = Config.MiddleAxis_AddSpeed;
            Config.Middle_Axis.DelSpeed = Config.MiddleAxis_DelSpeed;
            Config.Middle_Axis.HomeAddSpeed = Config.MiddleAxis_HomeAddSpeed;
            Config.Middle_Axis.HomeHighSpeed = Config.MiddleAxis_HomeHighSpeed;
            Config.Middle_Axis.HomeLowSpeed = Config.MiddleAxis_HomeLowSpeed;

            Config.InOut_Axis.TargetSpeed = Config.InoutAxis_TargetSpeed;
            Config.InOut_Axis.DelSpeed = Config.InoutAxis_AddSpeed;
            Config.InOut_Axis.AddSpeed = Config.InoutAxis_DelSpeed;
            Config.InOut_Axis.HomeAddSpeed = Config.InoutAxis_HomeAddSpeed;
            Config.InOut_Axis.HomeHighSpeed = Config.InoutAxis_HomeHighSpeed;
            Config.InOut_Axis.HomeLowSpeed = Config.InoutAxis_HomeLowSpeed;

            Config.UpDown_Axis.TargetSpeed = Config.UpdownAxis_TargetSpeed;
            Config.UpDown_Axis.AddSpeed = Config.UpdownAxis_AddSpeed;
            Config.UpDown_Axis.DelSpeed = Config.UpdownAxis_DelSpeed;
            Config.UpDown_Axis.HomeAddSpeed = Config.UpdownAxis_HomeAddSpeed;
            Config.UpDown_Axis.HomeHighSpeed = Config.UpdownAxis_HomeHighSpeed;
            Config.UpDown_Axis.HomeLowSpeed = Config.UpdownAxis_HomeLowSpeed;

            Config.Comp_Axis.TargetSpeed = Config.CompAxis_TargetSpeed;
            Config.Comp_Axis.AddSpeed = Config.CompAxis_AddSpeed;
            Config.Comp_Axis.DelSpeed = Config.CompAxis_DelSpeed;
            Config.Comp_Axis.HomeAddSpeed = Config.CompAxis_HomeAddSpeed;
            Config.Comp_Axis.HomeHighSpeed = Config.CompAxis_HomeHighSpeed;
            Config.Comp_Axis.HomeLowSpeed = Config.CompAxis_HomeLowSpeed;

            Config.Middle_Axis.CanErrorCountMin = Config.MiddleAxis_ErrorCountMin;
            Config.InOut_Axis.CanErrorCountMin = Config.InoutAxis_ErrorCountMin;
            Config.UpDown_Axis.CanErrorCountMin = Config.UpdownAxis_ErrorCountMin;
            Config.Middle_Axis.CanErrorCountMax = Config.MiddleAxis_ErrorCountMax;
            Config.InOut_Axis.CanErrorCountMax = Config.InoutAxis_ErrorCountMax;
            Config.UpDown_Axis.CanErrorCountMax = Config.UpdownAxis_ErrorCountMax;

            Config.Middle_Axis.PositionMin = Config.MiddleAxis_PositionMin;
            Config.Middle_Axis.PositionMax = Config.MiddleAxis_PositionMax;
            Config.InOut_Axis.PositionMin = Config.InoutAxis_PositionMin;
            Config.InOut_Axis.PositionMax = Config.InoutAxis_PositionMax;
            Config.UpDown_Axis.PositionMin = Config.UpdownAxis_PositionMin;
            Config.UpDown_Axis.PositionMax = Config.UpdownAxis_PositionMax;


            //Config.InOut_Axis.ResolveSpeed = Config.InoutAxis_ResolveSpeed;
            //Config.UpDown_Axis.ResolveSpeed = Config.UpdownAxis_ResolveSpeed;
            //Config.Middle_Axis.ResolveSpeed = Config.MiddleAxis_ResolveSpeed;

            Config.Middle_Axis.DefaultPosition = Config.MiddleAxis_P1;
            Config.InOut_Axis.DefaultPosition = Config.InOutAxis_P1_Position;
            Config.UpDown_Axis.DefaultPosition = Config.UpDownAxis_P1;
            Config.Comp_Axis.DefaultPosition = Config.CompAxis_P1_Position;
            Config.Comp_Axis.CanErrorCountMax = 1000;
            Config.Comp_Axis.CanErrorCountMin = 10;
            Config.Comp_Axis.PositionMin = 0;
            Config.Comp_Axis.PositionMax = 0;
        }


    }

    public class ComP2Info
    {
        public ComP2Info()
        {

        }
        public ComP2Info(int plateh, int minp, int maxp)
        {
            this.PlateH = plateh;
            this.MinComP = minp;
            this.MaxComP = maxp;
        }

        public int PlateH = 0;
        public int MinComP = 0;
        public int MaxComP = 0;

        public int TargetComP2()
        {
            return (MinComP + MaxComP) / 2;
        }
    }
}