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.Common;
using System.Reflection;
using log4net;
using OnlineStore.DeviceLibrary;
using System.IO.Ports;
using OnlineStore.LoadCSVLibrary;
using CodeLibrary;

namespace OnlineStore.AutoInOutStore
{
    public partial class FrmStoreBox : FrmBase
    {

        private AC_SA_BoxBean store;
        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        public FrmStoreBox()
        {
            Control.CheckForIllegalCrossThreadCalls = false;
            InitializeComponent();
            chbAuto.Checked = ConfigAppSettings.GetIntValue(Setting_Init.App_AutoRun).Equals(1);
        }

        #region "初始化界面数据"

        private void initValue()
        {
            InitStoreValue();
        }
        private void InitStoreValue()
        {
            this.store = StoreManager.InitStore();
            if (store == null)
            {
                LogUtil.error(LOGGER, "找不到对应的料仓");
                return;
            }

            cmbAxisList.DataSource = new List<ConfigMoveAxis>(store.moveAxisList);
            cmbAxisList.DisplayMember = "Explain";
            cmbAxisList.ValueMember = "Explain";
            cmbAxisList.SelectedIndex = 0;

            AutoStorePosition Position = null;
            if (store.PositionNumList.Count > 0)
            {
                cmbPosition.DataSource = store.PositionNumList;
                cmbPosition.SelectedIndex = 0;
                Position = CSVPositionReader<AutoStorePosition>.GetPositon(cmbPosition.Text);
                //store.PositionNumList = positionNumList;
            }

            txtMiddleP1.Text = store.Config.MiddleAxis_P1_Position.ToString();
            txtInOutP1.Text = store.Config.InOutAxis_P1_Position.ToString();
            txtComP1.Text = store.Config.CompressAxis_P1_Position.ToString();

            txtUpdownP8.Text = store.Config.UpDownAxis_OutLow_P8.ToString();
            txtUpdownP2.Text = store.Config.UpDownAxis_OutHigh_P2.ToString();
            //txtUpDownP7.Text = store.Config.UpDownAxis_DoorOBPosition_P7.ToString();
            //txtUpDownP8.Text = store.Config.UpDownAxis_DoorIBPosition_P8.ToString();
            //txtInOutP2.Text = store.Config.InOutAxis_DoorPosition_P2.ToString();
            txtUpDownP1.Text = store.Config.GetDefaultUpDownP1().ToString();
            txtUpDownDoor.Text = store.Config.UpDownAxis_Door_P7.ToString();
            if (Position != null)
            {
                txtUpDownP1.Text = store.Config.GetUpDownP1(Position.BagHeight).ToString();
                txtMiddleP2.Text = Position.MiddleAxis_Position_P2.ToString();
                txtUpDownP3.Text = Position.UpDownAxis_IHPosition_P3.ToString();
                txtUpDownP4.Text = Position.UpDownAxis_ILPosition_P4.ToString();
                txtUpDownP5.Text = Position.UpDownAxis_OHPosition_P5.ToString();
                txtUpDownP6.Text = Position.UpDownAxis_OLPosition_P6.ToString();
                txtComP2.Text = Position.CompressAxis_Position_P2.ToString();
                txtComP3.Text = Position.CompressAxis_CPosition_P3.ToString();
                txtInOutP3.Text = Position.InOutAxis_Position_P3.ToString();
                txtInOutP2.Text = Position.InOutAxis_Batch_P2.ToString();
                txtInoutP4.Text = Position.InOutAxis_DoorOutPosition_P4.ToString();
                //txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString(); 
            }
            txtSpeed.Text = store.Config.CompressAxis_EndSpeed.ToString();
            List<string> port = new List<string>(SerialPort.GetPortNames());
            comboBoxPortName.DataSource = port;
            if (port.IndexOf(store.Config.CompressAxis_PortName) >= 0)
            {
                comboBoxPortName.SelectedIndex = port.IndexOf(store.Config.CompressAxis_PortName);
            }
            cmbHomeType.SelectedIndex = 0;
            timer1.Enabled = true;
        }
        #endregion
        private string WaitStart = ResourceCulture.GetString(ResourceCulture.WaitStart, "等待启动");
        private string dooropen = ResourceCulture.GetString(ResourceCulture.DoorHasOpen, "   前门未关");
        private string HasWare = ResourceCulture.GetString(ResourceCulture.HasWare, "   叉子料盘检测有料，请检查");
        private string StartAuto = ResourceCulture.GetString(ResourceCulture.StartAuto,"开始自动出入库");
        private string StopAuto = ResourceCulture.GetString(ResourceCulture.StopAuto, "停止自动出入库");
        private string AutoOut = ResourceCulture.GetString(ResourceCulture.AutoOut, "自动出库：");
        private string AutoIn = ResourceCulture.GetString(ResourceCulture.AutoIn, "自动入库：");
        public static string cannotMove = ResourceCulture.GetString(ResourceCulture.CannotMove, "定位气缸不在下降端，不能移动进出轴");
        public static string warn = ResourceCulture.GetString(ResourceCulture.WarnMsg, "警告");
        public void processMenu()
        {

            string className = this.ClassName;
            CurrLanguage = ResourceCulture.CurrLanguage;
            ResourceCulture.GetString(ResourceCulture.CannotMove, "定位气缸不在下降端，不能移动进出轴");
            warn = ResourceCulture.GetString(ResourceCulture.WarnMsg, "警告");
           
            WaitStart = ResourceCulture.GetString(ResourceCulture.WaitStart, "等待启动");
            dooropen = ResourceCulture.GetString(ResourceCulture.DoorHasOpen, "   前门未关");
            HasWare = ResourceCulture.GetString(ResourceCulture.HasWare, "   叉子料盘检测有料，请检查");
            StartAuto = ResourceCulture.GetString(ResourceCulture.StartAuto,StartAuto);
            StopAuto = ResourceCulture.GetString(ResourceCulture.StopAuto, StopAuto);
            AutoOut = ResourceCulture.GetString(ResourceCulture.AutoOut, "自动出库：");
            AutoIn = ResourceCulture.GetString(ResourceCulture.AutoIn, "自动入库：");
            //摄像机调试ToolStripMenuItem.Visible = CurrLanguage.Equals(ResourceCulture.China);
            //toolStripSeparator10.Visible = CurrLanguage.Equals(ResourceCulture.China);
          
             
            
            ToolStripItemCollection collection = menuStrip1.Items;
            for (int i = 0; i < collection.Count; i++)
            {
                if (collection[i] is ToolStripMenuItem)
                {
                    string newStr = ResourceCulture.GetString(ResourceCulture.GetTextIdStr(className, collection[i].Name), collection[i].Text);
                    collection[i].Text = newStr;

                    ToolStripMenuItem a = (ToolStripMenuItem)collection[i];
                    ToolStripItemCollection newColl = a.DropDownItems;
                    for (int ii = 0; ii < newColl.Count; ii++)
                    {
                        if (newColl[ii] is ToolStripMenuItem)
                        {
                            newStr = ResourceCulture.GetString(ResourceCulture.GetTextIdStr(className, newColl[ii].Name), newColl[ii].Text);
                            newColl[ii].Text = newStr;
                        }
                    }
                }
            }
            显示ToolStripMenuItem.Text = ResourceCulture.GetString(ResourceCulture.GetTextIdStr(className, 显示ToolStripMenuItem.Name), 显示ToolStripMenuItem.Text);
            toolStripMenuItem1.Text = ResourceCulture.GetString(ResourceCulture.GetTextIdStr(className, toolStripMenuItem1.Name), toolStripMenuItem1.Text);
            notifyIcon1.Text = this.Text;
            if (CurrLanguage.Equals(ResourceCulture.China))
            {
                LogUtil.logBox = this.richTextBox1;
            }
            else
            {
                LogUtil.ClearLog();
                LogUtil.logBox = null;
                this.richTextBox1.Clear();
            }
        }

        private void start_button_Click(object sender, EventArgs e)
        {
            store.StartRun();
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                StoreOpenStatus(true);
            }
        }

        private void stop_button_Click(object sender, EventArgs e)
        {
            try
            {
                store.StopRun();
                StoreOpenStatus(false);
            }
            catch (Exception ex)
            {
                LogUtil.error(LOGGER, "出错：" + ex.StackTrace);
            }
        }
        private bool preOpen = false;
        public void StoreOpenStatus(bool isOpen)
        {
            if (preOpen.Equals(isOpen))
            {
                return;
            }
            preOpen = isOpen;

            //btnOutStore.Enabled = isOpen;
            //btnInStore.Enabled = isOpen;

            //btnAxisAMove.Enabled = isOpen;

            //btnAxisReturnHome.Enabled = isOpen;
            //btnAxisRMove.Enabled = isOpen;
            //btnAxisVMove.Enabled = isOpen;

            启动ToolStripMenuItem.Enabled = !isOpen;
            停止ToolStripMenuItem.Enabled = isOpen;
            复位ToolStripMenuItem.Enabled = isOpen;

        }
        private bool LoadOk = false;
        private void FrmTest_Load(object sender, EventArgs e)
        {
            string language = ConfigAppSettings.GetValue(Setting_Init.Default_Language);
            if (language.Equals(ResourceCulture.China) || language.Equals(ResourceCulture.English))
            {
                ResourceCulture.SetCurrentCulture(language);
            }
            else
            {
                ResourceCulture.SetCurrentCulture(ResourceCulture.China);
                ConfigAppSettings.SaveValue(Setting_Init.Default_Language, ResourceCulture.China);
            }
            GetVersion();
            LogUtil.logBox = this.richTextBox1;
            this.ShowInTaskbar = true;
            this.Text = ConfigAppSettings.GetValue(Setting_Init.App_Title);
            HideForm();
            initValue();
             
            this.toolStripMenuItem4.Visible = StoreManager.HasDisableDoorControl;
            this.toolStripMenuItem5.Visible = StoreManager.HasDisableDoorControl;
            this.toolStripSeparator16.Visible = StoreManager.HasDisableDoorControl;
            this.toolStripSeparator18.Visible = StoreManager.HasDisableDoorControl;
            txtTempPort.Text = store.Config.Humiture_Port;
            LoadOk = true;
            cmbHomeType.SelectedIndex = 1;
            timer1.Start();
            store.ResetEvent += Store_ResetEvent;
            cmbJianGe.Items.Clear();
            for(int i = 0; i <= 20; i++)
            {
                cmbJianGe.Items.Add(i.ToString());
            }
            cmbJianGe.SelectedIndex = 1;

            DebugStatus(false);
        }

        private void Store_ResetEvent()
        {
            DebugStatus(false);
        }

        private DateTime preReadModblsTime = DateTime.Now;
        private void timer1_Tick(object sender, EventArgs e)
        {
            try
            {
                if (this.Visible.Equals(false) )
                {
                    return;
                }
                lblTemp.Text = store.currTempStr;
                lblBatchMsg.Text = AutomaticBaiting.WarnMsg;
                lblWarnMsg.Text = store.WarnMsg;
                BatchInoutStatus(); 
                //忙碌状态不读取状态
                if (!store.storeRunStatus.Equals(StoreRunStatus.Busy))
                {
                    if (chbAutoRead.Checked)
                    {
                        string portName = GetPortName();
                        int SlvAddr = GetSlaveAddr();

                        //判断私服是否打开、
                        if (ACServerManager.ServerOnStatus(portName, SlvAddr))
                        {
                            lblServerOn.Text = ResourceCulture.GetString(ResourceCulture.servoON, "伺服ON");
                            int lOutPulse = ACServerManager.GetTargetPosition(portName, SlvAddr);
                            lblOutPulse.Text = string.Format("{0:d}", lOutPulse);
                            int lCountPulse = ACServerManager.GetActualtPosition(portName, SlvAddr);
                            lblCountPulse.Text = string.Format("{0:d}", lCountPulse);
                        }
                        else
                        {
                            lblServerOn.Text =ResourceCulture.GetString(ResourceCulture.ServoOff, "伺服OFF");
                        }
                    }
                }

                lblBatchStatus.Text = store.GetRunStr(AutomaticBaiting.AutoBaitingStatus, false);
            
                //ReadPosistion();
                if (store.storeRunStatus > StoreRunStatus.Wait)
                {
                    if (启动ToolStripMenuItem.Enabled.Equals(true))
                    {
                        StoreOpenStatus(true);
                    }
                    lblThisSta.Text = store.GetRunStr(store.storeRunStatus, true);
                    //复位按钮状态显示
                    if (复位ToolStripMenuItem.Enabled == false)
                    {
                        if ((store.storeRunStatus.Equals(StoreRunStatus.HomeMoving) || store.storeRunStatus.Equals(StoreRunStatus.Reset))
                            && store.alarmType.Equals(StoreAlarmType.None))
                        {
                        }
                        else
                        {
                            if (复位ToolStripMenuItem.Enabled.Equals(false))
                            {
                                复位ToolStripMenuItem.Enabled = true;
                            }
                        }
                    }
                    else
                    {
                        if ((store.storeRunStatus.Equals(StoreRunStatus.HomeMoving) || store.storeRunStatus.Equals(StoreRunStatus.Reset))
                            && store.alarmType.Equals(StoreAlarmType.None))
                        {
                            if (启动ToolStripMenuItem.Enabled)
                            {
                                启动ToolStripMenuItem.Enabled = false;
                                复位ToolStripMenuItem.Enabled = false;
                            }
                        }
                    }
                  
                    //string deviceMsg = "叉子上有料盘，请打开仓门检查";
                    if (store.storeRunStatus.Equals(StoreRunStatus.Runing) && store.StoreMove.MoveType.Equals(StoreMoveType.None) && IOManager.IOValue(IO_Type.TrayCheck_Fixture).Equals(IO_VALUE.HIGH))
                    {
                        lblWarnMsg.Text = lblWarnMsg.Text + HasWare;
                    }
                    if (store.TempOrHumidityIsAlarm)
                    {
                        lblWarnMsg.Text = lblWarnMsg.Text + "   温湿度报警[" + store.TempAlarmTime.ToLongTimeString() + "]";
                    }

                    if (store.autoNext)
                    {
                        string msg = store.autoMsg;
                        groupAuto.Text = msg;
                        if (btnStart.Text.Equals(StartAuto))
                        {
                            btnStart.Text = StopAuto;
                        }
                        try
                        {
                            msg = msg.Replace("自动出库：", "");
                            msg = msg.Replace("自动入库：", "");
                            int index = store.PositionNumList.IndexOf(msg);
                            if (index >= 0 && (!msg.Equals("")))
                            {
                                cmbPosition.SelectedIndex = index;
                            }
                        }
                        catch (Exception ex) { }
                    }
                    else
                    {
                        groupAuto.Text = "自动出入库操作"; 
                        btnStart.Text = StartAuto; 
                    }
                }
                else
                {
                    groupAuto.Text = StartAuto;
                    lblThisSta.Text = WaitStart;
                    //lblWarnMsg.Text = "";
                    btnStart.Text =StartAuto;
                    
                    lblDoorStatus.Text =ResourceCulture.GetString(ResourceCulture.NoDoorStatus, "仓门状态未知");
                }
            }catch(Exception ex)
            {
                LogUtil.error("主界面定时器出错："+ex.StackTrace);
            }
        }

        private void BatchInoutStatus()
        {
            Dictionary<string, string> map = AutomaticBaiting.GetBtnStatus();
            btnWaitTrgGo.Visible = map[ParamDefine.confirmReelOut].Equals(ParamDefine.enable);
            lblWaitTragGo.Visible = map[ParamDefine.confirmReelOut].Equals(ParamDefine.enable);
            btnOpenDoor.Enabled = map[ParamDefine.openLock].Equals(ParamDefine.enable);
            btnBatchInStore.Enabled = map[ParamDefine.startBatchIn].Equals(ParamDefine.enable);
            btnGetOutTray.Enabled = map[ParamDefine.takeOutReel].Equals(ParamDefine.enable);
            btnCloseDoor.Enabled = map[ParamDefine.closeLock].Equals(ParamDefine.enable);
 
            lblDoorStatus.Text = map[ParamDefine.doorStatus];
            lblOutInfo.Visible = !lblWaitTragGo.Visible;
            lblOutInfo.Text = ResourceCulture.GetString(ResourceCulture.InstoreInfo,"批量出入库信息：    入库：" )+ AutomaticBaiting.BatchInStoreCount + "," + AutomaticBaiting.BatchInStoreHeight + "mm，" +
              ResourceCulture.GetString(ResourceCulture.oustore , "出库： ") + AutomaticBaiting.BatchOutStoreCount + "," + AutomaticBaiting.BatchOutStoreHeight + "mm";

            bool isRun = HumitureController.IsRun;
            btnSelTemp.Enabled = isRun;
            btnTempClose.Enabled = isRun;
            btnTempInit.Enabled = !isRun;
        }
          
        private void ReadPosistion()
        {
            string portName = GetPortName();
            int SlvAddr = GetSlaveAddr();
            //判断私服是否打开、
            if (ACServerManager.ServerOnStatus(portName, SlvAddr))
            {
                lblServerOn.Text = "伺服ON";
            }
            else
            {
                lblServerOn.Text = "伺服OFF";
            }
            string deviceName = GetPortName();
            if (ACServerManager.ServerOnStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue()))
            {
                axis_1_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue());
                axis_1_Alarm.ShowData();
                int lOutPulse1 = ACServerManager.GetTargetPosition(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue());
                lblOutPulse1.Text = string.Format("{0:d}", lOutPulse1);
                int lCountPulse1 = ACServerManager.GetActualtPosition(store.Config.Middle_Axis.DeviceName, store.Config.Middle_Axis.GetAxisValue());
                lblCountPulse1.Text = string.Format("{0:d}", lCountPulse1);
                txtMiddleTarget.Text = store.Config.Middle_Axis.TargetPosition.ToString();
                //if (deviceName.Equals(store.Config.Middle_Axis.DeviceName))
                    if(store.Config.Middle_Axis.IsSameAxis(deviceName,SlvAddr))
                {
                    lblOutPulse.Text = lblOutPulse1.Text;
                    lblCountPulse.Text = lblCountPulse1.Text;
                }
            }
            if (ACServerManager.ServerOnStatus(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue()))
            {
                axis_2_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue());
                axis_2_Alarm.ShowData();
                int lOutPulse2 = ACServerManager.GetTargetPosition(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue());
                lblOutPulse2.Text = string.Format("{0:d}", lOutPulse2);
                int lCountPulse2 = ACServerManager.GetActualtPosition(store.Config.UpDown_Axis.DeviceName, store.Config.UpDown_Axis.GetAxisValue());
                lblCountPulse2.Text = string.Format("{0:d}", lCountPulse2);
                txtUpdownTarget.Text = store.Config.UpDown_Axis.TargetPosition.ToString();
                //if (deviceName.Equals(store.Config.UpDown_Axis.DeviceName))
                    if (store.Config.UpDown_Axis.IsSameAxis(deviceName, SlvAddr))
                    {
                    lblOutPulse.Text = lblOutPulse2.Text;
                    lblCountPulse.Text = lblCountPulse2.Text;
                }
            }
            if (ACServerManager.ServerOnStatus(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue()))
            {
                axis_3_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
                int lOutPulse3 = ACServerManager.GetTargetPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
                lblOutPulse3.Text = string.Format("{0:d}", lOutPulse3);
                int lCountPulse3 = ACServerManager.GetActualtPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
                lblCountPulse3.Text = string.Format("{0:d}", lCountPulse3);
                txtInoutTarget.Text = store.Config.InOut_Axis.TargetPosition.ToString();
                //if (deviceName.Equals(store.Config.InOut_Axis.DeviceName))
                    if (store.Config.InOut_Axis.IsSameAxis(deviceName, SlvAddr))
                    {
                    lblOutPulse.Text = lblOutPulse3.Text;
                    lblCountPulse.Text = lblCountPulse3.Text;
                }
            }
            if (ACServerManager.ServerOnStatus(store.Config.Batch_Axis.DeviceName, store.Config.Batch_Axis.GetAxisValue()))
            {
                axis_5_Alarm.IOValue = ACServerManager.GetAlarmStatus(store.Config.Batch_Axis.DeviceName, store.Config.Batch_Axis.GetAxisValue());
                int lOutPulse5 = ACServerManager.GetTargetPosition(store.Config.Batch_Axis.DeviceName, store.Config.Batch_Axis.GetAxisValue());
                lblOutPulse5.Text = string.Format("{0:d}", lOutPulse5);
                int lCountPulse5 = ACServerManager.GetActualtPosition(store.Config.Batch_Axis.DeviceName, store.Config.Batch_Axis.GetAxisValue());
                lblCountPulse5.Text = string.Format("{0:d}", lCountPulse5);
                txtBatchTarget.Text = store.Config.Batch_Axis.TargetPosition.ToString();
                //if (deviceName.Equals(store.Config.Batch_Axis.DeviceName))
                if (store.Config.Batch_Axis.IsSameAxis(deviceName, SlvAddr))
                    {
                    lblOutPulse.Text = lblOutPulse5.Text;
                    lblCountPulse.Text = lblCountPulse5.Text;
                }
            }
            lblAxisStatus.Text = "：" + DateTime.Now.ToLongTimeString();
        }

        private void Bt_ClearCounter_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);

            //KTKSMCManager.WSetCountPulse(portName, SlvAddr, 0);
            //KTKSMCManager.WSetOutPulse(portName, SlvAddr, 0);
        }

        

        private void FrmTest_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (e.CloseReason == CloseReason.UserClosing)//当用户点击窗体右上角X按钮或(Alt + F4)时 发生           
            {
                e.Cancel = true;
                HideForm();
            }
        }
        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
            {
                 MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
            }
        }

        private void btnInStore_Click(object sender, EventArgs e)
        {
            MessageBox.Show(ResourceCulture.GetString(ResourceCulture.CanotSingleInStore,"此设备不支持单个入库"),
                ResourceCulture.GetString(ResourceCulture.MsgTitle,ResourceCulture.GetString(ResourceCulture.MsgTitle,"提示")), MessageBoxButtons.OK, MessageBoxIcon.Error);
            return;
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                store.StartInStoreMove(new InOutStoreParam("", selectPositionNum, ktk), false);
            }
            else
            {
                 MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
            }
        }

        private LineMoveP LoadPostion()
        {
            LineMoveP ktk = new LineMoveP();
            ktk.ComPress_P1 = FormUtil.GetIntValue(txtComP1);
            ktk.ComPress_P2 = FormUtil.GetIntValue(txtComP2);
            ktk.ComPress_P3 = FormUtil.GetIntValue(txtComP3);
            ktk.InOut_P1 = FormUtil.GetIntValue(txtInOutP1);
            ktk.InOut_P2 = FormUtil.GetIntValue(txtInOutP2);
            ktk.InOut_P4 = FormUtil.GetIntValue(txtInoutP4);
            ktk.InOut_P3 = FormUtil.GetIntValue(txtInOutP3);
            ktk.Middle_P1 = FormUtil.GetIntValue(txtMiddleP1);
            ktk.Middle_P2 = FormUtil.GetIntValue(txtMiddleP2);

            ktk.UpDown_P1 = FormUtil.GetIntValue(txtUpDownP1);
            ktk.UpDown_Door_P7 = FormUtil.GetIntValue(txtUpDownDoor);
            //ktk.UpDown_P2 = FormUtil.GetIntValue(txtUpDownP2);
            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_P8 = FormUtil.GetIntValue(txtUpDownP8);
            ktk.UpDown_OutHigh_P2 = FormUtil.GetIntValue(txtUpdownP2);
            ktk.UpDown_OutLow_P8 = FormUtil.GetIntValue(txtUpdownP8);

            return ktk;
        }
        private void btnComAlarmClear_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short slvAddr = FormUtil.GetShortValue(txtAxisValue);
            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 cmbPosition_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (cmbPosition.SelectedIndex >= 0)
            {
                string selectPositionNum = cmbPosition.Text;
                AutoStorePosition ktkPosition = CSVPositionReader<AutoStorePosition>.GetPositon(selectPositionNum);

                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_Batch_P2.ToString();
                    txtInoutP4.Text = ktkPosition.InOutAxis_DoorOutPosition_P4.ToString();
                    txtUpDownP1.Text = store.Config.GetUpDownP1(ktkPosition.BagHeight).ToString();
                    //txtUpDownP2.Text = ktkPosition.UpDownAxis_DoorIPosition_P2.ToString();
                    //txtUpDownP7.Text = ktkPosition.UpDownAxis_DoorOBPosition_P7.ToString();
                    //txtUpDownP8.Text = ktkPosition.UpDownAxis_DoorIBPosition_P8.ToString();
                    //txtInOutP2.Text = ktkPosition.InOutAxis_DoorPosition_P2.ToString();
                    //txtUpDownP1.Text = ktkPosition.UpDownAxis_DoorOPosition_P1.ToString(); 
                }
            }
        }
        private void cmbAxisList_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (this.cmbAxisList.SelectedIndex >= 0)
            {
                ConfigMoveAxis SlvAddr = store.moveAxisList[cmbAxisList.SelectedIndex];
                txtAxisDeviceName.Text = SlvAddr.DeviceName;
                txtAxisValue.Text = SlvAddr.GetAxisValue().ToString();
                txtASpeed.Text = SlvAddr.TargetSpeed.ToString();
            }
        }

        private void btnAxisAMove_Click(object sender, EventArgs e)
        {
            //ConfigMoveAxis axisC = store.moveAxisList[cmbAxisList.SelectedIndex];
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed);
            //if (axisC.PositionIsHasLimit() && (axisC.PositionMin > position || axisC.PositionMax < position))
            //{
            //    MessageBox.Show("位置超出" + axisC.Explain + "上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
            //    return;
            //}
            if (store.Config.InOut_Axis.IsSameAxis(portName,SlvAddr)   && (store.InOutAxisCanMove().Equals(false)))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else if ( store.Config.Middle_Axis.IsSameAxis(portName,SlvAddr ) ||  store.Config.UpDown_Axis.IsSameAxis(portName,SlvAddr))
            {
                if (!InOutIsIsP1())
                {
                    return;
                }
            }
            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 btnAxisVMove_Click(object sender, EventArgs e)
        {
            //ConfigMoveAxis axisC = store.moveAxisList[cmbAxisList.SelectedIndex];
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            int speed = FormUtil.GetIntValue(txtASpeed);
            if (store.Config.InOut_Axis.IsSameAxis(portName, SlvAddr) && (store.InOutAxisCanMove().Equals(false)))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else if (store.Config.Middle_Axis.IsSameAxis(portName, SlvAddr) || store.Config.UpDown_Axis.IsSameAxis(portName, SlvAddr))
            {
                if (!InOutIsIsP1())
                {
                    return;
                }
            }
            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 btnAxisRMove_Click(object sender, EventArgs e)
        {
            //ConfigMoveAxis axisC = store.moveAxisList[cmbAxisList.SelectedIndex];
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            int position = FormUtil.GetIntValue(txtAPosition);
            int speed = FormUtil.GetIntValue(txtASpeed);
            //int currPositon = ACServerManager.GetActualtPosition(portName, SlvAddr);
            // int newPosition = position + currPositon;
            // if (axisC.PositionIsHasLimit() && (axisC.PositionMin > newPosition || axisC.PositionMax < newPosition))
            //{
            //    MessageBox.Show("位置超出"+axisC.Explain+"上下限（" + axisC.PositionMin + "-" + axisC.PositionMax + "）");
            //    return;
            //}

            if (store.Config.InOut_Axis.IsSameAxis(portName, SlvAddr) && (store.InOutAxisCanMove().Equals(false)))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else if (store.Config.Middle_Axis.IsSameAxis(portName, SlvAddr) || store.Config.UpDown_Axis.IsSameAxis(portName, SlvAddr))
            {
                if (!InOutIsIsP1())
                {
                    return;
                }
            }
            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 btnAxisStop_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            LogUtil.info("点击【停止运动】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.SuddenStop(portName, SlvAddr);
        }

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

        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_Batch_P2 = FormUtil.GetIntValue(txtInOutP2);
                ktkPosition.InOutAxis_DoorOutPosition_P4 = FormUtil.GetIntValue(txtInoutP4);
                //ktkPosition.UpDownAxis_DoorIPosition_P2 = FormUtil.GetIntValue(txtUpDownP2);
                //ktkPosition.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7);
                //ktkPosition.UpDownAxis_DoorIBPosition_P8 = FormUtil.GetIntValue(txtUpDownP8);
                //ktkPosition.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
                //ktkPosition.UpDownAxis_DoorOPosition_P1 = FormUtil.GetIntValue(txtUpDownP1);
            }
            //位置配置
            string appPath = Application.StartupPath;
            //如果总配置文件存在，保存到总的配置文件
            string positionConfigFile = appPath + ConfigAppSettings.GetValue(Setting_Init.Store_Position_Config);
            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)
            {
                MessageBox.Show(ResourceCulture.GetString(ResourceCulture.SaveError, "保存失败"));
            }
            //料仓固定位置保存
            bool needUpdate = false;
            if (store.Config.MiddleAxis_P1_Position != FormUtil.GetIntValue(txtMiddleP1))
            {
                store.Config.MiddleAxis_P1_Position = FormUtil.GetIntValue(txtMiddleP1);
                needUpdate = true;
            }
            if (ktkPosition != null)
            {
                if (store.Config.GetUpDownP1(ktkPosition.BagHeight) != FormUtil.GetIntValue(txtUpDownP1))
                {
                    store.Config.UpdateUpDownP1(ktkPosition.BagHeight, FormUtil.GetIntValue(txtUpDownP1));
                    needUpdate = true;
                }
                if (store.Config.GetComP2(ktkPosition.BagHeight) != FormUtil.GetIntValue(txtComP2))
                {
                    store.Config.UpdateComP2(ktkPosition.BagHeight, FormUtil.GetIntValue(txtComP2));
                    needUpdate = true;
                }
            }
            if (store.Config.InOutAxis_P1_Position != FormUtil.GetIntValue(txtInOutP1))
            {
                store.Config.InOutAxis_P1_Position = FormUtil.GetIntValue(txtInOutP1);
                needUpdate = true;
            }

            if (store.Config.CompressAxis_P1_Position != FormUtil.GetIntValue(txtComP1))
            {
                store.Config.CompressAxis_P1_Position = FormUtil.GetIntValue(txtComP1);
                needUpdate = true;
            }
            if (store.Config.UpDownAxis_Door_P7 != FormUtil.GetIntValue(txtUpDownDoor))
            {
                store.Config.UpDownAxis_Door_P7 = FormUtil.GetIntValue(txtUpDownDoor);
                needUpdate = true;
            }
            if (store.Config.UpDownAxis_OutHigh_P2 != FormUtil.GetIntValue(txtUpdownP2))
            {
                store.Config.UpDownAxis_OutHigh_P2 = FormUtil.GetIntValue(txtUpdownP2);
                needUpdate = true;
            }
            //if (store.Config.UpDownAxis_DoorOBPosition_P7 != FormUtil.GetIntValue(txtUpDownP7))
            //{
            //    store.Config.UpDownAxis_DoorOBPosition_P7 = FormUtil.GetIntValue(txtUpDownP7);
            //    needUpdate = true;
            //}
            if (store.Config.UpDownAxis_OutLow_P8 != FormUtil.GetIntValue(txtUpdownP8))
            {
                store.Config.UpDownAxis_OutLow_P8 = FormUtil.GetIntValue(txtUpdownP8);
                needUpdate = true;
            }
            //if (store.Config.InOutAxis_DoorPosition_P2 != FormUtil.GetIntValue(txtInOutP2))
            //{
            //    store.Config.InOutAxis_DoorPosition_P2 = FormUtil.GetIntValue(txtInOutP2);
            //    needUpdate = true;
            //}
            //if (store.Config.UpDownAxis_DoorOPosition_P1 != FormUtil.GetIntValue(txtUpDownP1))
            //{
            //    store.Config.UpDownAxis_DoorOPosition_P1 = FormUtil.GetIntValue(txtUpDownP1);
            //    needUpdate = true;
            //}
            if (needUpdate)
            {
                //更新缓存
                StoreManager.UpdateBoxConfig(store.Config);
            }

        }

        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.InitSlvAddr(portName, SlvAddr);
            //Thread.Sleep(100);
            ACServerManager.AlarmClear(portName, SlvAddr);
            Thread.Sleep(100);
            ACServerManager.ServoOn(portName, SlvAddr);
        }
        /// <summary>
        /// 判断进出轴是否在P1点
        /// </summary> 
        private bool InOutIsIsP1()
        {
            int InOutDefaultPosition = ConfigAppSettings.GetIntValue(Setting_Init.InOutDefaultPosition);
            //if (InOutDefaultPosition > 3000 || InOutDefaultPosition.Equals(0))
            //{
            //    InOutDefaultPosition = 3000;
            //}
            int currValue = ACServerManager.GetActualtPosition(store.Config.InOut_Axis.DeviceName, store.Config.InOut_Axis.GetAxisValue());
            if (currValue <= InOutDefaultPosition)
            {
                return true;
            }
            MessageBox.Show( ResourceCulture.GetString(ResourceCulture.InoutNotOk,"叉子不在待机位，请先将叉子退回待机位")+"(" + InOutDefaultPosition + ")!",
                ResourceCulture.GetString(ResourceCulture.InoutWarn,"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 btnCloseAxis_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            LogUtil.info("点击【关闭伺服】，端口号【" + portName + "】地址【" + SlvAddr + "】 ");
            ACServerManager.ServoOff(portName, SlvAddr);
        }
        private void AxisABSMove(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed)
        {
            moveAxis.TargetPosition = targetPosition;
            ACServerManager.AbsMove(moveAxis.DeviceName, moveAxis.GetAxisValue(), targetPosition, targetSpeed);
        }
        private void btnUpDownP1_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownP1);
                AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P1_Speed);
            }
        }

        private void btnUpDownP2_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpdownP2);
                AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P2_Speed);
            }
        }
        private void btnUpDownP7_Click(object sender, EventArgs e)
        {
            //if (InOutIsIsP1())
            //{
            //    int value = FormUtil.GetIntValue(txtUpDownP7);
            //    AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P7_Speed);
            //}
        }

        private void btnUpDownP8_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpdownP8);
                AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P8_Speed);
            }
        }

        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 btnMiddleP1_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtMiddleP1);
                AxisABSMove(store.Config.Middle_Axis, value, store.Config.MiddleAxis_P1_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 btnInOutP1_Click(object sender, EventArgs e)
        {
            if (store.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            int value = FormUtil.GetIntValue(txtInOutP1);
            AxisABSMove(store.Config.InOut_Axis, value, store.Config.InOutAxis_P1_Speed);
        }

        private void btnInOutP3_Click(object sender, EventArgs e)
        {
            if (store.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show( cannotMove,warn, 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))
            {
                MessageBox.Show( cannotMove,warn, 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);
            ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }

        private void btnComP1_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP1);
            ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }

        private void btnComP3_Click(object sender, EventArgs e)
        {
            int value = FormUtil.GetIntValue(txtComP3);
            ShuoKeControls.AbsMove(store.Config.CompressAxis_Slv, value);
        }
        int xWidth = SystemInformation.PrimaryMonitorSize.Width;//获取显示器屏幕宽度
        int yHeight = SystemInformation.PrimaryMonitorSize.Height;//高度

        private void button1_Click(object sender, EventArgs e)
        {
            FormManager.ShowAxisDebug(store);
        }
         
        private void 轴卡点动ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            button1_Click(null, null);
        }

        private void 轴运动配置ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //FormManager.ShowAxisConfig(store);
        }

        private void 启动ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            start_button_Click(null, null);
        }

        private void 停止ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            stop_button_Click(null, null);
        }

        private void 复位ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            this.store.Reset();
            复位ToolStripMenuItem.Enabled = false;
            复位ToolStripMenuItem.Enabled = false;
        }

        private void 查看IOToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FormManager.ShowIOShow(store);
        }

        private void 清理日志ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            string str = ResourceCulture.China;

            ResourceCulture.SetCurrentCulture(str);
            ConfigAppSettings.SaveValue(Setting_Init.Default_Language, str);
            this.LanguageProcess();
        }

        private void 开启DEBUGToolStripMenuItem_Click(object sender, EventArgs e)
        {
            string str = ResourceCulture.English;
            ResourceCulture.SetCurrentCulture(str);
            ConfigAppSettings.SaveValue(Setting_Init.Default_Language, str);
            this.LanguageProcess();
        }

        private void btnClearLog_Click(object sender, EventArgs e)
        {
            //this.richTextBox1.Text = "";
            LogUtil.ClearLog();
        }


        private void 料仓运转ONToolStripMenuItem_Click(object sender, EventArgs e)
        {
            this.Enabled = false;
            store.RunAxis(false);
            this.Enabled = true;
            LogUtil.info("料仓运转ON完成");
        }

        private void 扫码测试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
            string message = "";
            string outMsg = "";
            //List<string> codeList = HDevelopExport.CameraScan(out outMsg);
            //foreach (string str in codeList)
            //{
            //    string code = HDevelopExport.SubStrCode(str);
            //    message = message + code + "##";
            //}
            List<string> codeList = CodeManager.CameraScan();
            foreach (string str in codeList)
            {
                message = message + str + "##";
            }
            LogUtil.info("扫码测试收到二维码【" + outMsg + "】：" + message);
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
        }

        private void 打开舱门ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Door_Up, IO_VALUE.HIGH);
            IOManager.IOMove(IO_Type.Door_Down, IO_VALUE.LOW);
        }

        private void 料仓运转OFFToolStripMenuItem_Click(object sender, EventArgs e)
        {
            store.CloseAllAxis();
            LogUtil.info("料仓运转OFF完成");
        }

        private void 关闭仓门ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Door_Down, IO_VALUE.HIGH);
            IOManager.IOMove(IO_Type.Door_Up, IO_VALUE.LOW);
        }

        private void 回待机点ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                if (store.StoreMove.MoveType.Equals(StoreMoveType.None) && store.alarmType.Equals(StoreAlarmType.None))
                {
                    store.MoveToP1();
                }
                else
                {
                    MessageBox.Show( ResourceCulture.GetString(ResourceCulture.CanotBack,"无报警，无出入库或者重置操作时，才可以回待机点！"));
                }
            }
            else
            {
                 MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
            }
        }

        private void 换肤ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FormManager.NextSkin();
            SetSkin(this);
        }

        private void FrmStoreBox_Shown(object sender, EventArgs e)
        {
            SetSkin(this);
            this.btnUpDownP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            //this.btnUpDownP2.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            this.btnUpDownP3.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            this.btnUpDownP4.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            this.btnUpDownP5.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            this.btnUpDownP6.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            //this.btnUpDownP7.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            //this.btnUpDownP8.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(192)))), ((int)(((byte)(64)))), ((int)(((byte)(0)))));
            //this.lblWarnMsg.ForeColor = System.Drawing.Color.Red;
            //this.lblThisSta.ForeColor = System.Drawing.Color.Red;

            this.btnComP1.ForeColor = System.Drawing.Color.Purple;
            this.btnComP3.ForeColor = System.Drawing.Color.Purple;
            this.btnComP2.ForeColor = System.Drawing.Color.Purple;

            this.btnInOutP2.ForeColor = System.Drawing.Color.Green;
            this.btnInOutP1.ForeColor = System.Drawing.Color.Green;
            this.btnInOutP3.ForeColor = System.Drawing.Color.Green;
            this.btnMiddleP1.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));
            this.btnMiddleP2.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(0)))), ((int)(((byte)(0)))), ((int)(((byte)(192)))));


        }
        /// <summary>
        /// 判断AC伺服电机轴是否运动完成
        /// </summary> 
        protected bool ACAxisMoveIsEnd(ConfigMoveAxis moveAxis, int targetPosition, int targetSpeed, out string msg)
        {
            msg = "";
            string deviceName = moveAxis.DeviceName;
            int axisNo = moveAxis.GetAxisValue();

            bool isend = ACServerManager.GetBusyStatus(deviceName, axisNo).Equals(0);
            int outCount = ACServerManager.GetActualtPosition(deviceName, axisNo);
            int errorCount = Math.Abs(outCount - targetPosition);
            if (isend)
            {
                if (errorCount > moveAxis.CanErrorCountMax)
                {
                    msg = " DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",targetSpeed=" + targetSpeed + ",当前outCount=" + outCount + ",误差值大于最大误差【" + moveAxis.CanErrorCountMax + "】,但是轴已经停止运动，需要报警";
                    LogUtil.error(LOGGER, msg);
                    return false;
                }
                else
                {
                    return true;
                }
            }
            else if (errorCount <= moveAxis.CanErrorCountMin)
            {
                LogUtil.info(LOGGER, "  DeviceName=" + deviceName + ",AxisNo=" + axisNo + ",targetPosition=" + targetPosition + ",当前outCount=" + outCount +
                        ",误差值小于最小误差【" + moveAxis.CanErrorCountMin + "】,默认轴已经停止运动");
                return true;
            }
            return false;
        }
         
        private int GetSlaveAddr()
        {
            return FormUtil.GetShortValue(txtAxisValue);
        }

        private string GetPortName()
        {
            return txtAxisDeviceName.Text;
        }
        private void btnAxisReturnHome_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            short SlvAddr = FormUtil.GetShortValue(txtAxisValue);
            if (store.Config.InOut_Axis.IsSameAxis(portName, SlvAddr) && (store.InOutAxisCanMove().Equals(false)))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            else if (store.Config.Middle_Axis.IsSameAxis(portName, SlvAddr) || store.Config.UpDown_Axis.IsSameAxis(portName, SlvAddr))
            {
                if (!InOutIsIsP1())
                {
                    return;
                }
            }

            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 btnReadPosition_Click(object sender, EventArgs e)
        {
            ReadPosistion();
        }

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

        private void button1_Click_1(object sender, EventArgs e)
        {
            int value = ACServerManager.GetBusyStatus(GetPortName(), GetSlaveAddr());
            this.txtBusyStatus.Text = value.ToString();
        }

        private void button2_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetHomeEndStatus(GetPortName(), GetSlaveAddr());
            this.txtHomeStatus.Text = value.ToString();
        } 
        private void chbAuto_CheckedChanged(object sender, EventArgs e)
        {
            if (!LoadOk)
            {
                return;
            }
            if (chbAuto.Checked)
            {
                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 1);
                ManagerUtil.AutoRun(Application.ExecutablePath, true);
            }
            else
            {
                ConfigAppSettings.SaveValue(Setting_Init.App_AutoRun, 0);
                ManagerUtil.AutoRun(Application.ExecutablePath, false);
            }
        }

        private void 显示ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FrmPwd fw = new FrmPwd(10);
            DialogResult result = fw.ShowDialog();
            if (!result.Equals(DialogResult.OK))
            {
                LogUtil.info("切换界面显示时，没有正确输入密码");
                return;
            }
            DebugStatus(false);
            this.Visible = true;
            this.WindowState = FormWindowState.Maximized;
            this.notifyIcon1.Visible = false;
            this.ShowInTaskbar = true;
        }
        private void ExitApp()
        {
            try
            {
                if (this.timer1.Enabled)
                {
                    this.timer1.Enabled = false;
                }
                LogUtil.info("ExitApp:停止料仓运行"); 
                store.Exit();
                ACServerManager.CloseAllPort();
                StoreOpenStatus(false); 
                LogUtil.info("ExitApp: 端口所有IO连接");
                IOManager.instance.CloseAllConnection();
                //KNDAIManager.CloseAllConnection();
                //WCFControl.CloseWCF(); 
                ResourceCulture.LogDefaultMap();
                System.Environment.Exit(System.Environment.ExitCode);
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.StackTrace, "", MessageBoxButtons.OK, MessageBoxIcon.Error);
                LogUtil.error(LOGGER, ex.StackTrace);
            }
        }
        private void toolStripMenuItem1_Click(object sender, EventArgs e)
        {
            DialogResult result = MessageBox.Show(ResourceCulture.GetString(ResourceCulture.SureExit, "是否确定退出？"), ResourceCulture.GetString(ResourceCulture.MsgTitle, ResourceCulture.GetString(ResourceCulture.MsgTitle,"提示")), MessageBoxButtons.YesNo, MessageBoxIcon.Question);
            if (result.Equals(DialogResult.Yes))
            {
                ExitApp();
            }
        }
        /// <summary>
        /// 隐藏窗口
        /// </summary>
        private void HideForm()
        {
            this.ShowInTaskbar = false;
            this.notifyIcon1.Visible = true;
            this.Hide();
        }
        private void FrmStoreBox_FormClosed(object sender, FormClosedEventArgs e)
        {
            ExitApp();
        }

        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            DialogResult result = MessageBox.Show(ResourceCulture.GetString(ResourceCulture.SureExit, "是否确定退出？"), ResourceCulture.GetString(ResourceCulture.MsgTitle, ResourceCulture.GetString(ResourceCulture.MsgTitle,"提示")), MessageBoxButtons.YesNo, MessageBoxIcon.Question);
            if (result.Equals(DialogResult.Yes))
            {
                ExitApp();
            }
        }

        private void 摄像机调试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
            CodeLibrary.FrmCodeDecode frm = new FrmCodeDecode();
            frm.ShowDialog();
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
        }

        private void 学习二维码ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
            string nameStr = ConfigAppSettings.GetValue(Setting_Init.CameraName);
            string codeStr = ConfigAppSettings.GetValue(Setting_Init.CodeType);
            HDCodeLearnHelper.LoadConfig(nameStr, codeStr);
            FrmCodeLearn learn = new FrmCodeLearn();
            learn.ShowDialog();
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
        }

        private void btnReadHomeSingle_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetHomeSingle(GetPortName(), GetSlaveAddr());
            this.txtHomeSingle.Text = value.ToString();
        }
        private void btnOpen_Click(object sender, EventArgs e)
        {
            if (StoreManager.OpenShuoKe(store))
            {
                ShuoKeControls.SetConfigSpeed(StoreManager.Config);
                FormComStatus(true);
            }
        }
        private void btnClose_Click(object sender, EventArgs e)
        {
            ShuoKeControls.ClosePort();
            FormComStatus(false);
        }
        private void btnVolMove_Click(object sender, EventArgs e)
        {
            int speed = FormUtil.GetIntValue(txtSpeed);
            ShuoKeControls.VolMove(store.Config.CompressAxis_Slv, speed);
        }
        private void btnGetPosition_Click(object sender, EventArgs e)
        {
            int value = ShuoKeControls.GetABSPosition(store.Config.CompressAxis_Slv);

            lblComMsg.Text = DateTime.Now.ToLongTimeString() + "：" + value;
        }
        private void btnStop_Click(object sender, EventArgs e)
        {
            ShuoKeControls.SuddownStop(this.store.Config.CompressAxis_Slv);
        }
        private void btnClearPosition_Click(object sender, EventArgs e)
        {
            ShuoKeControls.PositionClear(this.store.Config.CompressAxis_Slv, ShuoKeCMD.AbsPositionClear);
            ShuoKeControls.PositionClear(this.store.Config.CompressAxis_Slv, ShuoKeCMD.RelPositionClear);
        }
        private void btnHomeMove_Click(object sender, EventArgs e)
        {
            ShuoKeControls.HomeMove(this.store.Config.CompressAxis_Slv, byte.Parse(cmbHomeType.SelectedIndex.ToString()));
        }
        private void btnLineAbsMove_Click(object sender, EventArgs e)
        {
            int posi = FormUtil.GetIntValue(txtLinePosition);
            ShuoKeControls.AbsMove(this.store.Config.CompressAxis_Slv, posi);
        }
        private void btnRelMove_Click(object sender, EventArgs e)
        {
            int posi = FormUtil.GetIntValue(txtLinePosition);
            ShuoKeControls.RelativeMove(this.store.Config.CompressAxis_Slv, posi);
        }
        private void btnStatusSearch_Click(object sender, EventArgs e)
        {
            ShuoKeInfo info = ShuoKeControls.GetStatus(store.Config.CompressAxis_Slv);
            lblComMsg.Text = info.ToShowStr();
        }
        private void FormComStatus(bool isOpen)
        {
            btnOpen.Enabled = !isOpen;
            btnClose.Enabled = isOpen;
            btnClearPosition.Enabled = isOpen;
            btnVolMove.Enabled = isOpen;
            btnGetPosition.Enabled = isOpen;
            btnHomeMove.Enabled = isOpen;
            btnLineAbsMove.Enabled = isOpen;
            btnStatusSearch.Enabled = isOpen;
            // Bt_ClearCounter.Enabled = isOpen;
        }

        private void btnBatchOutTest_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving)
            {
                string selectPositionNum = cmbPosition.Text;
                LineMoveP ktk = LoadPostion();
                store.StartOutStoreMove(new InOutStoreParam("", selectPositionNum, ktk), true);
            }
            else
            {
                 MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PleaseStartStore, "请先启动料仓！"));
            }
        }



        private void button3_Click(object sender, EventArgs e)
        {
            ReadPosistion();
        }

        private void btnReadLimit1_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetLimitPositiveSingle(GetPortName(), GetSlaveAddr());
            this.txtLimit1.Text = value.ToString();
        }

        private void btnReadLimit2_Click(object sender, EventArgs e)
        {
            int value = ACServerManager.GetLimitNegativeSingle(GetPortName(), GetSlaveAddr());
            this.txtLimit2.Text = value.ToString();
        }

        private void btnUpdateStatus_Click(object sender, EventArgs e)
        {
            btnGetAlarm_Click(null, null);
            button1_Click_1(null, null);
            button2_Click(null, null);
            btnReadHomeSingle_Click(null, null);
            btnReadLimit1_Click(null, null);
            btnReadLimit2_Click(null, null);
        }

        private void 批量上下轴ONToolStripMenuItem_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Run_Sign, IO_VALUE.HIGH);
            Thread.Sleep(1000);
            string portName = store.Config.Batch_Axis.DeviceName;
            int slvAddr = store.Config.Batch_Axis.GetAxisValue();
            ACServerManager.OpenPort(portName);
            Thread.Sleep(50);

            ACServerManager.InitSlvAddr(portName, slvAddr, store.Config.Batch_Axis.TargetSpeed, store.Config.Batch_Axis.AddSpeed, store.Config.Batch_Axis.DelSpeed);
            Thread.Sleep(100);

            ACServerManager.AlarmClear(portName, slvAddr);
            Thread.Sleep(50);
            ACServerManager.ServoOn(portName, slvAddr);
        }

        private void 批量上下轴OFFToolStripMenuItem_Click(object sender, EventArgs e)
        {
            ACServerManager.ServoOff(store.Config.Batch_Axis.DeviceName, store.Config.Batch_Axis.GetAxisValue());
            //关闭串口，等下次重新打开
            //ACServerManager.ColsePort(store.Config.Batch_Axis.DeviceName);

            Thread.Sleep(100);
            IOManager.IOMove(IO_Type.Run_Sign, IO_VALUE.LOW);
        }

        private void btnWaitTrgGo_Click(object sender, EventArgs e)
        {
            DialogResult result = MessageBox.Show(ResourceControl.GetString(ResourceControl.TakeTrayOut, "已确认料盘已手动拿出"), ResourceCulture.GetString(ResourceCulture.MsgTitle,"提示"), MessageBoxButtons.YesNo, MessageBoxIcon.Question);
            if (result.Equals(DialogResult.Yes))
            {
                AutomaticBaiting.doConfirmReelGo();
            }
        }

        private void btnUpDownDoor_Click(object sender, EventArgs e)
        {
            if (InOutIsIsP1())
            {
                int value = FormUtil.GetIntValue(txtUpDownDoor);
                AxisABSMove(store.Config.UpDown_Axis, value, store.Config.UpDownAxis_P7_Speed);
            }
        }
        private void BtnOpenDoor_Click(object sender, EventArgs e)
        { 
            string msg = AutomaticBaiting.doOpenDoor();
            if (!msg.Equals(""))
            {
                MessageBox.Show(msg);
            }
        }
        private void btnBatchInStore_Click(object sender, EventArgs e)
        {
            string msg = AutomaticBaiting.doStartBatchIn();
            if (!msg.Equals(""))
            {
                MessageBox.Show(msg);
            } 
        }

        private void btnStartBatchInStore_Click(object sender, EventArgs e)
        {
            string msg = AutomaticBaiting.doCloseDoor();
            if (!msg.Equals(""))
            {
                MessageBox.Show(msg);
            } 

        }
        private void btnGetOutTray_Click(object sender, EventArgs e)
        {
            string msg = AutomaticBaiting.doTakeReel();
            if (!msg.Equals(""))
            {
                MessageBox.Show(msg);
            } 
        }

        private void btnBatchOutEnd_Click(object sender, EventArgs e)
        {

            if (!AutomaticBaiting.DoorIsClose())
            {
                MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PCloseDoor,"请先关闭批量上下料门"));
                return;
            }
            AutomaticBaiting.BatchDoorClose(false);

            bool result = AutomaticBaiting.Reset(false,false);
        }

        private void btnTempInit_Click(object sender, EventArgs e)
        {
            string port = txtTempPort.Text.ToString();
            if (HumitureController.IsRun)
            {
                HumitureController.Release();
            }
            HumitureController.Init(port);
        }

        private void btnTempClose_Click(object sender, EventArgs e)
        {

            HumitureController.Release();
        }

        private void btnSelTemp_Click(object sender, EventArgs e)
        {
            ASTemperateParam param = HumitureController.QueryData();
            txtTemp.Text = param.Temperate.ToString();
            txtHum.Text = param.Humidity.ToString();
        }

        private void btnUpdateSpeed_Click(object sender, EventArgs e)
        {
            string portName = txtAxisDeviceName.Text;
            int SlvAddr = FormUtil.GetIntValue(txtAxisValue);
            int speed = FormUtil.GetIntValue(txtASpeed);
            ACServerManager.SetSpeed(portName, SlvAddr, speed);
        }

        private void btnInOutP4_Click(object sender, EventArgs e)
        {
            if (store.InOutAxisCanMove().Equals(false))
            {
                MessageBox.Show( cannotMove,warn, MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            int value = FormUtil.GetIntValue(txtInoutP4);
            AxisABSMove(store.Config.InOut_Axis, value, store.Config.InOutAxis_P2_Speed);
        }

        private void 上料模块复位ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (!AutomaticBaiting.DoorIsClose())
            {
                MessageBox.Show(ResourceCulture.GetString(ResourceCulture.PCloseDoor, "请先关闭批量上下料门"));
                return; 
            }
            AutomaticBaiting.BatchDoorClose(false);

            bool result = AutomaticBaiting.Reset(true,false);
        }

        private void toolStripMenuItem2_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.HIGH);
        }

        private void toolStripMenuItem3_Click(object sender, EventArgs e)
        {

            IOManager.IOMove(IO_Type.CameraLight_Power, IO_VALUE.LOW);
        }

        private void btnSave_Click(object sender, EventArgs e)
        {
            if (cmbPosition.SelectedIndex >= 0)
            {
                string selectPositionNum = cmbPosition.Text;
                ConfigAppSettings.SaveValue(Setting_Init.DebugPosId, selectPositionNum);
            }
        }

        private void toolStripMenuItem4_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.DisableDoorControl, IO_VALUE.HIGH);
        }

        private void toolStripMenuItem5_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.DisableDoorControl, IO_VALUE.LOW);
        }

        private void 出入库调试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (出入库调试ToolStripMenuItem.Text.Equals("启用调试"))
            {
                DebugStatus(true);
            }
            else
            {
                DebugStatus(false);
            }
        }

        private void DebugStatus(bool status)
        { 
            if (status)
            {
                出入库调试ToolStripMenuItem.Text = "禁用调试";
            }
            else
            {
                出入库调试ToolStripMenuItem.Text = "启用调试";
            }
            groupAxis.Enabled = status;
            groupComAxis.Enabled = status;
            //groupInout.Enabled = status;
            if (!status)
            {
                checkBox1.Checked = false;
            }
            if ( store.autoNext)
            {
                groupAuto.Enabled = true;
                cmbJianGe.Enabled = false ;
                btnSave.Enabled =false ;
                checkBox1.Enabled =false ;
                btnOutStore.Enabled = false;
                btnBatchOutTest.Enabled = false; 
            }
            else
            {
                groupAuto.Enabled = status;
                btnOutStore.Enabled = status;
                btnBatchOutTest.Enabled = status;
                cmbJianGe.Enabled = status;
                checkBox1.Enabled = status;
                btnSave.Enabled = status;
            }
           
        }

        private void btnClearBuzzer_Click(object sender, EventArgs e)
        {
            IOManager.IOMove(IO_Type.Buzzer_Sign, IO_VALUE.LOW);
        }

        private void btnStart_Click(object sender, EventArgs e)
        {
            if (store.storeRunStatus >= StoreRunStatus.HomeMoving )
            {
                if (store.autoNext)
                {
                    store.autoNext = false;
                    btnStart.Text = StartAuto;
                }
                else
                {
                    DialogResult res = MessageBox.Show("确定开始自动出入库？", "提示", MessageBoxButtons.YesNo);
                    if (res.Equals(DialogResult.Yes))
                    {
                        int jiange = cmbJianGe.SelectedIndex;
                        store.autoJiange = jiange;
                        if (cmbPosition.SelectedIndex >= 0)
                        {
                            int currIndex = cmbPosition.SelectedIndex;
                            store.autoPositionIndex = currIndex;
                            store.AutoStartIndex = currIndex; 
                            string poText = cmbPosition.Text; 
                            ConfigAppSettings.SaveValue(Setting_Init.DebugPosId, poText);

                            store.autoMsg = "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;
                            //string msg = AutomaticBaiting.doStartBatchIn();
                            //if (msg.Equals(""))
                            //{
                            //    store.autoNext = true;
                            //    btnStart.Text = StopAuto;
                            //    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 + "，入库开始！");
                            //}
                            //else
                            //{
                            //    MessageBox.Show(msg);
                            //    store.autoNext = false;
                            //    btnStart.Text = StartAuto;
                            //    LogUtil.info(LOGGER, store.StoreName + "自动出入库失败【"+msg+"】，开始位置【" + poText + "】（索引=" + currIndex + "）,间隔=" + jiange + "，入库开始！");
                            //}
                            DebugStatus(false);
                        }
                    }
                }
            }
            else
            {
                MessageBox.Show("请先启动料仓！");
            }
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            if (!groupInout.Enabled.Equals(checkBox1.Checked))
            {
                groupInout.Enabled = checkBox1.Checked;
            }
        }
    }
}