using OnlineStore;
using CodeLibrary;
using ConfigHelper;
using DeviceLibrary;
using OnlineStore.Common;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using AutoScanAndLabel.UC;
using OnlineStore.LoadCSVLibrary;
using System.Diagnostics;
using System.IO;
using System.ComponentModel;
using static RemoteDecodeHelper_mod;
using Newtonsoft.Json;
using System.Drawing.Imaging;
using PrintLabel;

namespace AutoScanAndLabel
{
    public partial class Form1 : Form
    {
        public Form1()
        {
            LogUtil.info("开始加载From1");
            crc.OpenResourceLog = true;
            InitializeComponent();
            this.FormClosing += Form1_FormClosing;
            crc.GetLanguageEvent += Crc_GetLanguageEvent;
            crc.LanguageChangeEvent += Crc_LanguageChangeEvent;
            crc.CurrLanguage = Crc_GetLanguageEvent();
            this.Text = crc.GetString("App_Title", "自动贴标机");//Config.Get(Setting_Init.App_Title);
            t1.Interval = 1000;
            t1.Tick += T1_Tick;
            t1.Start();
            GC.KeepAlive(t1);
            this.Shown += Form1_Shown;
            //设计时panel1是在顶层的，所以加载时需要放置底层，否则groupBox2切换显示时会有问题；
            panel1.SendToBack();        
        }
        private void SetControlBackColor(Control control, Color color)
        {
            control.BackColor = color; // 设置当前控件的背景色  

            foreach (Control child in control.Controls)
            {
                child.ForeColor = System.Drawing.Color.White;
                SetControlBackColor(child, color); // 递归设置子控件的背景色  
            }
        }
        private void Crc_LanguageChangeEvent(object sender, EventArgs e)
        {
            if (tabControl1.TabCount > tabpagecount)
                addTablePage();
            LanguageProcess();
        }

        private string Crc_GetLanguageEvent()
        {
            return Config.Get("Default_Language", "zh-CN");
        }

        private void Form1_Shown(object sender, EventArgs e)
        {
            LanguageProcess();
        }
        void LanguageProcess()
        {
            crc.LanguageProcess(this, this.GetType().Name);
            crc.ProcessListItem(menuStrip1.Items, "menuStrip1");
            this.Text = crc.GetString("App_Title", "自动贴标机");//Config.Get(Setting_Init.App_Title);
            listView1.Columns[1].Text = crc.GetString("Res0004", "时间");
            listView1.Columns[2].Text = crc.GetString("Res0003", "信息");

            stateView.Columns[1].Text = crc.GetString("Res0005", "模块");
            //stateView.Columns[2].Text = crc.GetString("Res0006", "步骤");
            stateView.Columns[2].Text = crc.GetString("Form1_tabControl1_tabPage1_Text", "信息");

            设备操作ToolStripMenuItem.Text = !RobotManage.IsDebug ? crc.GetString("Res0101", "启用配置模式") : crc.GetString("Res0012", "停用配置模式");

        }
        private void Form1_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (e.CloseReason == CloseReason.UserClosing)
            {
                e.Cancel = true;
                this.WindowState = FormWindowState.Minimized;
            }
        }

        LogControl lc = new LogControl();
        IOControl ioc = new IOControl();
        AxisControl ac = new AxisControl();
        SettingControl sc = new SettingControl();
        AgvControl agv = new AgvControl();

        readonly System.Windows.Forms.Timer t1 = new System.Windows.Forms.Timer();
        private void Form1_Load(object sender, EventArgs e)
        {
            List<CodeInfo> codeInfos = new List<CodeInfo>();
            //codeInfos.Add(new CodeInfo("", 528, 406));
            codeInfos.Add(new CodeInfo("", 925, 520));
            //codeInfos.Add(new CodeInfo("", 564, 684));

            btn_run.Enabled = false;
            //btn_stop.Enabled = false;
            #region 报警信息listview初始化
            listView1.View = View.Details;
            ColumnHeader emptycol = new ColumnHeader();
            emptycol.Text = "";
            emptycol.Width = 0;
            ColumnHeader msgcol = new ColumnHeader();
            msgcol.Text = crc.GetString("Form1_tabControl1_tabPage1_Text", "信息");
            msgcol.Width = 600;
            ColumnHeader timecol = new ColumnHeader();
            timecol.Text = crc.GetString("Res0004", "时间");
            timecol.Width = 150;
            listView1.Columns.Add(emptycol);
            listView1.Columns.Add(timecol);
            listView1.Columns.Add(msgcol);
            listView1.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            #region 状态信息listview初始化
            stateView.View = View.Details;
            ColumnHeader c1 = new ColumnHeader();
            c1.Text = "";
            c1.Width = 0;
            ColumnHeader c2 = new ColumnHeader();
            c2.Text = crc.GetString("Res0005", "模块");
            c2.Width = 100;
            ColumnHeader c3 = new ColumnHeader();
            c3.Text = crc.GetString("Res0006", "步骤");
            c3.Width = 480;
            //ColumnHeader c4 = new ColumnHeader();
            //c4.Text = crc.GetString("Form1_tabControl1_tabPage1_Text", "信息");
            //c4.Width = 400;

            stateView.Columns.Add(c1);
            stateView.Columns.Add(c2);
            stateView.Columns.Add(c3);
            //stateView.Columns.Add(c4);
            stateView.ColumnWidthChanging += listView_ColumnWidthChanging;
            #endregion

            LogUtil.info("开始初始化");
            //cb_EnableBuzzer.Checked = Config.Get("EnableBuzzer", true);
            AlarmBuzzer.BuzzerStateChange += AlarmBuzzer_BuzzerStateChange;
            RobotManage.LoadFinishEvent += RobotManage_LoadFinishEvent;
            if (Config.Get("EnableLogWindow", false))
                AddForm("Res0007", crc.GetString("Res0007", "日志"), lc);
            RobotManage.Init();
            RobotManage.UserPauseSet += RobotManage_UserPauseSet;
            DeviceLibrary.Common.LabelResult += Common_LabelResult;
            OnlineStore.CodeResourceControl.RefreshLanguageEvent += CodeResourceControl_RefreshLanguageEvent;
        }

        private void CodeResourceControl_RefreshLanguageEvent()
        {
            if (RobotManage.isRunning)
            {
                if (userpause)
                {
                    (btn_run as Button).Text = crc.GetString("Res0014", "恢复运行");
                }
                else
                {
                    (btn_run as Button).Text = crc.GetString("Res0013", "暂停运行");
                }
            }

        }

        private void Common_LabelResult(LabelResult args)
        {
            if (ConfigHelper.Config.Get("ShowLabelResultImg", true))
                try
                {
                    if (pictureBox1.InvokeRequired)
                    {
                        pictureBox1.Invoke(new Action(() =>
                        {
                            pictureBox1.Visible = true;
                            pictureBox1.Image = args.Bitmap;
                        }
                            ));
                    }
                    else
                    {
                        pictureBox1.Visible = true;
                        pictureBox1.Image = args.Bitmap;
                    }
                }
                catch (Exception ex)
                {
                    LogUtil.error("Common_LabelResult", ex);
                }
        }

        private void RobotManage_UserPauseSet(object sender, bool e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke((EventHandler<bool>)delegate
                {
                    RobotManage_UserPauseSet(sender, e);
                }, sender, e);
                return;
            }
            if (e)
            {
                userpause = true;
                (btn_run as Button).Text = crc.GetString("Res0014", "恢复运行");
                (btn_run as Button).BackColor = Color.LightGreen;
                cb_IgnoreSafecheck.Enabled = true;
            }
            else
            {
                userpause = false;
                (btn_run as Button).Text = crc.GetString("Res0013", "暂停运行");
                (btn_run as Button).BackColor = Color.Yellow;
                cb_IgnoreSafecheck.Enabled = false;
            }

        }
        private void AlarmBuzzer_BuzzerStateChange(object sender, bool e)
        {
            this.Invoke((EventHandler<bool>)delegate
            {
                btn_PauseBuzzer.Visible = e;
            }, sender, e);
        }

        private void listView_ColumnWidthChanging(object sender, ColumnWidthChangingEventArgs e)
        {
            e.NewWidth = (sender as ListView).Columns[e.ColumnIndex].Width;
            e.Cancel = true;
        }
        const int tabpagecount = 3;
        void addTablePage()
        {
            AddForm("Res0008", crc.GetString("Res0008", "IO调试"), ioc);
            AddForm("Res0009", crc.GetString("Res0009", "伺服调试"), ac);
            //AddForm("Res0070", crc.GetString("Res0070", "Agv调试"), agv);
            AddForm("Res0010", crc.GetString("Res0010", "相关设置"), sc);
            crc.LanguageProcess(this);
        }
        //public delegate void setstatedelegate(List<MoveInfo> moveinfoList);
        private void MainMachine_ProcessMoveinfoEvent(List<MoveInfo> moveinfoList)
        {
            //var d = new setstatedelegate(SetState);
            //this.Invoke(d, moveinfoList);
        }
        private void T1_Tick(object sender, EventArgs e)
        {
            SetState(MoveInfo.List);
        }
        void SetState(List<MoveInfo> moveInfoList)
        {
            this.SuspendLayout();
            stateView.Items.Clear();
            foreach (MoveInfo moveInfo in moveInfoList)
            {
                if (moveInfo.Name == crc.GetString("Res0016", "重置") && RobotManage.mainMachine.runStatus != RunStatus.HomeReset)
                {
                    continue;
                }
               // ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.MoveStep.ToString(), moveInfo.GetStateStr() });
                ListViewItem lvi = new ListViewItem(new string[] { "", moveInfo.Name, moveInfo.GetStateStr() });
                stateView.Items.Add(lvi);
            }
            var printstatus = PrinterHelper.LastPrintStatus;
            ListViewItem lvi1 = new ListViewItem(new string[] { "", crc.GetString("Res0216", "打印机"), (printstatus == CustPrinterStatus.Unknown) ? "Wait" : printstatus.ToString(), ConfigHelper.Config.Get(Setting_Init.PrinterName) });
            stateView.Items.Add(lvi1);
            this.ResumeLayout(true);
        }
        private void AddForm(string id, string text, UserControl form)
        {
            foreach (TabPage tp in tabControl1.TabPages)
            {
                if (tp.Name == id)
                {
                    tp.Text = text;
                    return;
                }
            }

            TabPage lineTabPage = new TabPage(text);
            lineTabPage.Name = id;
            Panel linePan = new Panel();
            linePan.Dock = DockStyle.Fill;
            linePan.AutoScroll = true;
            lineTabPage.Controls.Add(linePan);
            linePan.Controls.Add(form);
            form.Dock = DockStyle.Fill;
            linePan.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Anchor = ((AnchorStyles)((AnchorStyles.Top | AnchorStyles.Right | AnchorStyles.Bottom | AnchorStyles.Left)));
            form.Show();
            tabControl1.TabPages.Add(lineTabPage);
        }

        private void 启用调试模式ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            RobotManage.IsDebug = RobotManage.IsDebug ? false : true;

            (sender as ToolStripMenuItem).Text = !RobotManage.IsDebug ? crc.GetString("Res0101", "设备操作") : crc.GetString("Res0012", "停用配置模式");

            if (RobotManage.IsDebug)
            {
                RobotManage.Config = (Robot_Config)CSVConfigReader.LoadConfig(RobotManage.Config);
                addTablePage();
                RobotManage.LoadDebug();
            }
            else
            {
                var tc = tabControl1.TabPages.Count;
                for (int i = 1; i <= tabpagecount; i++)
                {
                    tabControl1.TabPages[tc - i].Parent = null;
                }
            }
        }

        public delegate void setmsgdelegate(List<Msg> msgs);
        private void MainMachine_ProcessMsgEvent(List<Msg> msgs)
        {
            var d = new setmsgdelegate(SetMsg);
            if (this.IsHandleCreated)
                this.Invoke(d, msgs);
        }

        private void RobotManage_LoadFinishEvent(bool state, string msg)
        {
            if (state)
            {
                btn_run.Enabled = true;
                //btn_stop.Enabled = true;
                RobotManage.mainMachine.ProcessMsgEvent += MainMachine_ProcessMsgEvent;
                RobotManage.mainMachine.ProcessMoveinfoEvent += MainMachine_ProcessMoveinfoEvent;
            }
            var lm = new List<Msg>();
            foreach (string ms in msg.Split(new char[] { '\n' }, StringSplitOptions.RemoveEmptyEntries))
            {
                var m = new Msg();
                m.datetime = DateTime.Now;
                m.msgtxt = ms;
                m.msgLevel = state ? MsgLevel.info : MsgLevel.warning;
                lm.Add(m);
            }
            SetMsg(lm);
        }
        void SetMsg(List<Msg> msgs)
        {
            this.SuspendLayout();
            listView1.Items.Clear();
            foreach (Msg msg in msgs)
            {
                ListViewItem lvi = new ListViewItem(new string[] { "", msg.datetime.ToString(), msg.msgtxt });
                if (msg.msgLevel == MsgLevel.info)
                    lvi.ForeColor = Color.DarkGreen;
                else
                    lvi.ForeColor = Color.Red;
                listView1.Items.Add(lvi);
            }
            lastFile.Text = DataUploadUtil.lastFileInfo;
            this.ResumeLayout(true);
        }
        bool userpause = false;


        private void btn_run_Click(object sender, EventArgs e)
        {
            if (!RobotManage.isRunning)
            {                
                RobotManage.Start();
                userpause = false;
                if (RobotManage.isRunning)
                {
                    btn_stop.Enabled = true;
                    RobotManage_UserPauseSet(this, false);
                }
                LogUtil.info("用户按下启动");
            }
            else if (!userpause)
            {
                userpause = true;
                RobotManage.UserPause(userpause);
                LogUtil.info("用户按下暂停1");
            }
            else if (userpause)
            {
                userpause = false;
                RobotManage.UserPause(userpause);
                LogUtil.info("用户取消暂停2");
            }

        }

        private void btn_stop_Click(object sender, EventArgs e)
        {
            RobotManage.UserPause(false);
            userpause = false;
            Task.Run(() => { RobotManage.Stop(); });
            btn_run.Text = crc.GetString("Form1_btn_run_Text", "启动");
            btn_run.BackColor = Color.Transparent;
            btn_stop.Enabled = false;
        }

        private void 退出ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (RobotManage.isRunning)
            {
                MessageBox.Show(crc.GetString("Res0082", "机器尚在运行,不能退出,请先停止运行."));
            }
            else
            {
                RobotManage.Stop();
                RobotManage.ShutDown();
                Thread.Sleep(2000);
                Application.Exit();
            }
        }

        private void cb_IgnoreSafecheck_CheckedChanged(object sender, EventArgs e)
        {
            RobotManage.IgnoreSafecheck((sender as CheckBox).Checked);
        }

        private void cb_IgnoreGratingSignal_CheckedChanged(object sender, EventArgs e)
        {
            RobotManage.IgnoreGratingSignal((sender as CheckBox).Checked);
        }

        private void 二维码识别调试ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.IsScanRunning())
            {
                MessageBox.Show(crc.GetString("Res0017", "扫码还没完成,无法打开调试!请稍后再试."));
                return;
            }

            IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.HIGH);
            if (Camera._cam != null)
            {
                Camera._cam.CloseAll();
            }
            CodeLibrary.CodeResourceControl.GetLanguageEvent += Crc_GetLanguageEvent;
            CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
            frm.CurrLanguage = Crc_GetLanguageEvent();
            //frm.chbZxing.Checked = false;
            try
            {
                frm.ShowDialog();
                frm.Dispose();
            }
            catch { }
            //IOManager.IOMove(IO_Type.Camera_Led, IO_VALUE.LOW);
        }

        private void btn_releaseleftshelf_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.Wait)
            {
                MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
                return;
            }
            else if (RobotManage.mainMachine.SafeReleaseLeftShelf)
            {
                MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
                return;
            }
            else if (RobotManage.mainMachine.LeftMoveInfo.MoveStep < MoveStep.L04 || RobotManage.mainMachine.LeftMoveInfo.MoveStep > MoveStep.L30_LabelFinish)
            {
                MessageBox.Show(crc.GetString("Res0083", "左侧料串正在提升或下降, 不能释放"));
                return;
            }

            RobotManage.mainMachine.SafeReleaseLeftShelf = true;
            btn_releaseleftshelf.BackColor = Color.OrangeRed;
            Task.Run(() =>
            {
                int timeout = 2 * 60;
                while (RobotManage.mainMachine.SafeReleaseLeftShelf && timeout > 0)
                {
                    Task.Delay(500).Wait();
                    timeout--;
                    if (timeout % 2 == 0)
                    {
                        Invoke((EventHandler)delegate
                        {
                            btn_releaseleftshelf.Text = string.Format(crc.GetString("Res0084", "左侧料串等待释放中({0})"), timeout / 2);
                        });
                    }
                    if ((RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L20_WaitLabel || RobotManage.mainMachine.LeftMoveInfo.MoveStep == MoveStep.L10_WaitReelPut) && (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait || RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.REND))
                    {
                        RobotManage.mainMachine.LeftMoveInfo.NextMoveStep(MoveStep.L30_LabelFinish);
                    }
                }
                RobotManage.mainMachine.SafeReleaseLeftShelf = false;
                Invoke((EventHandler)delegate
                {
                    btn_releaseleftshelf.BackColor = Color.Transparent;
                    btn_releaseleftshelf.Text = crc.GetString("Res0085", "安全释放左侧料串");
                });
            });
        }
        private void btn_releaserightshelf_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.RightMoveInfo.MoveStep == MoveStep.Wait)
            {
                MessageBox.Show(crc.GetString("Res0018", "料串已是释放状态"));
                return;
            }
            else if (RobotManage.mainMachine.SafeReleaseRightShelf)
            {
                MessageBox.Show(crc.GetString("Res0019", "正在执行料串释放"));
                return;
            }
            else if (RobotManage.mainMachine.RightMoveInfo.MoveStep < MoveStep.R04 || RobotManage.mainMachine.RightMoveInfo.MoveStep > MoveStep.R11_NextReel)
            {
                MessageBox.Show(crc.GetString("Res0086", "右侧料串当前没有就位, 不能释放"));
                return;
            }

            RobotManage.mainMachine.SafeReleaseRightShelf = true;
            btn_releaserightshelf.BackColor = Color.OrangeRed;
            Task.Run(() =>
            {
                int timeout = 2 * 60;
                while (RobotManage.mainMachine.SafeReleaseRightShelf && timeout > 0)
                {
                    Task.Delay(500).Wait();
                    timeout--;
                    if (timeout % 2 == 0)
                    {
                        Invoke((EventHandler)delegate
                        {
                            btn_releaserightshelf.Text = string.Format(crc.GetString("Res0087", "右侧料串等待释放中({0})"), timeout / 2);
                        });
                    }
                }
                RobotManage.mainMachine.SafeReleaseRightShelf = false;
                Invoke((EventHandler)delegate
                {
                    btn_releaserightshelf.BackColor = Color.Transparent;
                    btn_releaserightshelf.Text = crc.GetString("Res0088", "安全释放右侧料串");
                });
            });
        }

        private void btn_maulstart_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.RightMoveInfo.MoveStep != MoveStep.Wait)
            {
                MessageBox.Show(crc.GetString("Res0089", "右侧料串正在运行,不能手动上料"));
                return;
            }
            if (RobotManage.mainMachine.IOValue(IO_Type.RightEnd_Check).Equals(IO_VALUE.LOW))
            {
                MessageBox.Show(crc.GetString("Res0027", "没有检测到料串,不能手动上料"));
                return;
            }
            RobotManage.mainMachine.RightMoveInfo.NewMove(MoveStep.R01);
            LogUtil.info("手动:右侧有新料,准备上料");
        }

        private void 关于ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            AboutBox1 aboutBox1 = new AboutBox1();
            crc.LanguageProcess(aboutBox1);
            aboutBox1.ShowDialog();
        }

        //private void cb_EnableBuzzer_CheckedChanged(object sender, EventArgs e)
        //{
        //    Config.Set("EnableBuzzer", cb_EnableBuzzer.Checked);
        //    AlarmBuzzer.Enable = cb_EnableBuzzer.Checked;
        //}

        private void btn_PauseBuzzer_Click(object sender, EventArgs e)
        {
            AlarmBuzzer.MuteOnce();
        }

        private void btn_leftempty_Click(object sender, EventArgs e)
        {
            if (RobotManage.mainMachine.LeftMoveInfo.MoveStep != MoveStep.Wait
                && RobotManage.mainMachine.LeftMoveInfo.MoveStep != MoveStep.L10_WaitReelPut)
            {
                MessageBox.Show(crc.GetString("Res0090", "左侧料串正在运行,不能手动上料"));
                return;
            }
            if (RobotManage.mainMachine.IOValue(IO_Type.LeftEnd_Check).Equals(IO_VALUE.LOW))
            {
                MessageBox.Show(crc.GetString("Res0027", "没有检测到料串,不能手动上料"));
                return;
            }
            RobotManage.mainMachine.LeftMoveInfo.NewMove(MoveStep.L01);
            LogUtil.info("手动:左侧已清空,重新上升");
        }

        private void 简体中文ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            ConfigHelper.Config.Set("Default_Language", "zh-CN");
            crc.CurrLanguage = Config.Get("Default_Language");
            crc.LanguageChange();
        }

        private void 日本语ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            ConfigHelper.Config.Set("Default_Language", "ja-JP");
            crc.CurrLanguage = Config.Get("Default_Language");
            crc.LanguageChange();
        }

        private void englishToolStripMenuItem_Click(object sender, EventArgs e)
        {
            ConfigHelper.Config.Set("Default_Language", "en-US");
            crc.CurrLanguage = Config.Get("Default_Language");
            crc.LanguageChange();
        }

        private void pictureBox1_DoubleClick(object sender, EventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
            else
            {
                obj.BringToFront();
                obj.Dock = DockStyle.Fill;
            }
        }

        private void pictureBox1_MouseDown(object sender, MouseEventArgs e)
        {
            var obj = sender as PictureBox;
            if (obj.Dock == DockStyle.Fill)
                obj.Dock = DockStyle.None;
        }

        #region 新按钮功能       
        private void aGVToolStripMenuItem_Click(object sender, EventArgs e)
        {
            //AgvControl agv = new AgvControl();
            crc.LanguageProcess(agv);
            panel1.BringToFront();
            panel1.Controls.Clear();
            //crc.GetString("Res0070", "Agv调试");
            panel1.Controls.Add(agv);
          
        }

        private void 相机条码ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            panel1.BringToFront();
            CodeLibrary.CodeResourceControl.GetLanguageEvent += Crc_GetLanguageEvent;
            CodeLibrary.FrmCodeDecode frm = new CodeLibrary.FrmCodeDecode();
            frm.CurrLanguage = Crc_GetLanguageEvent();
            //frm.chbZxing.Checked = false;
            //设置子窗口不显示为顶级窗口
            frm.TopLevel = false;
            //设置子窗口的样式，没有上面的标题栏
            frm.FormBorderStyle = FormBorderStyle.None;
            //填充
            frm.Dock = DockStyle.Fill;
            //清空Panel里面的控件
            this.panel1.Controls.Clear();
            //加入控件
            this.panel1.Controls.Add(frm);
            //让窗体显示
            frm.Show();
        }

        private void 设备操作ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            panel1.SendToBack();
            panel1.Controls.Clear();
            RobotManage.IsDebug = RobotManage.IsDebug ? false : true;

            //(sender as ToolStripMenuItem).Text = !RobotManage.IsDebug ? crc.GetString("Res0101", "设备操作") : crc.GetString("Res0012", "停用配置模式");

            //if (RobotManage.IsDebug)
            //{
            //    RobotManage.Config = (Robot_Config)CSVConfigReader.LoadConfig(RobotManage.Config);
            //    addTablePage();
            //    RobotManage.LoadDebug();
            //}
            //else
            //{
            //    var tc = tabControl1.TabPages.Count;
            //    for (int i = 1; i <tc; i++)
            //    {
            //        tabControl1.TabPages[tc - i].Parent = null;
            //    }
            //}
        }

        private void 退出ToolStripMenuItem1_Click(object sender, EventArgs e)
        {
            if (RobotManage.isRunning)
            {
                MessageBox.Show(crc.GetString("Res0082", "机器尚在运行,不能退出,请先停止运行."));
            }
            else
            {
                RobotManage.Stop();
                RobotManage.ShutDown();
                Thread.Sleep(2000);
                KillProcess("Neo Scan");
                try
                {
                    Application.Exit();
                }
                catch (Exception)
                {
                    Environment.Exit(0);
                }                
            }
        }

        private void 条码规则ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            try
            {
                Process proes = new Process();
                LogUtil.info("客户点击条码规则，打开Neo Scan；");                        
                var f = ConfigHelper.Config.Get("Display_GetDataAppPath");
                string path = Path.Combine(Application.StartupPath,f);
                if (!File.Exists(path))
                {
                    LogUtil.error("未找到服务文件！");
                    return;
                }                   
                proes.StartInfo = new ProcessStartInfo
                {
                    FileName = path,
                    //WorkingDirectory = System.IO.Path.Combine(Application.StartupPath, "\\NeoScan"),
                    Verb = "runas" // 这里设置为 "runas" 表示以管理员身份运行
                };
                proes.StartInfo.UseShellExecute = false;
                proes.Start();
            }
            catch (Exception ex)
            {
                LogUtil.error("启动服务失败："+ex);
            }
        }

        /// <summary>
        /// 退出时关闭ns100exe
        /// </summary>
        /// <param name="processName"></param>
        public static void KillProcess(string processName)
        {
            try
            {
                Process[] processes = Process.GetProcessesByName(processName);
                if (processes.Length<=0)
                {
                    return;
                }

                foreach (Process process in processes)
                {
                    process.Kill();
                    process.WaitForExit(); // 可以加上超时参数
                }
            }
            catch (Win32Exception e)
            {              
            }
            catch (InvalidOperationException e)
            {
            }
        }

        #endregion

        private void 打印设置ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            FrmLabelSettings frmLabelSettings = new FrmLabelSettings();
            frmLabelSettings.StartPosition = FormStartPosition.CenterParent;
            frmLabelSettings.ShowDialog();
        }

        private void 打开ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            RobotManage.Config = (Robot_Config)CSVConfigReader.LoadConfig(RobotManage.Config);
            addTablePage();
            RobotManage.LoadDebug();
        }

        private void 关闭ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            var tc = tabControl1.TabPages.Count;
            for (int i = 1; i < tc; i++)
            {
                tabControl1.TabPages[tc - i].Parent = null;
            }
        }
    }
}