using URSoldering.Common;
using URSoldering.DeviceLibrary;
using URSoldering.LoadCSVLibrary;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Windows.Forms;

namespace URSoldering.Client
{
    public partial class FrmShuoKeDebug : FrmBase
    {
        public FrmShuoKeDebug()
        {
            InitializeComponent();
        }
        private URSolderingRobot Robot = null;
        private bool isDebug = true    ;
        private int SendWireAddr = WeldRobotBean.RobotConfig.SendWire_Slv;
        private int LineAddr = 2;
        private void btnOpen_Click(object sender, EventArgs e)
        {
            ShuoKeControls.InitPort(comboBoxPortName.Text);
            if (ShuoKeControls.isRun)
            {
                WeldRobotBean.InitSendWireSpeed();
                Robot.InitLineSpeed();
                FormComStatus(true);
            }
            else
            {
                MessageBox.Show("打开串口"+comboBoxPortName.Text+"失败");
            }
        }

        private void FormComStatus(bool isOpen)
        {
            btnOpen.Enabled = !isOpen;
            btnClose.Enabled = isOpen;
            btnRelMove.Enabled = isOpen;
            btnClearPosition.Enabled = isOpen;
            btnVolMove.Enabled = isOpen;
            btnGetPosition.Enabled = isOpen;
            btnHomeMove.Enabled = isOpen;
            btnLineAbsMove.Enabled = isOpen;
            btnStatusSearch.Enabled = isOpen;
            groupBox1.Enabled = isOpen;
            groupBox6.Enabled = isOpen;
            groupBox2.Enabled = isOpen;
            timer1.Enabled = isOpen;

        }
        private void btnClose_Click(object sender, EventArgs e)
        {
            ShuoKeControls.SuddownStop(SendWireAddr);
            ShuoKeControls.SuddownStop(LineAddr);
            ShuoKeControls.ClosePort();
            FormComStatus(false);
        }
        private void btnVolMove_Click(object sender, EventArgs e)
        {
            int speed = FormUtil.GetIntValue(txtWireSpeed) * WeldRobotBean.SendWireXiShu;
            ShuoKeControls.VolMove(SendWireAddr, speed);
        }

        private void btnGetPosition_Click(object sender, EventArgs e)
        {
            int addr = SendWireAddr;
            if (radioButton2.Checked)
            {
                addr = LineAddr;
            }
            ShuoKeControls.GetABSPosition(addr); 
        }

        private void btnStop_Click(object sender, EventArgs e)
        {
            ShuoKeControls.SuddownStop(SendWireAddr);
        }
        private void btnClearPosition_Click(object sender, EventArgs e)
        {
            int addr = SendWireAddr;
            if (radioButton2.Checked)
            {
                addr = LineAddr;
            }
            ShuoKeControls.PositionClear(addr, ShuoKeCMD.AbsPositionClear);
            ShuoKeControls.PositionClear(addr, ShuoKeCMD.RelPositionClear);
        }
        private void btnHomeMove_Click(object sender, EventArgs e)
        {
            int addr = SendWireAddr;
            if (radioButton2.Checked)
            {
                addr = LineAddr;
            }
            ShuoKeControls.HomeMove(addr, byte.Parse(cmbHomeType.Text));
        }
        private void btnLineAbsMove_Click(object sender, EventArgs e)
        {
            int posi = FormUtil.GetIntValue(txtWirePosition);
            ShuoKeControls.AbsMove(SendWireAddr, posi);
        }
        private void btnStatusSearch_Click(object sender, EventArgs e)
        {
            ShuoKeControls.GetStatus(SendWireAddr);
        }

        private void btnLineAbsMove_Click_1(object sender, EventArgs e)
        {
            int addr = SendWireAddr;
            if (radioButton2.Checked)
            {
                addr = LineAddr;
            }
            int posi = FormUtil.GetIntValue(txtPosition);
            ShuoKeControls.AbsMove(addr, posi);
        }

        private void btnRelMove_Click(object sender, EventArgs e)
        {
            int posi = FormUtil.GetIntValue(txtWirePosition) * WeldRobotBean.SendWireXiShu;
            ShuoKeControls.RelativeMove(SendWireAddr, posi);
        }

        private void txtAddr_TextChanged(object sender, EventArgs e)
        {
            SendWireAddr = FormUtil.GetIntValue(txtWireAddr);
            if (SendWireAddr <= 0)
            {
                MessageBox.Show("地址只能是大于0的数字！");
                SendWireAddr = WeldRobotBean.RobotConfig.SendWire_Slv;
                txtWireAddr.Text = SendWireAddr.ToString();
            }
        }
        //private IO_VALUE sendWirePointMove = IO_VALUE.LOW;
        private void timer1_Tick(object sender, EventArgs e)
        {

            if (this.Visible.Equals(false))
            {
                return;
            }
            if (ShuoKeControls.isRun.Equals(false))
            {
                return;
            }
            if (RobotBean.ShuddenOK().Equals(false))
            {
                lblMsg.Text = "急停未开";
                
            }
            else
            {
                lblMsg.Text = ShuoKeControls.LastMsg;

                CheckSendWireAlarm();
               
            }
        }
        /// <summary>
        /// 检测送丝错误
        /// </summary>
        private void CheckSendWireAlarm()
        {
            //如果休眠了不需要处理  
            if (RobotBean.KNDIOValue(IO_Type.SendWireLock).Equals(IO_VALUE.HIGH))
            { 
                //停止运动
                lblMsg.Text = "送丝报警：卡丝，停止匀速运动";
                LogUtil.info("送丝报警：卡丝，停止匀速运动");
                //sendWirePointMove = IO_VALUE.LOW;
                ShuoKeControls.SuddownStop(SendWireAddr);
            }
            else if (RobotBean.KNDIOValue(IO_Type.SendWireNoWire).Equals(IO_VALUE.HIGH))
            {
                lblMsg.Text = "送丝报警：无丝，停止匀速运动";
                //停止运动
                LogUtil.info("送丝报警：无丝，停止匀速运动");
                //sendWirePointMove = IO_VALUE.LOW;
                ShuoKeControls.SuddownStop(SendWireAddr);
            }  
        }

        private void FrmShuoKe_Load(object sender, EventArgs e)
        {
            Robot = RobotManager.SolderingRobot;
            txtLineSpeed.Text =(0- Robot.Config.Line_EndSpeed).ToString();
            LineAddr = Robot.Config.Line_Slv;
            this.groupBox2.Visible = isDebug;
            this.btnStatusSearch.Visible = true;
            txtLineAddr.Text = LineAddr.ToString();
            txtWireAddr.Text = SendWireAddr.ToString();
            LoadData();
            radioButton1_CheckedChanged(null, null);
        }

        private void LoadData()
        {
            cmbHomeType.SelectedIndex = 0;
       
            List<string> port = new List<string>(SerialPort.GetPortNames());
            comboBoxPortName.DataSource = port;
            string portStr = WeldRobotBean.RobotConfig.ShuoKe_PortName;
            if (port.IndexOf(portStr) >= 0)
            {
                comboBoxPortName.SelectedIndex = port.IndexOf(portStr);
            } 
         

            if (ShuoKeControls.isRun)
            {
                FormComStatus(true);
            }
            else
            {
                FormComStatus(false);
            }
        }

        private void btnSetSpeed_Click(object sender, EventArgs e)
        {
            //设置速度
            int startSpeed = FormUtil.GetIntValue(txtBeginSpeed);
            int endSpeed = FormUtil.GetIntValue(txtTargetSpeed);
            int maxSpeed = FormUtil.GetIntValue(txtMaxSpeed);
            int addSpeed = FormUtil.GetIntValue(txtAddSpeed);
            int delSpeed = FormUtil.GetIntValue(txtDelSpeed);
            int addr = SendWireAddr;
            if (radioButton2.Checked)
            {
                addr = LineAddr;
            }

            ShuoKeControls.SetSpeed(addr, ShuoKeCMD.SetAddSpeed, addSpeed);
            Thread.Sleep(100);
            ShuoKeControls.SetSpeed(addr, ShuoKeCMD.SetDelSpeed, delSpeed);
            Thread.Sleep(100);
            ShuoKeControls.SetSpeed(addr, ShuoKeCMD.SetEndSpeed, endSpeed);
            Thread.Sleep(100);
            ShuoKeControls.SetSpeed(addr, ShuoKeCMD.SetMaxSpeed, maxSpeed);
            Thread.Sleep(100);
            ShuoKeControls.SetSpeed(addr, ShuoKeCMD.SetStartSpeed, startSpeed);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            this.Close();
        }
         

        private void btnSet_Click(object sender, EventArgs e)
        {
            int speed = FormUtil.GetIntValue(txtWireSpeed) * WeldRobotBean.SendWireXiShu;
            SendWireAddr = FormUtil.GetIntValue(txtWireAddr);
            ShuoKeControls.SetMoveSpeed(SendWireAddr, speed); 
        }

        private void btnLineStop_Click(object sender, EventArgs e)
        {
            ShuoKeControls.SuddownStop(LineAddr);
        }

        private void btnLineRelMove_Click(object sender, EventArgs e)
        {
            int position = FormUtil.GetIntValue(txtLinePosition);
            ShuoKeControls.RelativeMove(LineAddr, position);
        }

        private void btnLineSpeedMove_Click(object sender, EventArgs e)
        {
            int speed = FormUtil.GetIntValue(txtLineSpeed);
            ShuoKeControls.VolMove(LineAddr, speed);
        }

        private void btnLineSetSpeed_Click(object sender, EventArgs e)
        {
            int speed = FormUtil.GetIntValue(txtLineSpeed);
            ShuoKeControls.SetMoveSpeed(LineAddr, speed);

        }

        private void button2_Click(object sender, EventArgs e)
        {
            ShuoKeControls.GetStatus(LineAddr);
        }

        private void radioButton1_CheckedChanged(object sender, EventArgs e)
        {
            if (radioButton1.Checked)
            {
                this.txtBeginSpeed.Text = WeldRobotBean.RobotConfig.SendWire_StartSpeed.ToString();
                this.txtTargetSpeed.Text = WeldRobotBean.RobotConfig.SendWire_EndSpeed.ToString();
                this.txtMaxSpeed.Text = WeldRobotBean.RobotConfig.SendWire_MaxSpeed.ToString();
                this.txtAddSpeed.Text = WeldRobotBean.RobotConfig.SendWire_AddSpeed.ToString();
                this.txtDelSpeed.Text = WeldRobotBean.RobotConfig.SendWire_DelSpeed.ToString();
            }
            else
            {
                this.txtBeginSpeed.Text = Robot.Config.Line_StartSpeed.ToString();
                this.txtTargetSpeed.Text = Robot.Config.Line_EndSpeed.ToString();
                this.txtMaxSpeed.Text = Robot.Config.Line_MaxSpeed.ToString();
                this.txtAddSpeed.Text = Robot.Config.Line_AddSpeed.ToString();
                this.txtDelSpeed.Text = Robot.Config.Line_DelSpeed.ToString();
            }
        }
    }
}