using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace HuichuanLibrary
{
    public partial class FrmHuiChuanTest : Form
    {
        public FrmHuiChuanTest()
        {
            InitializeComponent();
        }
        private List<Label> DILabelList = new List<Label>();
        private List<Label> DOLabelList = new List<Label>();
        private List<Label> groupIOList = new List<Label>();
        private void FrmHuiChuanTest_Load(object sender, EventArgs e)
        {
            DILabelList = new List<Label>();
            DILabelList.Add(lblDI0);
            DILabelList.Add(lblDI1);
            DILabelList.Add(lblDI2);
            DILabelList.Add(lblDI3);
            DILabelList.Add(lblDI4);
            DILabelList.Add(lblDI5);
            DILabelList.Add(lblDI6);
            DILabelList.Add(lblDI7);
            DILabelList.Add(lblDI8);
            DILabelList.Add(lblDI9);
            DILabelList.Add(lblDI10);
            DILabelList.Add(lblDI11);
            DILabelList.Add(lblDI12);
            DILabelList.Add(lblDI13);
            DILabelList.Add(lblDI14);
            DILabelList.Add(lblDI15);
           for(int i = 0; i < DILabelList.Count; i++)
            {
                DILabelList[i].Text = "DI_" + i;
            }

            DOLabelList.Add(lblDO0);
            DOLabelList.Add(lblDO1);
            DOLabelList.Add(lblDO2);
            DOLabelList.Add(lblDO3);
            DOLabelList.Add(lblDO4);
            DOLabelList.Add(lblDO5);
            DOLabelList.Add(lblDO6);
            DOLabelList.Add(lblDO7);
            DOLabelList.Add(lblDO8);
            DOLabelList.Add(lblDO9);
            DOLabelList.Add(lblDO10);
            DOLabelList.Add(lblDO11);
            DOLabelList.Add(lblDO12);
            DOLabelList.Add(lblDO13);
            DOLabelList.Add(lblDO14);
            DOLabelList.Add(lblDO15);
            for (int i = 0; i < DOLabelList.Count; i++)
            {
                DOLabelList[i].Text = "DO_" + i;
            }

            groupIOList = new List<Label>();
            //groupIOList.Add(lblGroup7);
            //groupIOList.Add(lblGroup6);
            //groupIOList.Add(lblGroup5);  
            //groupIOList.Add(lblGroup4);
            //groupIOList.Add(lblGroup3);
            //groupIOList.Add(lblGroup2);
            //groupIOList.Add(lblGroup1);
            //groupIOList.Add(lblGroup0);


            groupIOList.Add(lblGroup0);
            groupIOList.Add(lblGroup1);
            groupIOList.Add(lblGroup2);
            groupIOList.Add(lblGroup3);
            groupIOList.Add(lblGroup4);
            groupIOList.Add(lblGroup5);
            groupIOList.Add(lblGroup6);
            groupIOList.Add(lblGroup7);

            FormStatus(false);
            timerIO.Start();
            timerMain.Start();
            lblAdSts.Text ="状态说明：\r\n"+
                "Bit0 ,负载电压故障，0：正常，1：未接入外部电源\r\n" + 
                "Bit1 ,模拟芯片连接错误，0：正常，1：数字版与模拟板通讯错误\r\n" +   
                "Bit2:通道故障\r\n" +
                "Bit3:通道上溢\r\n" +
                "Bit4:通道下溢\r\n" +
                "Bit5:通道超上限\r\n" +
                "Bit6:通道超下限\r\n" +
                "Bit7:通道断线\r\n";


        HCLogUtil.logBox = richTextBox1;
        }
        private void btnInitBoard_Click(object sender, EventArgs e)
        {
            bool result = HCBoardManager.OpenCard(1);
            if (result)
            {
                cmbAxisIndex.Items.Clear();
                List<int> axisList = HCBoardManager.AxisList;
                foreach(int i in axisList)
                {
                    cmbAxisIndex.Items.Add(i);
                }

                if (axisList.Count > 0)
                {
                    cmbAxisIndex.SelectedIndex = 0;
                }
                else
                {
                    tabControl1.TabPages.RemoveAt(0);
                }
            }
        }
        private short GetAxisNo()
        {
            short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
            return axisNo;
        }
        private void btnCloseBoard_Click(object sender, EventArgs e)
        { 
            //轴状态监控定时器
            axStsMonitor_timer.Enabled = false;

            timerIO.Stop();
            bool result = HCBoardManager.CloseCard();
        }


        private void FrmHuiChuanTest_FormClosing(object sender, FormClosingEventArgs e)
        {
            timerMain.Stop();
            HCLogUtil.logBox = null;
        }

        private void btnSuddenStop_Click(object sender, EventArgs e)
        {
            HCBoardManager.EmgStop();
        }

        private void btnCancelStop_Click(object sender, EventArgs e)
        {
            HCBoardManager.CancelEmg();
        }
         
        private void btnSetValue_Click(object sender, EventArgs e)
        {
            //【1】更新轴号
            ushort tAxisNo = Convert.ToUInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择

            //【2】获取电子齿轮分子分母
            int Motor_Revolution = Convert.ToInt32(txtMotorRevolution.Text);     //电子齿轮分子：电机分辨率
            int Shaft_Revolution = Convert.ToInt32(txtShaftRevolution.Text);     //电子齿轮分母：一圈脉冲数

            HCBoardManager.SetEcatSdo(tAxisNo, Motor_Revolution, Shaft_Revolution);
        }

        private void btnServerOn_Click(object sender, EventArgs e)
        {
            short axisNo= Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
            HCBoardManager.ServoOn(axisNo);
        }

        private void btnServerOff_Click(object sender, EventArgs e)
        {
            short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
            HCBoardManager.ServoOff(axisNo);
        }

        private void btnStartHome_Click(object sender, EventArgs e)
        {
            //【1】更新轴号
            short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择

            //【2】写入回原参数 
            short  homeMethod = Convert.ToInt16(txtHomeType.Text);
            int offset = Convert.ToInt32(txtHomeOffset.Text);
            uint highVel = Convert.ToUInt32(txtHomeHSpeed.Text);
            uint lowVel = Convert.ToUInt32(txtHomeLSpeed.Text);
            uint acc = Convert.ToUInt32(txtHomeAcc.Text);
            uint overtime = Convert.ToUInt32(txtHomeTimeOut.Text);
             short posSrc = Convert.ToInt16(txtScrPos.Text);

            HCBoardManager.StartHomeMove(axisNo,  highVel, lowVel, acc, homeMethod, offset, overtime, posSrc);
        }

        private void btnStopHome_Click(object sender, EventArgs e)
        {
            HCBoardManager.StopHomeMove(GetAxisNo());
        }

        private void btnHomeStatus_Click(object sender, EventArgs e)
        {
            short value = HCBoardManager.GetHomeStatus(GetAxisNo());
            string homesstr = HCBoardManager.AxisHomeSts(value);
            lblhomeSts.Text = homesstr;
        }

        private void btnExitHome_Click(object sender, EventArgs e)
        {
            HCBoardManager.FinishHome(GetAxisNo());
        }

        private void btnStartTimer_Click(object sender, EventArgs e)
        {
            if (cmbAxisIndex.Items.Count == 0)  //如果轴号为空
            {
                MessageBox.Show("轴号为空！");
                return;
            }
            StsTimeStatus(true);
        }
        private void StsTimeStatus(bool enable)
        {
            axStsMonitor_timer.Enabled = false;
            btnStopTimer.Enabled = false;
            btnStartTimer.Enabled = !enable;
        }
        private void btnStopTimer_Click(object sender, EventArgs e)
        {
            StsTimeStatus(false);
        }

        private void btnPtpMove_Click(object sender, EventArgs e)
        {
            short axisNo = GetAxisNo();

            //【2】读取界面设置
            double ptpVel = Convert.ToDouble(txtPtpVel.Text);
            double ptpAcc = Convert.ToDouble(txtPtpAcc.Text);
            double ptpDec = Convert.ToDouble(txtPtpDec.Text);

            double ptpPos = Convert.ToDouble(txtPtpPos.Text); 
            HCBoardManager.AbsMove(axisNo,  ptpPos, ptpVel, ptpAcc, ptpDec);
        }

        private void btnRelMove_Click(object sender, EventArgs e)
        {
            short axisNo = GetAxisNo();

            //【2】读取界面设置
            double ptpVel = Convert.ToDouble(txtPtpVel.Text);
            double ptpAcc = Convert.ToDouble(txtPtpAcc.Text);
            double ptpDec = Convert.ToDouble(txtPtpDec.Text);

            double ptpPos = Convert.ToDouble(txtPtpPos.Text);
            HCBoardManager.RelMove(axisNo, ptpPos, ptpVel, ptpAcc, ptpDec);
        }
        private void btnAxisStop_Click(object sender, EventArgs e)
        {
            HCBoardManager.AxisStop(GetAxisNo());
        }

        private void btnJOGj_MouseDown(object sender, MouseEventArgs e)
        {
            short axisNo = GetAxisNo();
            //【2】 
            //负向运动，速度为负，要对速度取负值
            double tgtVel = (-1) * Math.Abs(Convert.ToDouble(txtJogSpeed.Text));
            HCBoardManager.SpeedMove(axisNo, tgtVel);
            btnJOGj.BackColor = Color.Green;
        }

        private void btnJOGj_MouseUp(object sender, MouseEventArgs e)
        {
            short axisNo = GetAxisNo();
            HCBoardManager.AxisStop(axisNo);
            btnJOGj.BackColor = Color.White;
        }

        private void btnJOGAdd_MouseDown(object sender, MouseEventArgs e)
        {
            short axisNo = GetAxisNo();
            //【2】
            //正向运动，速度为正，要对速度取绝对值
            double tgtVel = Math.Abs(Convert.ToDouble(txtJogSpeed.Text));
            HCBoardManager.SpeedMove(axisNo, tgtVel);
            btnJOGAdd.BackColor = Color.Green;
        }

        private void btnJOGAdd_MouseUp(object sender, MouseEventArgs e)
        { 
            short axisNo = GetAxisNo();
            HCBoardManager.AxisStop(axisNo);
            btnJOGAdd.BackColor = Color.White;
        }
        private void ShowlbSts(Label lbl, int value)
        {
           if (value.Equals(1))
            {
                lbl.BackColor = Color.Lime; 
            }
            else if (value.Equals(0))
            {
                lbl.BackColor = Color.LightGray; 
            }
           else 
            {
                lbl.BackColor = this.BackColor;
            }
        }
        private void axStsMonitor_timer_Tick(object sender, EventArgs e)
        {
            if (btnStartTimer.Visible && HCBoardManager.CardInitOk() && HCBoardManager.AxisList.Count > 0)
            {
                btnStartTimer.Enabled = false;
                ReadAxisStatus();
            }
        }

        private void ReadAxisStatus()
        {
            //【1】更新轴号
            short axisNo = GetAxisNo();
            short modeValue = HCBoardManager.GetAxisPrfMode(axisNo);
           
            if (modeValue<0)
            {
                return;
            }
            else
            { 
                string mode = HCBoardManager.AxisPrfMode(modeValue);
                lblAxisPrfMode.Text = mode;
            }


            //【2】读取轴状态，如果读取出错将关闭此定时器
            AxisSts sts = HCBoardManager.GetAxisSts(axisNo);
            if (sts.ServoOn < 0)
            {
                axStsMonitor_timer.Stop();
            }
            //【3】更新界面显示
            ShowlbSts(lblALM, sts.ALM);  //报警信号
            ShowlbSts(lblWARN, sts.WARN);  //警告信号
            ShowlbSts(lblEMG, sts.EMG);//急停信号
            ShowlbSts(lblSvOn, sts.ServoOn); //使能信号
            ShowlbSts(lblBUSY, sts.BUSY);  //轴忙信号
            ShowlbSts(lblINP, sts.INP); //轴到位信号 
            if (sts.ORG < 0)
            {
                axStsMonitor_timer.Stop();
            }
            ShowlbSts(lblPEL, sts.PEL); //正限位信号 
            ShowlbSts(lblORG, sts.ORG); //原点信号 
            ShowlbSts(lblNEL, sts.NEL); //负限位信号  

            //label59.Text = ConvertDecimalToBinary(nTimerAxSts[0]);   //轴状态是按bit进行解读，因此这里将AxSts转换为二进制bit进行显示
            lblAxPrfPos.Text = HCBoardManager.GetAxisPrfPos(axisNo).ToString();
            lblAxPrfVel.Text = HCBoardManager.GetAxisPrfVel(axisNo).ToString();
            //label62.Text = nTimerAxPrfAcc[0].ToString();
            lblAxEncPos.Text = HCBoardManager.GetAxisCurrPos(axisNo).ToString();
            lblAxEncVel.Text = HCBoardManager.GetAxisCurrVel(axisNo).ToString();
            lblAxEncAcc.Text = HCBoardManager.GetAxisCurrAcc(axisNo).ToString();
            //label65.Text = nTimerAxEncAcc[0].ToString();

            short value = HCBoardManager.GetHomeStatus(GetAxisNo());
            string homesstr = HCBoardManager.AxisHomeSts(value);
            lblhomeSts.Text = homesstr;

            //txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo);
            btnSearch_Click(null,null);
            btnSearchNj_Click(null, null);
        }

        private void btnSetBitDO_Click(object sender, EventArgs e)
        {
            short bitNo =(short) numBitIndex.Value;
            HCBoardManager.SetBitDO(bitNo, 1);
        }

        private void btnCloseBit_Click(object sender, EventArgs e)
        {
            short bitNo = (short)numBitIndex.Value;
            HCBoardManager.SetBitDO(bitNo, 0);

        }
        private void btnGetBitDo_Click(object sender, EventArgs e)
        {
            short bitNo = (short)numBitIndex.Value;
            short value = HCBoardManager.GetBitDO(bitNo);
            lblBitResult.Text = "DO_" + bitNo + "=" + value;
        }

        private void btnGetBitDI_Click(object sender, EventArgs e)
        { 
            short bitNo = (short)numBitIndex.Value;
            short value = HCBoardManager.GetBitDI(bitNo);
            lblBitResult.Text = "DI_" + bitNo + "=" + value;
        }
        private string GetLabelIOValue(Label label)
        {
            if (label.BackColor.Equals(Color.Lime))
            {
                return "1";
            }
            else
            {
                return "0";
            }
        }
        private void btnSetGroupDo_Click(object sender, EventArgs e)
        { 
            short groupNo = (short)numGroupIndex.Value;
            string value = "";
            for (int i = 0; i < groupIOList.Count; i++)
            {
                value = GetLabelIOValue(groupIOList[i])+value;
            }

            short tValue = Convert.ToInt16(value, 2);
            HCBoardManager.SetGroupDO(groupNo, tValue);

        }
        private void ShowIO(Label label,short value)
        { 
            if (value.Equals((short)1))
            {
                label.BackColor = Color.Lime;
            }
            else if(value.Equals((short)0))
            {
                label.BackColor = Color.LightGray;
            }
            else
            {
                label.BackColor = Color.White;
            }
        }
        private void btnGetGroupDo_Click(object sender, EventArgs e)
        {
            short groupNo = (short)numGroupIndex.Value;
            lblGroupResult.Text = "<<组" + groupNo + "的DO值";
            short tValue = HCBoardManager.GetGroupDO(groupNo);
            List<short> gList = HCBoardManager.GetIOValue(tValue);

            for (int i = 0; i < gList.Count; i++)
            {
                short v = gList[i]; 
                ShowIO(groupIOList[i], v); 
            }

            //string value = Convert.ToString(tValue,2).PadLeft(8,'0');
            //for (int i = 0; i < groupIOList.Count; i++)
            //{
            //    string v = value.Substring( i, 1);
            //    //groupIOList[i].Text = "DO_" + i;
            //    if (v.Equals("1"))
            //    {
            //        groupIOList[i].BackColor = Color.Lime;
            //    }
            //    else
            //    {
            //        groupIOList[i].BackColor = Color.LightGray;
            //    }
            //}

        }

        private void btnGetGroupDI_Click(object sender, EventArgs e)
        {
            short groupNo = (short)numGroupIndex.Value;
            lblGroupResult.Text = "<<组" + groupNo + "的DI值";
            short tValue = HCBoardManager.GetGroupDI(groupNo);
            List<short> gList = HCBoardManager.GetIOValue(tValue);

            for (int i = 0; i < gList.Count; i++)
            { 
                short v = gList[i];
                ShowIO(groupIOList[i], v);
            }

            //string value = Convert.ToString(tValue, 2).PadLeft(8, '0');
            //for (int i = 0; i < groupIOList.Count; i++)
            //{
            //    string v = value.Substring(i, 1);
            //    //groupIOList[i].Text = "DI_" + i;
            //    if (v.Equals("1"))
            //    {
            //        groupIOList[i].BackColor = Color.Lime;
            //    }
            //    else
            //    {
            //        groupIOList[i].BackColor = Color.LightGray;
            //    }
            //}
        }

        private void btnStartGetIO_Click(object sender, EventArgs e)
        {
            timerIO.Start();
        }

        private void btnStopGetDO_Click(object sender, EventArgs e)
        {
            timerIO.Stop();
        }

        private void timerIO_Tick(object sender, EventArgs e)
        {
            if (groupBox1.Visible && HCBoardManager.CardInitOk())
            {
                btnStartGetIO.Enabled = false;

                if (radioButton1.Checked)
                {
                    int groupLength = 8;
                    int diGroupCount = DILabelList.Count / groupLength;
                    for (short i = 0; i < diGroupCount; i++)
                    {
                        short groupValue = HCBoardManager.GetGroupDI(i);
                        List<short> vList = HCBoardManager.GetIOValue(groupValue);
                        for(int index = 0; index < vList.Count; index++)
                        {
                            ShowIO(DILabelList[i * 8 + index], vList[index]);
                        }
                    }

                    int doGroupCount = DOLabelList.Count / groupLength;
                    for(short i = 0; i < doGroupCount; i++)
                    {
                        short groupValue = HCBoardManager.GetGroupDO(i);
                        List<short> vList = HCBoardManager.GetIOValue(groupValue);
                        for (int index = 0; index < vList.Count; index++)
                        {
                            ShowIO(DOLabelList[i * 8 + index], vList[index]);
                        }
                    }
                }
                else
                {
                    for (short i = 0; i < DILabelList.Count; i++)
                    {
                        short value = HCBoardManager.GetBitDI(i);
                        ShowIO(DILabelList[i], value); 
                    }
                    for (short i = 0; i < DOLabelList.Count; i++)
                    {
                        short value = HCBoardManager.GetBitDO(i);
                        ShowIO(DOLabelList[i], value); 
                    }
                }
            }
        } 
        private void lblGroup0_Click(object sender, EventArgs e)
        {
            Label label = (Label)sender;
            if (label.BackColor.Equals(Color.LightGray))
            {
                label.BackColor = Color.Lime ;
            }
            else
            {
                label.BackColor = Color.LightGray;
            }
        }

        private void btnClearAxSts_Click(object sender, EventArgs e)
        { 
            short axisNo = Convert.ToInt16(cmbAxisIndex.SelectedIndex); //实时读取轴选择
            HCBoardManager.ClearAxisSts(axisNo);
        }

        private void btnReadSts_Click(object sender, EventArgs e)
        {
            ReadAxisStatus();
        }

        private void btnClearLog_Click(object sender, EventArgs e)
        {
            HCLogUtil.ClearLog();
        }

        private void btnExit_Click(object sender, EventArgs e)
        {
            HCBoardManager.CloseCard();
            this.Close();
        }

        private void timerMain_Tick(object sender, EventArgs e)
        {
            if (HCBoardManager.CardInitOk())
            {
                lblBoradInfo.ForeColor = Color.Green ;
                lblBoradInfo.Text = "板卡初始化完成：" + "轴数量[" + HCBoardManager.tResource.axNum + "]，DI数量[" + HCBoardManager.tResource.diNum + "]，DO数量[" + HCBoardManager.tResource.doNum + "]";
                if (!btnInitBoard.Enabled.Equals(false))
                {
                    FormStatus(true );
                }

                if (chbAuto.Checked)
                {
                    ReadAdValue();
                }
               
            }
            else
            {
                lblBoradInfo.ForeColor = Color.Red;
                lblBoradInfo.Text = "板卡未初始化完成"; 
                if (!btnInitBoard.Enabled.Equals(true ))
                {
                    FormStatus(false );
                }
            }
        }

        private void FormStatus(bool isOk)
        {
            btnInitBoard.Enabled = !isOk;

            groupBox1.Enabled = isOk;
            groupBox2.Enabled = isOk;
            groupBox3.Enabled = isOk;
            groupBox4.Enabled = isOk;
            groupBox6.Enabled = isOk;
            groupBox7.Enabled = isOk;
            groupBox8.Enabled = isOk;
            groupBox9.Enabled = isOk;
            groupBox10.Enabled = isOk;
            groupBox11.Enabled = isOk;
            btnSuddenStop.Enabled = isOk;
            btnCancelStop.Enabled = isOk;

            timerIO.Enabled = isOk;
            axStsMonitor_timer.Enabled = isOk;
            groupBox5.Enabled = isOk;
        }

        private void btnAdGet_Click(object sender, EventArgs e)
        {
            if (!HCBoardManager.CardInitOk())
            {
                MessageBox.Show("板卡未初始化完成！");
                return;
            }
            ReadAdValue();

            //txtAdSts1.Text = ConSts(HCBoardManager.GetAdSts(0));
            //txtAdSts2.Text = ConSts(HCBoardManager.GetAdSts(1));
            //txtAdSts3.Text = ConSts(HCBoardManager.GetAdSts(2));
            //txtAdSts4.Text = ConSts(HCBoardManager.GetAdSts(3));
        }

        private void ReadAdValue()
        {
            if (!HCBoardManager.CardInitOk())
            {  
                return;
            }
            txtAd1.Text = HCBoardManager.GetAdVal(0).ToString();
            txtAd2.Text = HCBoardManager.GetAdVal(1).ToString();
            txtAd3.Text = HCBoardManager.GetAdVal(2).ToString();
            txtAd4.Text = HCBoardManager.GetAdVal(3).ToString();
        }

        private string ConSts(short input)
        {
            string output = Convert.ToString(input, 2).ToString().PadLeft(8, '0');
            return output;
        }

        private void btnSearch_Click(object sender, EventArgs e)
        {
            short axisNo = GetAxisNo();
            //txtFuzai.Text = HCBoardManager.GetAxisLoadRate(axisNo).ToString();
        }

        private void btnSearchNj_Click(object sender, EventArgs e)
        {
            short axisNo = GetAxisNo();
            txtNuiju.Text = HCBoardManager.GetAxActTorq(axisNo).ToString();
        }
    }
}