using System;
using System.Drawing;
using System.Windows.Forms;

using URSoldering.DeviceLibrary;
using URSoldering.Common; 
using System.Timers; 
using System.IO;
using URSoldering.LoadCSVLibrary;
using UserFromControl;
using System.Collections.Generic;
using System.Runtime.InteropServices;
using HalconDotNet;
using System.Threading;
using System.Threading.Tasks;
using System.Linq;

namespace URSoldering.Client
{
    public partial class FrmWork : FrmBase
    {
        //private static string VideoCameraName = ConfigAppSettings.GetValue(Setting_Init.VideoCameraName); 
        private URSolderingRobot Robot = null;
        public FrmWork()
        {
            InitializeComponent();
        }
        Dictionary<string, IOTextControl> DIControlList = new Dictionary<string, IOTextControl>();
        Dictionary<string, IOTextControl> DOControlList = new Dictionary<string, IOTextControl>();
        private bool isInitOk = false;
      
        private void FrmWelding_Load(object sender, EventArgs e)
        {
            
            lblCodeResult.Visible = false;
            lblAOIResult.Visible = false;
            LoadListPoint();
            
            Robot = RobotManager.SolderingRobot;
            WeldRobotBean.AOICheckFun += AOICheck; 
            //Robot.GetCodeFun += GetCode;
            LogUtil.logBox = this.logBox;
            LogUtil.showCount = 1;
            this.WindowState = FormWindowState.Maximized;

            this.chbHigh.Checked = WeldRobotBean.isHighSpeed;
             
            Robot = RobotManager.SolderingRobot;
            //StartRun();
            isInitOk = true;

            if (BoardManager.CurrBoard == null)
            {
                MessageBox.Show("请先配置程序！");
                this.Close();
            }
            this.Text = "程序【" + BoardManager.CurrBoard.boardName + "】工作";
            LoadPoint(BoardManager.CurrBoard, -1);
             
            this.btnChange.Focus();
            btnStart.Text = "启动";
            btnStart.Enabled = true;
            btnWeld.Enabled = false;
            btnStop.Enabled = false;
            Robot.IsAutoRun = chbXunHuan.Checked;
            LoadAOI();
        }
        
        private int ShowPointIndex = 5;
        private void LoadCountPoint(bool isToday)
        {
            List<WorkLogInfo> allList =new List<WorkLogInfo>( WorkCountManager.CountObj.WorkLogList);
            chartLine.Series[0].Points.Clear();
            chartSolder.Series[0].Points.Clear();
            
            for (int i = 0; i < ShowPointIndex; i++)
            {

                DateTime time = DateTime.Now.AddDays(i - ShowPointIndex + 1);
                string xValue = time.ToString("MM-dd");
                int weldC = 0;
                int solderC = 0;
                if (isToday)
                {
                    List<WorkLogInfo> list = (from m in allList where m.getTimeStr().Equals(xValue) select m).ToList<WorkLogInfo>();
                    if (list.Count > 0)
                    {
                        weldC = list[0].WeldCount;
                        solderC = list[0].WeldPointCount;
                    }
                    if (i.Equals(ShowPointIndex-1))
                    {
                        xValue = "今天";
                    }
                    else if (i.Equals(ShowPointIndex-2))
                    {
                        xValue = "昨天";
                    }
                }
                else
                {
                    DateTime startTime = FormUtil.GetMondayDate(DateTime.Now).AddDays((i - ShowPointIndex + 1) * 7);
                    DateTime endTime = FormUtil.GetSundayDate(DateTime.Now).AddDays((i - ShowPointIndex +1) * 7);
                    List<WorkLogInfo> list = (from m in allList where m.DayTime>=startTime&&m.DayTime<=endTime select m).ToList<WorkLogInfo>();
                    foreach(WorkLogInfo obj in list)
                    {
                        weldC+=obj.WeldCount;
                        solderC += obj.WeldPointCount;
                    } 
                    xValue = endTime.ToString("MM-dd");
                    if (i.Equals(4))
                    {
                        xValue = "本周";
                    }
                    else if (i.Equals(3))
                    {
                        xValue = "上周";
                    }

                } 
                chartLine.Series[0].Points.AddXY(xValue, weldC);
                chartSolder.Series[0].Points.AddXY(xValue, solderC);
                chartLine.Series[0].Points[i].IsValueShownAsLabel = true;
                chartSolder.Series[0].Points[i].IsValueShownAsLabel = true;
            }
            UpdatePersent(isToday);
        }
       
        private void UpdatePersent(bool isToday)
        {
            int ok = (int)Math.Round(WorkCountManager.CountObj.TodayPercent());
            int notOk = 100 - ok;
            List<WorkLogInfo> allList = new List<WorkLogInfo>(WorkCountManager.CountObj.WorkLogList);
            chartPersent.Series[0].Points[0].SetValueY(ok);
            chartPersent.Series[0].Points[1].SetValueY(notOk);
            chartPersent.Series[0].Points[0].IsValueShownAsLabel = true;
            chartPersent.Series[0].Points[1].IsValueShownAsLabel = true;
            chartPersent.Series[0].Points[0].Color = Color.DarkGreen;
            chartPersent.Series[0].Points[1].Color = Color.Red;
            int weldCount = 0;
            int solderCount = 0;
            if (!isToday)
            {
                DateTime startTime = FormUtil.GetMondayDate(DateTime.Now);
                DateTime endTime = FormUtil.GetSundayDate(DateTime.Now);
                List<WorkLogInfo> list = (from m in allList where m.DayTime >= startTime && m.DayTime <= endTime select m).ToList<WorkLogInfo>();
                foreach (WorkLogInfo obj in list)
                {
                    weldCount += obj.WeldCount;
                    solderCount += obj.WeldPointCount;
                }
            }
            else
            {
                List<WorkLogInfo> list = (from m in allList where m.getTimeStr().Equals(DateTime.Now.ToString("MM-dd")) select m).ToList<WorkLogInfo>();
                if (list.Count > 0)
                {
                    weldCount = list[0].WeldCount;
                    solderCount = list[0].WeldPointCount;
                }
            }

            chartLine.Series[0].Points[ShowPointIndex - 1].SetValueY(weldCount);
            chartSolder.Series[0].Points[ShowPointIndex - 1].SetValueY(solderCount);
        }

    
        private string aoiCheckFile = "";
        private string currAOIFile = "";
        private void LoadAOI()
        {
            //位置配置到文件中
            string appPath = Application.StartupPath;
            string strFilePathName = ConfigAppSettings.GetValue(Setting_Init.AOIFileConfig);  
            aoiCheckFile = appPath + strFilePathName; 
            LoadAOIFile(aoiCheckFile);
        }

        private bool LoadAOIFile(string filePath)
        {
            if (currAOIFile.Equals(filePath))
            {
                return true ;
            }
            if (File.Exists(filePath))
            {
                this.axCKVisionCtrl1.UnloadConfigure();
                Thread.Sleep(100);
                try
                {
                    currAOIFile = filePath;
                    this.axCKVisionCtrl1.LoadConfigure(filePath);
                    this.axCKVisionCtrl1.ZoomView(2);
                    LogUtil.info("成功加载程序：" + filePath);
                    return true;
                }
                catch (Exception ex)
                {
                    LogUtil.error("加载程序【" + filePath + "】出错：" + ex.ToString());
                }
            }
            else
            {
                LogUtil.error("未找到AOI程序文件：" + filePath);
            }return false;
        }

        private void LoadListPoint()
        {
            this.listPoint.Columns.Clear();
            ColumnHeader chName = new ColumnHeader();
            chName.Text = "焊点名称";   //设置列标题
            chName.Width = 250;    //设置列宽度
            chName.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listPoint.Columns.Add(chName);    //将列头添加到ListView控件。
            
            ColumnHeader chStatus = new ColumnHeader();
            chStatus.Text = "焊接温度";   //设置列标题
            chStatus.Width = 200;    //设置列宽度
            chStatus.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listPoint.Columns.Add(chStatus);    //将列头添加到ListView控件。

            ColumnHeader presendWire = new ColumnHeader();
            presendWire.Text = "预送丝量";   //设置列标题
            presendWire.Width = 200;    //设置列宽度
            presendWire.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listPoint.Columns.Add(presendWire);    //将列头添加到ListView控件。

            ColumnHeader sendWire = new ColumnHeader();
            sendWire.Text = "送丝量";   //设置列标题
            sendWire.Width = 200;    //设置列宽度
            sendWire.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listPoint.Columns.Add(sendWire);    //将列头添加到ListView控件。

            ColumnHeader status = new ColumnHeader();
            status.Text = "状态";   //设置列标题
            status.Width = 180;    //设置列宽度
            status.TextAlign = HorizontalAlignment.Left;   //设置列的对齐方式
            this.listPoint.Columns.Add(status);    //将列头添加到ListView控件。
        }
        private int preIndex = -2;
        private void LoadPoint(BoardInfo board, int currWeldIndex)
        {
            try
            {
                if (board == null)
                {
                    return;
                }
                int id = 0;
                try
                {
                    id = Convert.ToInt32(listPoint.Tag);
                }
                catch (Exception ex)
                {
                }
                if (id != board.boardId || currWeldIndex == -3 || currWeldIndex .Equals( -1)||(board.pointList.Count!= listPoint.Items.Count))
                {
                    this.lblPointCount.Text = board.pointList.Count.ToString();
                    this.lblProName.Text = board.boardName;
                    this.lblCode.Text = board.WareCode;
                    this.lblAgvTime.Text = FormUtil.GetSpanStr(board.WeldTime);
                    this.lblWeldTime.Text = FormUtil.GetSpanStr(board.WeldTime);
                    this.Text = "工作状态【程序："+board.boardName+"】";
                    listPoint.Tag = board.boardId;
                    listPoint.Items.Clear();
                    int i = 0;
                    foreach (WeldPointInfo point in board.pointList)
                    {
                        ListViewItem lvi = new ListViewItem();
                        lvi.ImageIndex = i;

                        lvi.Text = point.pointName;
                        lvi.SubItems.Add(point.weldTemperature.ToString() + "°C");
                        lvi.SubItems.Add((point.startSendWireSpeed * point.startSendWireTime).ToString() + "mm");
                        lvi.SubItems.Add((point.sendWireTime * point.sendWireSpeed).ToString() + "mm");
                        lvi.SubItems.Add("--");
                        this.listPoint.Items.Add(lvi);
                        i++;
                    }
                }
                if (preIndex.Equals(currWeldIndex))
                {
                    return;
                }
                if (currWeldIndex >= -1)
                {
                    int statusIndex = 4;
                    preIndex = currWeldIndex;
                    for (int i = 0; i < board.pointList.Count; i++)
                    {
                        if (i < currWeldIndex)
                        {
                            listPoint.Items[i].BackColor = Color.LightGreen;
                            this.listPoint.Items[i].SubItems[statusIndex].Text = "完成";
                        }
                        else if (i.Equals(currWeldIndex))
                        {

                            if (WeldRobotBean.alarmType.Equals(AlarmType.None))
                            {
                                listPoint.Items[i].BackColor = Color.Yellow;
                                this.listPoint.Items[i].SubItems[statusIndex].Text = "焊接中";
                            }
                            else
                            {
                                listPoint.Items[i].BackColor = Color.Red;
                                this.listPoint.Items[i].SubItems[statusIndex].Text = "焊接中";
                            }
                        }
                        else
                        {
                            listPoint.Items[i].BackColor = Color.White;
                            this.listPoint.Items[i].SubItems[statusIndex].Text = "--";
                        }
                    }
                }
            }catch(Exception ex)
            {
                LogUtil.error(ex.ToString());
            }
        }
          
        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)KNDManager.GetIOValue(RobotManager.robotConfig.RobotDIList[key]);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }
            foreach (string key in this.DOControlList.Keys)
            {
                IOTextControl control = DOControlList[key];
                int iov = (int)KNDManager.GetIOValue(RobotManager.robotConfig.RobotDOList[key]);
                if (iov != control.IOValue)
                {
                    control.IOValue = iov;
                    control.ShowData();
                }
            }
        }
        private void StartRun()
        {
            if (Robot.Status <= RobotStatus.Wait)
            {
                LogUtil.info("开始启动机器人");
                bool result = Robot.StartRun();
                if (!result)
                {
                    lblMsg.Text = "启动失败：" + Robot.WarnMsg;
                    LogUtil.error("启动失败：" + Robot.WarnMsg); 
                }
                else
                {
                    btnStart.Text = "复位";
                    btnWeld.Enabled = true;
                    btnStop.Enabled = true; 
                } 
                timer.Start();  
            }else
            {
                Robot.RobotReset();
                btnStart.Text = "复位";
            }
        }
          
        private void timer_Tick(object sender, EventArgs e)
        {
            ActualTime(null, null);
            ReadIOList();
            //判断是否是进入
            if (DateTime.Now.ToString("MM-dd").Equals(chartLine.Series[0].Points[ShowPointIndex - 1].XValue))
            {
                UpdatePersent(btnChange.Text.Equals("每周统计"));
            }else
            {
                LoadCountPoint(btnChange.Text.Equals("每周统计"));
            }
        }
        private void UpdateCheckResult(Label lblshowMsg,  int result)
        {
            if (result.Equals(0))
            {
                lblshowMsg.Text = "";
            }
            else if (result.Equals(1))
            {
                if (!lblshowMsg.Text.Equals("OK"))
                {
                    lblshowMsg.Text = "OK";
                    lblshowMsg.ForeColor = Color.Green;
                }
            }
            else if (result.Equals(2))
            {
                if (!lblshowMsg.Text.Equals("NG"))
                {
                    lblshowMsg.Text = "NG";
                    lblshowMsg.ForeColor = Color.Red;
                }
            }
        }
       
        private void ActualTime(object sender, ElapsedEventArgs e)
        { 
            if (Robot.Status.Equals(RobotStatus.Wait))
            {
                lblRobot.Text = "未启动";
            }
            else if (Robot.Status.Equals(RobotStatus.Reset))
            {
                lblRobot.Text = "复位中";
            }
            else if (Robot.Status.Equals(RobotStatus.Runing))
            {
                lblRobot.Text = "运行中";
            }
            else if (Robot.Status.Equals(RobotStatus.Busy))
            {
                lblRobot.Text = "忙碌中";
            }
            else if (Robot.Status.Equals(RobotStatus.LineMove))
            {
                lblRobot.Text = "流水线转动中";
            }
            lblRobotWarnMsg.Text = Robot.WarnMsg;
            this.lblAgvTime.Text =FormUtil.GetSpanStr( BoardManager.CurrBoard.WeldTime);
            //this.lblAgvTime.Text = "--:--:--";
            try
            {
                if (WeldRobotBean.ISRun == false)
                {
                    if (lblMsg.Text.Equals(""))
                    {
                        lblMsg.Text = "未启动。。。";
                    } 
                    return;
                }

                if (WeldRobotBean.WarnMsg.Equals("").Equals(false))
                {
                    lblMsg.Text = WeldRobotBean.WarnMsg;
                }
               else  if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.GoHome))
                {
                    btnWeld.Enabled = false;
                    lblMsg.ForeColor = Color.Green;
                    lblMsg.Text = "复位中";
                    this.listPoint.Items.Clear();
                    //LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                }
                else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
                {
                    btnWeld.Enabled = false;
                    lblMsg.ForeColor = Color.Green;
                    lblMsg.Text = "程序【" + WeldRobotBean.WeldMoveStep.currBoard.boardName + "】焊接中";
                    LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, WeldRobotBean.WeldMoveStep.CurrPointIndex);
                    TimeSpan sapn = DateTime.Now - Robot.LastStartWeldTime;
                    this.lblWeldTime.Text = FormUtil.GetSpanStr(sapn);
                }else if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.None))
                {
                    btnWeld.Enabled = true ;
                    LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                    lblMsg.ForeColor = Color.Green;
                    lblMsg.Text = "当前未焊接";
                }else
                {
                    btnWeld.Enabled = false;
                    //LoadPoint(WeldRobotBean.WeldMoveStep.currBoard, -1);
                    this.listPoint.Items.Clear();
                    lblMsg.ForeColor = Color.Green;
                    lblMsg.Text = "烙铁头清洗中";
                }
            }
            catch (Exception ex)
            {
                LogUtil.error("状态读取错误：" + ex.ToString());
            } 
        }

        private void FrmWelding_FormClosing(object sender, FormClosingEventArgs e)
        {
            //如果正在运行中，且还有没有焊接完成的
            if ( Robot.NeedWork())
            {
                //提示是否需要 退出
                DialogResult dialogResult = MessageBox.Show("还有未完成的工作，是否停止设备运行？","提示",MessageBoxButtons.YesNo);
                if (dialogResult.Equals(DialogResult.No))
                {
                    return;
                }
            } 
            LogUtil.logBox = null;
            this.timer.Enabled = false; 
            if (Robot.Status > RobotStatus.Wait)
            {
                Robot.StopRun();
            }
            axCKVisionCtrl1.UnloadConfigure();
        }

        private void btnStart_Click(object sender, EventArgs e)
        { 
            lblAOIResult.Visible = false;
            lblCodeResult.Visible = false;
            StartRun();
        } 

        private void btnStop_Click(object sender, EventArgs e)
        {
            lblAOIResult.Visible = false;
            lblCodeResult.Visible = false;
            if (Robot.Status > RobotStatus.Wait)
            {
                //如果正在运行中，且还有没有焊接完成的
                if (Robot.NeedWork())
                {
                    //提示是否需要 退出
                    DialogResult dialogResult = MessageBox.Show("还有未完成的工作，是否停止设备运行？", "提示", MessageBoxButtons.YesNo);
                    if (dialogResult.Equals(DialogResult.No))
                    {
                        return;
                    }
                } 
                Robot.StopRun(); 
                btnStart.Text = "启动";
                
            }
        } 
        private void chbHigh_CheckedChanged(object sender, EventArgs e)
        {
            if (!isInitOk)
            { return; }

            if (chbHigh.Checked)
            {
                DialogResult result = MessageBox.Show("确定切换到高速运行？", "提示", MessageBoxButtons.YesNo);
                if (result.Equals(DialogResult.Yes))
                {
                    WeldRobotBean.isHighSpeed = true;
                    ConfigAppSettings.SaveValue(Setting_Init.Robot_IsHigh, 1);
                }
                else
                {
                    chbHigh.Checked = false;
                }
            }
            else
            {
                WeldRobotBean.isHighSpeed = false;
                ConfigAppSettings.SaveValue(Setting_Init.Robot_IsHigh, 0);
            }
        }

        private void btnGoHome_Click(object sender, EventArgs e)
        {
            btnGoHome.Enabled = false;
            if (WeldRobotBean.ISRun)
            { 
                string msg = WeldRobotBean.GoHome();
                if (!msg.Equals(""))
                {
                    MessageBox.Show("操作失败：" + msg);
                }
            }
            btnGoHome.Enabled = true; 
        }

        private void btnBack_Click(object sender, EventArgs e)
        {
            btnStop_Click(null, null);
            timer.Stop();
         
            this.Close();
        }

        private void btnSendWireRecover_Click(object sender, EventArgs e)
        {
            //bool isNext = true;
            //if (WeldRobotBean.IsNeedMsg())
            //{
            //    DialogResult result = MessageBox.Show("消除卡丝报警后是否继续焊接？\r\n选择是：继续焊接\r\n选择否：当前焊点重新焊接", "提示",
            //        MessageBoxButtons.YesNo, MessageBoxIcon.Question, MessageBoxDefaultButton.Button1);
            //    if (result.Equals(DialogResult.Yes))
            //    {
            //        isNext = true;
            //    }
            //    else
            //    {
            //        isNext = false;
            //    }
            //}

            //显示提示框，是跳过当前焊点还是从新开始送丝 
            WeldRobotBean.SendWireRecover( );
        }
       
        private void btnClear_Click(object sender, EventArgs e)
        {
            //this.logBox.Clear();
            LogUtil.ClearLog();
        } 
        private void btnEndSoldering_Click(object sender, EventArgs e)
        {
            if (WeldRobotBean.WeldMoveStep.moveType.Equals(MoveType.Weld))
            {
                WeldRobotBean.StopWeld();
            }
        } 
      

        private void GetCode()
        {
            //try
            //{
            //    this.label1.Text = "视觉/扫码";

            //    lblCodeResult.Text = "焊点自动识别中。。。";
            //    lblCodeResult.ForeColor = Color.Blue;
            //    lblCodeResult.Visible = true;

            //    LoadAOIFile(aoiCheckFile);
            //    //lblAOIResult.Visible = false;

            //    for (int i = 0; i < 5; i++)
            //    {
            //        bool result = RunAOI(2);
            //        //if (result)
            //        //{
            //            string code = getResult("Code",101);
            //        if (!code.Equals(""))
            //        {
            //            Robot.WareCode = code;
            //            lblCodeResult.ForeColor = Color.Blue;
            //            lblCodeResult.Text = "识别成功，共找到【" + BoardManager.CurrBoard.pointList.Count + "】个焊点";
            //            LogUtil.info("扫码成功：" + code);
            //            lblCodeResult.Visible = true;

            //            UpdateBoard(code);
            //            break;
            //        }
            //        else
            //        {
            //            lblCodeResult.ForeColor = Color.Red;
            //            lblCodeResult.Text = "焊点识别失败，即将重新识别";
            //            LogUtil.info("扫码失败，即将重新扫码");
            //            lblCodeResult.Visible = true;
            //        }
            //        //}
            //        Thread.Sleep(500);
            //    }
            //    lblCodeResult.ForeColor = Color.Blue;
            //    lblCodeResult.Text = "识别成功，共找到【" + BoardManager.CurrBoard.pointList.Count + "】个焊点";
            //    lblCodeResult.Visible = true;
            //    if (lblCodeResult.Visible.Equals(false))
            //    {
            //        lblCodeResult.ForeColor = Color.Blue;
            //        //lblCodeResult.Text = "扫码成功：1000001" ; 
            //        LogUtil.info("扫码成功：1000001");
            //    }
            //}
            //catch (Exception ex)
            //{
            //    LogUtil.error("读取条码出错：" + ex.ToString());
            //}
        }
       
        private void UpdateBoard(string code)
        {
            //string[] str = code.Split('@');
            //if (str.Length >= 1)
            //{
            //    string boardCode = str[0];
            //    if (BoardManager.CurrBoard.WareCode.Equals(boardCode))
            //    {
            //        return;
            //    }
            //    else
            //    {
            //        BoardInfo board = BoardManager.getBoardByCode(boardCode);
            //        if (board == null)
            //        {
            //            LogUtil.error("条码【"+code+"】未找到匹配的程序，使用之前的程序【"+BoardManager.CurrBoard.boardName+"】");
            //        }
            //        else
            //        {
            //            LogUtil.error("条码【" + code + "】切换新程序【" + board.boardName + "】");
            //            BoardManager.UpdateCurrBoard(board.boardId);
            //            LoadPoint(board, -3);
            //        } 
            //    }
            //} 
        }

        private void AOICheck()
        {
            try
            {
                this.label1.Text = "视觉/光学检测";
                LoadAOIFile(aoiCheckFile);
                lblCodeResult.Visible = false;
                RunAOI(1);
                int result = CKResult("Result",10);
                if (result.Equals(1))
                {
                    LogUtil.info("AOI检测OK"); 
                    lblAOIResult.ForeColor = Color.Blue;
                    lblAOIResult.Text = "检测OK";
                    WorkCountManager.AddOKCount();
                }
                else
                {
                    LogUtil.info("AOI检测NG"); 
                    lblAOIResult.ForeColor = Color.Red;
                    lblAOIResult.Text = "检测NG";
                    WorkCountManager.AddNGCount();
                }
                lblAOIResult.Visible = true;

            }catch(Exception ex)
            {
                LogUtil.error("AOI检测出错：" + ex.ToString());
            }
        }

        private bool RunAOI(int num)
        {
            try
            {
                axCKVisionCtrl1.Execute(num);
                axCKVisionCtrl1.ZoomView(2);
                axCKVisionCtrl1.Redraw();
                Thread.Sleep(1000);
                axCKVisionCtrl1.Execute(num);
                axCKVisionCtrl1.ZoomView(2);
                axCKVisionCtrl1.Redraw();
                return true;
            }
            catch (Exception ex)
            {
                LogUtil.error("Error: Could not extcute proc. Original error: " + ex.Message);
                return false;
            }
        }
        private int CKResult(string name,int dataId)
        { 
            string result = "";
            try
            {
                int idTool = axCKVisionCtrl1.GetTool(name);

                double value = 0.0;
                object objValue = new VariantWrapper(value);
                if (axCKVisionCtrl1.GetValue(idTool, dataId, 0, ref objValue) == true)
                {
                    result = objValue.ToString();
                }
                LogUtil.info("获取【" + name + "】：" + result);
            }
            catch (Exception ex)
            {
                LogUtil.error("获取【" + name + "】出错：" + ex.ToString());
            } 

            if (result.ToLower().Equals("true"))
            {
                return 1;
            }
            else if (result.ToLower().Equals("false"))
            {
                return 2;
            }
            else
            {
                return 0;
            }
        }
        //private string getResult(string name,int DataId)
        //{
        //    string result = "";
        //    try
        //    {
        //        int idTool = axCKVisionCtrl1.GetTool(name);
              
        //        string  value = "";
        //        object objValue = new VariantWrapper(value);
        //        if (axCKVisionCtrl1.GetValue(idTool, DataId, 0, ref objValue) == true)
        //        {
        //            result = objValue.ToString();
        //        }
        //        LogUtil.info("获取【" + name + "】：" + result);
        //    }
        //    catch (Exception ex)
        //    {
        //        LogUtil.error("获取【" + name + "】出错：" + ex.ToString());
        //    }
        //    return result;
        //} 
    

        private void btnLook_Click(object sender, EventArgs e)
        {
            FrmWorkCount frm = new FrmWorkCount();
            frm.ShowDialog();
        }

        private void chbXunHuan_CheckedChanged(object sender, EventArgs e)
        {
            Robot.IsAutoRun = chbXunHuan.Checked;
        } 
        
        private void button1_Click(object sender, EventArgs e)
        {
            Task.Factory.StartNew(delegate ()
            {
                AOICheck();
            });
        } 
        private void btnChange_Click(object sender, EventArgs e)
        {
            if (btnChange.Text.Equals("每周统计"))
            {
                LoadCountPoint(false);
                btnChange.Text = "每日统计";
            }
            else
            {
                LoadCountPoint(true);
                btnChange.Text = "每周统计";
            }
        }

        private void FrmWork_Shown(object sender, EventArgs e)
        { 
            LoadCountPoint(true);
        }

        private void btnWeld_Click(object sender, EventArgs e)
        {
            string msg = Robot.StartWeld();
            if (!msg.Equals(""))
            {
                MessageBox.Show("焊接失败：" + msg);
            }
        }
    }
}