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


namespace OnlineStore.AssemblyLine
{
    internal partial class FrmFeedingEquip : FrmEquipBase
    {
        private bool IsLoad = false;

        private FeedingEquip equipBean;
        internal FrmFeedingEquip(FeedingEquip moveEquip)
        {
            equipBase = moveEquip;
            this.equipBean = moveEquip;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            LoadIOList();
        }

        private void LoadIOList()
        {
            int maxCount = 16;
            int roleindex = 0;
            this.tableLayoutPanel1.RowStyles.Clear();
            this.tableLayoutPanel1.RowCount = maxCount;
            this.tableLayoutPanel3.RowStyles.Clear();
            this.tableLayoutPanel3.RowCount = maxCount;
            int i = 0;
            foreach (ConfigIO ioValue in equipBean.Config.DIList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                if (i >= maxCount)
                {
                    this.tableLayoutPanel3.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                    this.tableLayoutPanel3.Controls.Add(control, 0, roleindex - maxCount);
                }
                else
                {
                    this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                    this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                }
                roleindex++;
                i++;
                DIControlList.Add(ioValue.ProName, control);
            }

            tableLayoutPanel2.RowStyles.Clear();
            this.tableLayoutPanel2.RowCount = maxCount;
            this.tableLayoutPanel4.RowStyles.Clear();
            this.tableLayoutPanel4.RowCount = maxCount;
            roleindex = 0;
            i = 0;
            foreach (ConfigIO ioValue in equipBean.Config.DOList.Values)
            {
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                if (i >= maxCount)
                {
                    this.tableLayoutPanel4.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                    this.tableLayoutPanel4.Controls.Add(control, 0, roleindex - maxCount);
                }
                else
                {
                    this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 26));
                    this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                }
                roleindex++;
                i++;
                DOControlList.Add(ioValue.ProName, control);
            }
            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 

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

        }
        private bool IsInCheck = false;
        private void timer1_Tick(object sender, EventArgs e)
        {
            try
            {
                if (!this.Visible)
                {
                    return;
                }
                if (chbAutoRead.Checked && this.Visible)
                {
                    ReadIOList();
                    //lblTrayNum.Text = "托盘编码：" + TrayManager.GetTrayNum(equipBean.DeviceID);
                }
                if (equipBean.runStatus > LineRunStatus.Wait)
                {
                    lblName.BackColor = Color.Green;
                    if (btnStart.Enabled)
                    {
                        FormStatus(true);
                    }
                }
                else
                {
                    lblName.BackColor= System.Drawing.Color.DodgerBlue;
                    if (!btnStart.Enabled)
                    {
                        FormStatus(false );
                    }
                }
                if (!equipBean.OutEndSendShelfOut.Equals(chbBoxSendShelf.Checked)&&(!IsInCheck))
                {
                    chbBoxSendShelf.Checked = equipBean.OutEndSendShelfOut;
                }
                lblAgvInfo.Text = "AGV-" + equipBean.Config.AgvInName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvInName).ToString() +
                    "\t            AGV-" + equipBean.Config.AgvOutName + " 状态：" + AgvClient.GetAction(equipBean.Config.AgvOutName).ToString() + "";
                string canOut = equipBean.Config.IsCanOut.Equals(1) ? "紧急出料模块" : "入料模块";
                lblStoreStatus.Text = KTK_Store.GetRunStr(equipBean.lineStatus, equipBean.runStatus) + "(" + canOut + ")";
                lblThisSta.Text = equipBean.WarnMsg;
                string text = "";
                List<InOutParam> ps = new List<InOutParam>(equipBean.waitInStoreList);
                if (ps.Count > 0)
                {
                    text = "等待入库列表：\r";
                    foreach (InOutParam param in ps)
                    {
                        text += param.ToStr() + "\r";
                    }
                }
                if (!lblInstoreList.Text.Equals(text))
                {
                    lblInstoreList.Text = text;
                }
                lblMoveInfo.Text = equipBean.GetMoveStr();
                lblwidth.Text = " ";
            }
            catch (Exception ex)
            {
                LogUtil.error(equipBean.Name + "界面定时器出错：" + ex.ToString());
            }

        }

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

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


        private void FrmStoreIOStatus_Load(object sender, EventArgs e)
        {
            chbDebug.Checked = equipBean.IsDebug;

            axisMoveControl1.LoadData(equipBean, new AxisBean[] { equipBean.UpdownAxis, equipBean.BatchAxis });

            cmbSizeList.Items.Clear();
            cmbSizeList.Items.Add("0=默认位置");
            for (int i = 8; i <= 48; i = i + 4)
            {
                cmbSizeList.Items.Add(i.ToString());
            }
            cmbSizeList.SelectedIndex = 0;
            lblStoreStatus.Text = KTK_Store.GetRunStr(equipBean.lineStatus, equipBean.runStatus);
            lblThisSta.Text = equipBean.WarnMsg;
            txtP1.Text = equipBean.Config.UpDownAxisP1.ToString();
            txtUpdownP3.Text = equipBean.Config.UpDownAxisP3.ToString();
            if (equipBean.Config.SidesWayNum > 0)
            {
                btnSwLocationCylinder.Visible = true;
                btnSWTop.Visible = true;
                btnFL_TopCylinder.Visible = false;
                btnFLStop1.Visible = false;
                btnFLStop2Down.Visible = false;
            }
            else
            {
                btnSwLocationCylinder.Visible = false;
                btnSWTop.Visible = false;
                btnFL_TopCylinder.Visible = true;
                btnFLStop1.Visible = true;
                btnFLStop2Down.Visible = true;
            }
            if (equipBean.Config.SidesWayNum.Equals(2))
            {
                btnSwStop.Visible = true;
            }
            else
            {
                btnSwStop.Visible = false;
            }
            txtBp1.Text = equipBean.Config.BatchAxisP1.ToString();
            txtBP2.Text = equipBean.Config.BatchAxisP2.ToString();
            txtBP3.Text = equipBean.Config.BatchAxisP3.ToString();
            lblName.Text = equipBean.Name; 
            chbBoxSendShelf.Visible = equipBean.Config.IsCanOut.Equals(1);
            chbBoxSendShelf.Checked = equipBean.OutEndSendShelfOut;
            IsLoad = true;
        }

        private void cmbWriteIO_DrawItem(object sender, DrawItemEventArgs e)
        {
            if (e.Index < 0)
            {
                return;
            }
            e.DrawBackground();
            e.DrawFocusRectangle();
            if (cmbWriteIO.Items.Count > e.Index)
            {
                ConfigIO io = (ConfigIO)cmbWriteIO.Items[e.Index];
                e.Graphics.DrawString(io.DisplayStr, e.Font, new SolidBrush(e.ForeColor), e.Bounds.X, e.Bounds.Y + 3);
            }
        }

        private void btnReadIO_Click(object sender, EventArgs e)
        {
            ReadIOList();
        }
        internal override void FormStatus(bool isStart)
        {
            btnStart.Enabled = !isStart;
            btnStop.Enabled = true;
            btnReset.Enabled = isStart; 
        }
        private void FrmIOStatus_Shown(object sender, EventArgs e)
        {
            timer1.Start();
        }

        private void btnStart_Click(object sender, EventArgs e)
        {

            StartDebug();
        }
        private void btnStop_Click(object sender, EventArgs e)
        {
            StopRun();
        }

        private void btnReset_Click(object sender, EventArgs e)
        {
            Reset();
        }

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

            if (chbDebug.Checked)
            {
                if (!equipBean.IsDebug)
                {
                    DialogResult result = MessageBox.Show("是否切换到调试状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        equipBean.IsDebug = true;
                        equipBean.Config.IsDebug = 1;
                        LineManager.SaveFeedingEquipConfig(equipBean.Config);
                        equipBean.ChangeDebug(true);
                        LogUtil.info(equipBean.Name + "用户切换到调试状态 ");
                    }
                }
            }
            else
            {
                if (equipBean.IsDebug)
                {
                    DialogResult result = MessageBox.Show("是否切换到正常工作状态？", "是否确认切换", MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
                    if (result.Equals(DialogResult.Yes))
                    {
                        equipBean.IsDebug = false;
                        equipBean.Config.IsDebug = 0;
                        LineManager.SaveFeedingEquipConfig(equipBean.Config);
                        equipBean.ChangeDebug(false);
                        LogUtil.info(equipBean.Name + "用户切换到正常工作状态 ");
                    }
                }
            }
        }

    

        private void btnLocationCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnLocationCylinder, "SL定位气缸上升", "SL定位气缸下降", IO_Type.SL_LocationCylinder_Down, IO_Type.SL_LocationCylinder_Up);
        }
        private void btnOutTopCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnOutTopCylinder, "SL出口顶升上升", "SL出口顶升下降", IO_Type.SL_OutTopCylinder_Down, IO_Type.SL_OutTopCylinder_Up);

        }
        private void btnFeedSideWay_Click(object sender, EventArgs e)
        { 
            BtnMove(btnFeedSideWay, "上料横移机构上升", "上料横移机构下降", IO_Type.SL_MoveCylinder_Down, IO_Type.SL_MoveCylinder_Up); 
        }

        private void btnFeedCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnFeedCylinder, "夹料气缸放松", "夹料气缸夹紧", IO_Type.SL_MoveCylinder_Tighten, IO_Type.SL_MoveCylinder_Slack);
        }
        private void btnFeedSideWayCylinder_Click(object sender, EventArgs e)
        {
            if (equipBean.MoveCylineCanTakeOrGive())
            {
                BtnMove(btnFeedSideWayCylinder, "上料横移气缸取料端", "上料横移气缸放料端", IO_Type.SL_MoveCylinder_Give, IO_Type.SL_MoveCylinder_Take);
            }
            else
            {
                MessageBox.Show("上料横移机构不在上升端", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }
        private void btnTrayLocationCylinder_Click(object sender, EventArgs e)
        {
            //判断伺服位置是否正确
            int currP = equipBean.BatchAxis.GetAclPosition();
            if (!(Math.Abs(currP) < equipBean.Config.Height_ChangeValue))
            {
                DialogResult result = MessageBox.Show("轴二提升轴当前位置【"+ currP + "】，是否确定"+ btnTrayLocationCylinder.Text+"?","确认操作 ",MessageBoxButtons.YesNo);
                if (!result.Equals(DialogResult.Yes))
                {
                    return;
                }
            }
            BtnMove(btnTrayLocationCylinder, "SL升降盘定位气缸前进", "SL升降盘定位气缸后退", IO_Type.SL_TrayLocation_After, IO_Type.SL_TrayLocation_Before);
        }
        private void btnToroid_TopCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnSWTop, "环形线横移顶升上升", "环形线横移顶升下降", IO_Type.SW_TopCylinder_Down, IO_Type.SW_TopCylinder_Up);
        }

        private void btnFL_TopCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnFL_TopCylinder, "FL顶升上升", "FL顶升下降", IO_Type.FL_TopCylinder_Down, IO_Type.FL_TopCylinder_Up);
        }
        private void Toroid_LocationCylinder_Click(object sender, EventArgs e)
        {
            BtnMove(btnSwLocationCylinder, "环形线横移定位上升", "环形线横移定位下降", IO_Type.SW_LocationCylinder_Down, IO_Type.SW_LocationCylinder_Up);
        }

        private void cmbSizeList_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbSizeList.SelectedIndex < 0)
            {
                return;
            }

            int size = 0;
            try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
            txtSizePosition.Text = equipBean.Config.GetUpdownPositionP2(size).ToString();
            btnMoveto.Text = size + "寸 托盘放料位置P2 :";
        }

        private void btnMoveto_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtSizePosition);

            int speed = equipBean.Config.UpdownAxis_P2Speed;
            LogUtil.info("点击【移栽位置P2】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
            equipBean.UpdownAxis.AbsMove(null, position, speed);

        }

        private void btnAxisOn_Click(object sender, EventArgs e)
        {
            this.Enabled = false;
            equipBean.RunAxis(false, equipBean.BatchAxis);
            this.Enabled = true;
            LogUtil.info("伺服运转ON完成");
        }


        private void btnCloseAll_Click(object sender, EventArgs e)
        {
            foreach (Control con in groupBox5.Controls)
            {
                if (con is Button)
                {
                    con.BackColor = BackColor = Color.White;
                }
            }
            foreach (ConfigIO io in equipBase.baseConfig.DOList.Values)
            {
                IOManager.instance.WriteSingleDO(io.IO_IP, io.SlaveID, io.GetIOAddr(), IO_VALUE.LOW);
            }
        }

        private void button3_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtP1);  
            int speed = equipBean.Config.UpdownAxis_P1Speed; 
            LogUtil.info("点击【移栽升降轴待机位置P1：】， 位置【" + position + "】速度【" + speed + "】");
            equipBean.UpdownAxis.AbsMove(null, position, speed); 
        }

        private void btnSave_Click(object sender, EventArgs e)
        {
            int p1Position = FormUtil.GetIntValue(txtP1);
            equipBean.Config.UpDownAxisP1 = p1Position;

            int p3Position = FormUtil.GetIntValue(txtUpdownP3);
            equipBean.Config.UpDownAxisP3 = p3Position;
            int size = 0;
            try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
            int sizePosition = FormUtil.GetIntValue(txtSizePosition);
            equipBean.Config.UpdateUpdownP2(size, sizePosition);
            LineManager.SaveFeedingEquipConfig(equipBean.Config);
            MessageBox.Show("保存成功！");
        }

        private void btnLineRun_Click(object sender, EventArgs e)
        {
            BtnMove(btnLineRun, "SL进料线体运转", "SL进料线体停止", IO_Type.SL_Line_Run);
        }

        private void btnLSWRun_Click(object sender, EventArgs e)
        {
            BtnMove(btnLSWRun, "SL定位横移电机运转", "SL定位横移电机停止", IO_Type.SL_LocationSideWay_Run);
        }

        private void btnOSWRun_Click(object sender, EventArgs e)
        {
            BtnMove(btnOSWRun, "SL出口横移电机运转", "SL出口横移电机停止", IO_Type.SL_OutSideWay_Run);
        }

        private void btnEStopDown_Click(object sender, EventArgs e)
        {
            BtnMove(btnEStopDown, "SL进料阻挡下降", "SL进料阻挡上升", IO_Type.SL_Entry_StopDown);
        }

        private void btnBStopDown_Click(object sender, EventArgs e)
        {
            BtnMove(btnBStopDown, "SL缓冲阻挡下降", "SL缓冲阻挡上升", IO_Type.SL_Buffer_StopDown);
        }

        private void btnBP1_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtBp1);
            equipBean.BatchAxis.AbsMove(null, position, equipBean.Config.BatchAxis_P1Speed);
        }

        private void btnBP2_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtBP2);
            equipBean.BatchAxis.AbsMove(null, position, equipBean.Config.BatchAxis_P2Speed);
        }

        private void btnBP3_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtBP3);
            equipBean.BatchAxis.AbsMove(null, position, equipBean.Config.BatchAxis_P3Speed);
        }

        private void btnBSave_Click(object sender, EventArgs e)
        {
            int p1 = FormUtil.GetIntValue(txtBp1);
            int p2 = FormUtil.GetIntValue(txtBP2);
            int p3 = FormUtil.GetIntValue(txtBP3);
            equipBean.Config.BatchAxisP1 = p1;
            equipBean.Config.BatchAxisP2 = p2;
            equipBean.Config.BatchAxisP3 = p3;
            LineManager.SaveFeedingEquipConfig(equipBean.Config);
            MessageBox.Show("保存成功！");
        }

        private void btnScan_Click(object sender, EventArgs e)
        {
            List<string> LastCodeList = CodeManager.CameraScan(equipBean.Config.GetCameraList());

            string msg = "";
            if (LastCodeList.Count > 0)
            {
                foreach (string str in LastCodeList)
                {
                    msg = str + "\r\n";
                }
            }

            LogUtil.info(equipBean.Name + "扫码测试结果：" + msg);
            MessageBox.Show(equipBean.Name + "扫码测试结果：" + msg);
        }

        private void btnUpdownP3_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtUpdownP3); 
            int speed = equipBean.Config.UpdownAxis_P3Speed; 
            LogUtil.info("点击【移栽升降轴取料位置P3：】， 位置【" + position + "】速度【" + speed + "】");
            equipBean.UpdownAxis.AbsMove(null, position, speed);
        }

        private void chbMoveStop_CheckedChanged(object sender, EventArgs e)
        { 
            if (!IsLoad)
            {
                return;
            }
            equipBean.MoveStop = chbMoveStop.Checked;
            LogUtil.info(equipBean.Name + "用户切换是否暂停： " + equipBean.MoveStop);
        }

        private void btnOLine_Click(object sender, EventArgs e)
        {
            BtnMove(btnOLine, "SL出料线体运转", "SL出料线体停止", IO_Type.SL_OutLine_Run);
        }

        private void btnFLStop1_Click(object sender, EventArgs e)
        { 
            BtnMove(btnFLStop1, "FL阻挡1下降", "FL阻挡1上升", IO_Type.FL_StopCylinder_Down1);
        }

        private void btnFLStop2Down_Click(object sender, EventArgs e)
        { 
            BtnMove(btnFLStop2Down, "FL阻挡2下降", "FL阻挡2上升", IO_Type.FL_StopCylinder_Down2);
        }

        private void chbBoxSendShelf_CheckedChanged(object sender, EventArgs e)
        {
            IsInCheck = true;
            LogUtil.info(equipBean.Name + "用户点击：出库完成送出料架=" + chbBoxSendShelf.Checked);
            equipBean.OutEndSendShelfOut = chbBoxSendShelf.Checked;
            IsInCheck = false;
        }

        private void btnSwStop_Click(object sender, EventArgs e)
        {
            BtnMove(btnSwStop, "环形线阻挡气缸下降", "环形线阻挡气缸上升", IO_Type.SW_StopDown);
        }
    }

}