using log4net; 
using URSoldering.Common;
using URSoldering.DeviceLibrary;
using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Reflection;
using System.Text;
using System.Threading;

using System.Windows.Forms;
using URSoldering.Common.util;
using System.IO;
using System.Drawing.Drawing2D;
using URSoldering.LoadCSVLibrary;
using System.Threading.Tasks;
using System.Timers;
using HalconDotNet;

namespace URSoldering.Client
{
    public partial class FrmOrgConfig : FrmBase
    { 
        private bool isAuto = false; 
       
        public static readonly ILog LOGGER = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
        public FrmOrgConfig( )
        {
            InitializeComponent();
        }
        private System.Timers.Timer timer1 = new System.Timers.Timer();
     
        private void FrmBoardInfo_Load(object sender, EventArgs e)
        {
            CheckForIllegalCrossThreadCalls = false;
            

            //此界面打开时，不能打开自动焊接
            
            if (WeldRobotBean.ISRun)
            {
                LogUtil.error("进入焊接界面，发现WeldRobotBean自动运行中，关闭自动运行");
                WeldRobotBean.StopRun();
            }
            if (URRobotControl.IsRun)
            {
                URRobotControl.FreeAxis();
                URPointValue lastP = URRobotControl.GetLastPosition();
                urRobotSControl1.ShowPoint(lastP);
            }
            else
            { 
            }
            isAuto = false;

            timer1.Interval = 1000;
            timer1.AutoReset = true;
            timer1.Elapsed += timer_Elapsed;
            timer1.Start();
            timer2.Start();  
        } 
        private bool isRun = false;
        private void timer_Elapsed(object sender, EventArgs e)
        {
            //if (!URRobotControl.IsRun && isRun.Equals(false))
            //{
            //    Task.Factory.StartNew(delegate ()
            //    {
            //        bool result = URRobotControl.StartRobot();
            //        if (!result)
            //        {
            //            LogUtil.info("连接失败：" + result);
            //        }
            //        else
            //        {
            //            URRobotControl.FreeAxis();
            //            isAuto = false;
            //        }
            //    });

            //    isRun = true;
            //}
            //else
            //{
            //    URPointValue lastP = URRobotControl.GetLastPosition(); 
            //    urRobotSControl1.ShowPoint(lastP);
            //} 
        }

        private void FrmBoardInfo_FormClosing(object sender, FormClosingEventArgs e)
        {
            URRobotControl.LockAxis();
            timer2.Stop();
            timer1.Stop();
            UsbCameraHDevelop.CloseAllCamera();
        }
         
        private void btnRead_Click(object sender, EventArgs e)
        {
            URPointValue lastP = URRobotControl.GetLastPosition();
        }

        private void timer2_Tick(object sender, EventArgs e)
        {
            if (URRobotControl.IsRun)
            {
               
            }
        }
        protected override void OnVisibleChanged(EventArgs e)
        {
            base.OnVisibleChanged(e);
            if (this.IsDisposed)
            {
                this.Close();
            }
        }

        private void btnSetOrigin_Click(object sender, EventArgs e)
        {
            URPointValue point = GetCurrRobotPoint();
            ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_X, point.X.ToString());
            ConfigAppSettings.SaveValue(Setting_Init.BOARD_ORIGIN_Y, point.Y.ToString()); 
        }
         
        private void btnGoHome_Click(object sender, EventArgs e)
        {
            if (isAuto == false)
            {
                MessageBox.Show("请先切换到自动模式！");
                return;
            } 
            //RobotBean.KNDIOMove(IO_Type.SendWire_Down, IO_VALUE.LOW); 
            //RobotBean.KNDIOMove(IO_Type.SendWire_Up, IO_VALUE.HIGH);

            URPointValue point = WeldRobotBean.HomePoint;
            URRobotControl.MoveTo(point);
        }

        private void btnSaveHome_Click(object sender, EventArgs e)
        {
            URPointValue point = GetCurrRobotPoint();

            DialogResult result = ShowConfire(point, "原点");
            if (result.Equals(DialogResult.Yes))
            {
                WeldRobotBean.UpdateOrgPoint(point); 
                MessageBox.Show("保存原点成功！");
            }
        }

        private URPointValue GetCurrRobotPoint()
        {
            return urRobotSControl1.GetPoint();
        }

        private void btnSetClear1_Click(object sender, EventArgs e)
        {
            URPointValue point = GetCurrRobotPoint();
            DialogResult result = ShowConfire(point, "清洗点1");
            if (result.Equals(DialogResult.Yes))
            {
                WeldRobotBean.UpdateClear1Point(point);
                MessageBox.Show("保存清洗点1成功！");
            }
        }

        private DialogResult ShowConfire(URPointValue point, string strMsg)
        {
            //判断原点的Z轴
            if (point.Z > URRobotControl.Robot_LIM_Z)
            {
                MessageBox.Show("保存失败，"+ strMsg + "的Z坐标(" + point.Z + ")不能高于最高Z点(" + URRobotControl.Robot_LIM_Z + ")");
                return DialogResult.Cancel;
            }

            DialogResult result = MessageBox.Show("是否将当前位置:" + point.ToShowStr() + "保存为" + strMsg + "？", "提示", MessageBoxButtons.YesNo);
            return result;
        }

        private void btnSetClear2_Click(object sender, EventArgs e)
        {
            URPointValue point = GetCurrRobotPoint();

            DialogResult result = ShowConfire(point, "清洗点2");
            if (result.Equals(DialogResult.Yes))
            {
                WeldRobotBean.UpdateClear2Point(point);
                MessageBox.Show("保存清洗点2成功！");
            }
        }  

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

        private void btnMore_Click(object sender, EventArgs e)
        {  
            FrmPwd frmOrgConfig = new FrmPwd();
            this.Visible = false;
            frmOrgConfig.ShowDialog();
            this.Visible = true;
        }
    }
}