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
{
    public partial class FrmFeedingEquip : FrmBase
    {
        private bool IsLoad = false;
        private string portName = "";
        private short SlvAddr = 0;
        private FeedingEquip feedEquip;
        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        public FrmFeedingEquip(FeedingEquip moveEquip)
        {
            this.feedEquip = moveEquip;
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            LoadIOList();
        }
        Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
        Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
        private void LoadIOList()
        {
            int roleindex = 0;
            this.tableLayoutPanel1.RowStyles.Clear();
            this.tableLayoutPanel1.RowCount = feedEquip.Config.DIList.Count;
            foreach (ConfigIO ioValue in feedEquip.Config.DIList.Values)
            {
                this.tableLayoutPanel1.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                this.tableLayoutPanel1.Controls.Add(control, 0, roleindex);
                roleindex++;
                DIControlList.Add(ioValue.ProName, control);
            }

            tableLayoutPanel2.RowStyles.Clear();
            this.tableLayoutPanel2.RowCount = feedEquip.Config.DOList.Count;
            roleindex = 0;
            foreach (ConfigIO ioValue in feedEquip.Config.DOList.Values)
            {
                this.tableLayoutPanel2.RowStyles.Add(new RowStyle(SizeType.Absolute, 28));
                IOTextControl control = new IOTextControl(ioValue.ElectricalDefinition + "_" + ioValue.Explain, ioValue.ProName);
                this.tableLayoutPanel2.Controls.Add(control, 0, roleindex);
                roleindex++;
                DOControlList.Add(ioValue.ProName, control);
            }
            this.SuspendLayout();    //此处为不闪屏，一定要有的！ 

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

        }

        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.GetNum(feedEquip.DeviceID);
                } 
               
                string canOut = LineManager.Line.CanOutStore(feedEquip.DeviceID) ? "可出库":"不可出库" ;
                lblStoreStatus.Text = KTK_Store.GetRunStr(feedEquip.lineStatus, feedEquip.runStatus)+"("+canOut+")";
                lblThisSta.Text = feedEquip.WarnMsg;
                string text = "";
                List<InOutParam> ps = new List<InOutParam>(feedEquip.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;
                }
            }catch(Exception ex)
            {
                LogUtil.error(feedEquip.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 btnWriteSingleDO_Click(object sender, EventArgs e)
        {
            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 (feedEquip.Config.DOList.ContainsKey(text))
            {
                ConfigIO io = feedEquip.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.DeviceName;
                    txtSlaveId.Text = io.SlaveID.ToString();
                    IOTextControl newControl = DOControlList[io.ProName];
                    if (selectControl != null) { selectControl.BackColor = Color.White; }
                    newControl.BackColor = Color.SkyBlue;
                    selectControl = newControl;
                }
            }
        }


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

            portName = feedEquip.Config.Batch_Axis.DeviceName;
            SlvAddr = feedEquip.Config.Batch_Axis.GetAxisValue();
            txtAxisDeviceName.Text = portName;
            txtSlaveId.Text = SlvAddr.ToString();
            comboBox1.Items.Clear();
            comboBox1.Items.Add(feedEquip.Config.Batch_Axis.Explain);
            comboBox1.SelectedIndex = 0; 
            txtAxisValue.Text = SlvAddr.ToString();


            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(feedEquip.lineStatus, feedEquip.runStatus);
            lblThisSta.Text = feedEquip.WarnMsg;
            txtP1.Text = feedEquip.Config.BatchAxisP1.ToString();
            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();
        }

        private void ReadIOList()
        {
            foreach (string key in DIControlList.Keys)
            {
                IOTextControl control = DIControlList[key];
                int iov = (int)IOManager.IOValue(key, feedEquip.DeviceID);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }
            foreach (string key in this.DOControlList.Keys)
            {
                IOTextControl control = DOControlList[key];
                int iov = (int)IOManager.DOValue(key, feedEquip.DeviceID);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }

        }

        private void btnReadAllDi_Click(object sender, EventArgs e)
        {
            string deviceName = txtDoName.Text;
            IO_VALUE value = checkBox1.Checked ? IO_VALUE.HIGH : IO_VALUE.LOW;
            int time = FormUtil.GetIntValue(txtWriteTime);
            int slaveId = FormUtil.GetIntValue(txtSlaveId);
            IOManager.instance.ReadAllDI(deviceName, (byte)slaveId);
        }

        public void FormStatus(bool isStart)
        {
            btnStart.Enabled = !isStart;
            btnStop.Enabled = true;
            btnReset.Enabled = isStart;
            btnInStore.Enabled = isStart;
            btnOutStore.Enabled = isStart;
        }

        private void btnReadAllDo_Click(object sender, EventArgs e)
        {
            string deviceName = txtDoName.Text;

            IO_VALUE value = checkBox1.Checked ? IO_VALUE.HIGH : IO_VALUE.LOW;
            int time = FormUtil.GetIntValue(txtWriteTime);
            int slaveId = FormUtil.GetIntValue(txtSlaveId);
            IOManager.instance.ReadAllDO(deviceName, (byte)slaveId );
        }


        private void FrmIOStatus_Shown(object sender, EventArgs e)
        {
            timer1.Start();
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            if (feedEquip.runStatus.Equals(LineRunStatus.Wait))
            {
                bool result = feedEquip.StartDebugRun();
                if (result)
                {
                    FormStatus(true);
                }
            }
        }

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

            if (chbDebug.Checked)
            {
                if (!feedEquip.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))
                    {
                        feedEquip.IsDebug = true;
                        feedEquip.Config.IsDebug = 1; 
                        LineManager.SaveFeedingEquipConfig(feedEquip.Config);
                        feedEquip.ChangeDebug();
                        LogUtil.info(feedEquip.Name+ "用户切换到调试状态 ");
                    }
                }
            }
            else
            {
                if (feedEquip.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))
                    {
                        feedEquip.IsDebug = false;
                        feedEquip.Config.IsDebug = 0;
                        LineManager.SaveFeedingEquipConfig(feedEquip.Config);
                        feedEquip.ChangeDebug();
                        LogUtil.info(feedEquip.Name + "用户切换到正常工作状态 ");
                    }
                }
            }
        }

        private void btnOutStore_Click(object sender, EventArgs e)
        {
            if (feedEquip.runStatus .Equals(LineRunStatus.Runing))
            { 
                feedEquip.StartOutStoreMove(new InOutParam( ));
            }
            else
            {
                MessageBox.Show("未启动或不在空闲中，无法入库测试！");
            }
        }

        private void btnInStore_Click(object sender, EventArgs e)
        {
            if (feedEquip.runStatus.Equals(LineRunStatus.Runing))
            {
                feedEquip.StartInStoreMove(new InOutParam());
            }
            else
            {
                MessageBox.Show("未启动或不在空闲中，无法入库测试！");
            }
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            try
            {
                feedEquip.StopMove();
            }
            catch (Exception ex)
            {
                LogUtil.error( "出错：" + ex.StackTrace);
            }
        }

        private void btnReset_Click(object sender, EventArgs e)
        {
            if (feedEquip.runStatus>(LineRunStatus.Wait))
            {
                feedEquip.Reset();
            }
        }
        private void btnStop1Up_Click(object sender, EventArgs e)
        {
            if (btnStop1Up.Text.Equals("阻挡气缸1下降"))
            { 
                feedEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.HIGH);
                btnStop1Up.Text = "阻挡气缸1上升";
                btnStop1Up.BackColor = Color.Aqua;
            }
            else
            { 
                feedEquip.IOMove(IO_Type.StopCylinder_Down1, IO_VALUE.LOW);
                btnStop1Up.Text = "阻挡气缸1下降";
                btnStop1Up.BackColor = Color.White;
            }
        } 
        private void btnStop2Up_Click(object sender, EventArgs e)
        {
            if (btnStop2Up.Text.Equals("阻挡气缸2下降"))
            {
                feedEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.HIGH);
                btnStop2Up.Text = "阻挡气缸2上升";
                btnStop2Up.BackColor = Color.Aqua;
            }
            else
            {
                feedEquip.IOMove(IO_Type.StopCylinder_Down2, IO_VALUE.LOW);
                btnStop2Up.Text = "阻挡气缸2下降";
                btnStop2Up.BackColor = Color.White;
            } 
        } 
        private void btnTopUp_Click(object sender, EventArgs e)
        { 
            if (btnTopUp.Text.Equals("顶升气缸上升"))
            {
                feedEquip.CylinderMove(null, IO_Type.TopCylinder_Down, IO_Type.TopCylinder_UP);
                btnTopUp.Text = "顶升气缸下降";
                btnTopUp.BackColor = Color.Aqua;
            }
            else
            {
                feedEquip.CylinderMove(null, IO_Type.TopCylinder_UP, IO_Type.TopCylinder_Down);
                btnTopUp.Text = "顶升气缸上升";
                btnTopUp.BackColor = Color.SkyBlue;
            }
        }
    
        private void btnBeforeAfterBefore_Click(object sender, EventArgs e)
        {
            if (btnBeforeAfterBefore.Text.Equals("前后气缸前进"))
            {
                feedEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_After, IO_Type.BeforeAfterCylinder_Before);
                btnBeforeAfterBefore.Text = "前后气缸后退";
                btnBeforeAfterBefore.BackColor = Color.Aqua;
            }
            else
            {
                feedEquip.CylinderMove(null, IO_Type.BeforeAfterCylinder_Before, IO_Type.BeforeAfterCylinder_After);
                btnBeforeAfterBefore.Text = "前后气缸前进";
                btnBeforeAfterBefore.BackColor = Color.SkyBlue;
            }
        } 
        private void btnUpDownUp_Click(object sender, EventArgs e)
        {
            if (btnUpDownUp.Text.Equals("上下气缸上升"))
            {
                feedEquip.CylinderMove(null, IO_Type.UpDownCylinder_Down, IO_Type.UpDownCylinder_Up);
                btnUpDownUp.Text = "上下气缸下降";
                btnUpDownUp.BackColor = Color.Aqua;
            }
            else
            {
                feedEquip.CylinderMove(null, IO_Type.UpDownCylinder_Up, IO_Type.UpDownCylinder_Down);
                btnUpDownUp.Text = "上下气缸上升";
                btnUpDownUp.BackColor = Color.SkyBlue;
            }
        } 
        private void btnClampSlack_Click(object sender, EventArgs e)
        {
            if (btnClampSlack.Text.Equals("夹料气缸夹紧"))
            {
                feedEquip.CylinderMove(null, IO_Type.ClampCylinder_Tighten, IO_Type.ClampCylinder_Slack);
                btnClampSlack.Text = "夹料气缸放松";
                btnClampSlack.BackColor = Color.Aqua;
            }
            else
            {
                feedEquip.CylinderMove(null, IO_Type.ClampCylinder_Slack, IO_Type.ClampCylinder_Tighten);
                btnClampSlack.Text = "夹料气缸夹紧";
                btnClampSlack.BackColor = Color.SkyBlue;
            }
        } 
        private void btnOpenAxis_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            LogUtil.info("点击【打开伺服】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.OpenPort(portName);
          

            ACServerManager.AlarmClear(portName, SlvAddr);
            Thread.Sleep(100);
            ACServerManager.ServoOn(portName, SlvAddr);
        }

        private void btnCloseAxis_Click(object sender, EventArgs e)
        { 
            LogUtil.info("点击【关闭伺服】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.ServoOff(portName, SlvAddr);
        }

        private void btnAxisAMove_Click(object sender, EventArgs e)
        {  
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed); 
            LogUtil.info("点击【绝对运动】，端口号【" + portName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
            ACServerManager.AbsMove(portName, SlvAddr, position, speed);
        }

        private void btnAxisRMove_Click(object sender, EventArgs e)
        { 
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed);  
            LogUtil.info("点击【相对运动】，端口号【" + portName + "】地址【" + SlvAddr + "】位置【" + position + "】速度【" + speed + "】");
            ACServerManager.RelMove(portName, SlvAddr, position, speed);
        }

        private void btnAxisVMove_Click(object sender, EventArgs e)
        {  
            int speed = FormUtil.GetIntValue(txtASpeed);
          
            LogUtil.info("点击【匀速运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
            ACServerManager.SpeedMove(portName, SlvAddr, speed);
        }

        private void btnAxisStop_Click(object sender, EventArgs e)
        { 
            LogUtil.info("点击【停止运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.SuddenStop(portName, SlvAddr);
        }

        private void btnComAlarmClear_Click(object sender, EventArgs e)
        { 
            LogUtil.info("点击【清理报警】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.AlarmClear(portName, SlvAddr);
            Thread.Sleep(100);
            ACServerManager.ServoOn(portName, SlvAddr);
        }

        private void btnAxisReturnHome_Click(object sender, EventArgs e)
        { 
            int speed = FormUtil.GetIntValue(txtASpeed);
            LogUtil.info("点击【原点返回】，端口号【" + portName + "】地址【" + SlvAddr + "】 速度【" + speed + "】");
            ACServerManager.HomeMove(portName, SlvAddr, speed);
        }

        private void btnGetAlarm_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetAlarmStatus(portName, SlvAddr);
            this.txtAlarmStatus.Text = value.ToString();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetBusyStatus(portName, SlvAddr);
            this.txtBusyStatus.Text = value.ToString();
        }

        private void button2_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetHomeEndStatus(portName, SlvAddr);
            this.txtHomeStatus.Text = value.ToString();
        }

        private void btnReadHomeSingle_Click(object sender, EventArgs e)
        { 
            int value = ACServerManager.GetHomeSingle(portName, SlvAddr);
            this.txtHomeSingle.Text = value.ToString();
        }

        private void btnReadPosition_Click(object sender, EventArgs e)
        {
            lblOutPulse.Text= ACServerManager.GetTargetPosition(portName, SlvAddr).ToString();
            lblCountPulse.Text = ACServerManager.GetActualtPosition(portName, SlvAddr).ToString();
        } 
        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 = feedEquip.Config.GetUpdownPosition(size).ToString();
            txtBoxP.Text = feedEquip.Config.GetUpdownBoxPosition(size).ToString();
            btnMoveto.Text = size + "寸移栽位置 :";
           btnBoxP.Text= size + "寸料仓门口位置 :";
            // btnMoveto.Text = "尺寸" + size + "对应位置：";
        }

        private void btnMoveto_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtSizePosition);
            if (position != -1)
            { 
                int speed = feedEquip.Config.BatchAxis_DownSpeed;
                LogUtil.info("点击【移栽位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
                ACServerManager.AbsMove(portName, SlvAddr, position, speed);
            }
        }

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

        private void btnAxisOff_Click(object sender, EventArgs e)
        { 
            feedEquip.CloseAxis();
            LogUtil.info("伺服运转OFF完成");
        }

        private void btnCloseAll_Click(object sender, EventArgs e)
        {
            IOManager.instance.CloseAllDO();
        }

        private void button3_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtP1);
            if (position != -1)
            {
                int speed =feedEquip.Config.BatchAxis_P1Speed;
                LogUtil.info("点击【P1点测试】， 位置【" + position + "】速度【" + speed + "】");
                ACServerManager.AbsMove(portName, SlvAddr, position, speed);
            }
        }

        private void btnSave_Click(object sender, EventArgs e)
        {
            int p1Position = FormUtil.GetIntValue(txtP1);
            feedEquip.Config.BatchAxisP1 = p1Position;

            int size = 0;
            try { size = Convert.ToInt32(cmbSizeList.Text); } catch (Exception ex) { }
            int sizePosition = FormUtil.GetIntValue(txtSizePosition);
            int sizeBoxP = FormUtil.GetIntValue(txtBoxP);
            feedEquip.Config.UpdateUpdownPositon(size, sizePosition);
            feedEquip.Config.UpdateUpdownBoxPositon(size, sizeBoxP);
            LineManager.SaveFeedingEquipConfig(feedEquip.Config);
            MessageBox.Show("保存成功！");
        }

        private void btnBoxP_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtBoxP);
            if (position != -1)
            {
                int speed = feedEquip.Config.BatchAxis_DownSpeed;
                LogUtil.info("点击【料仓门口下降位置】，料盘高度【" + cmbSizeList.Text + "】 位置【" + position + "】速度【" + speed + "】");
                ACServerManager.AbsMove(portName, SlvAddr, position, speed);
            }
        }
    }
     
}