using gts;
using NPOI.SS.Formula.Functions;
using Rs.Controls;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.Common;
using Rs.MotionPlat.Flow.NormalFlow;
using Rs.MotionPlat.Flow.SafePosFlow;
using Rs.MotionPlat.Flow.SubFlow;
using Rs.MotionPlat.Vision;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat
{
    public partial class TestFrm : BaseForm
    {
        public TestFrm()
        {
            InitializeComponent();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            VisionHelper.Grab(Vision.EVisionScene.NozzleCalib);
        }

        private void button2_Click(object sender, EventArgs e)
        {
            ThreePointLocationFlow.Instance.Location(ETrayType.Ng);
        }


        private void button5_Click(object sender, EventArgs e)
        {
            VisionHelper.OneGrabFour();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            TestFixture tf = TestFixtureManager.Instance.GetTestFixture(1);
        }


        private void button15_Click(object sender, EventArgs e)
        {
            
        }

        private void button16_Click(object sender, EventArgs e)
        {
            Msgbox.ShowTipDialog(EButtonType.Retry, "fasd");
        }

        private void button17_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                Msgbox.Show("test", EButtonType.Retry);
                //MethodInvoker ink = new MethodInvoker(() => {
                //    TestFrm f = new TestFrm();
                //    f.Show();
                //});
                //BeginInvoke(ink);
            });
            

        }

        private void button18_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                TestFixtureManager.Instance.GetTestFixture(1).StartTest();
            });
            
        }

        

        private void button22_Click(object sender, EventArgs e)
        {
            AxisControl.LoadY2.ComparePulse(1, false);
        }

        bool stop = false;
        private void button24_Click(object sender, EventArgs e)
        {
            int step = 0;

            int num = 0;
            Task.Run(() => {
                TargetPosition targetPos = new TargetPosition();
                while (true)
                {
                    if(stop)
                    {
                        Thread.Sleep(100);
                        continue;
                    }
                    switch (step)
                    {
                        case 0:
                            num++;
                            if(num%2==0)
                            {
                                //targetPos.X = GlobalVar.Fixture5GrabImageX;// 831;
                                targetPos.X = 930;// GlobalVar.Fixture4GrabImageX;// 831;
                                targetPos.Y1 = GlobalVar.FixtureSideY1;
                                targetPos.Y2 = -320.256;
                            }
                            else
                            {
                                //targetPos.X =  GlobalVar.Fixture5GrabImageX;// 831;
                                targetPos.X = 300;// GlobalVar.Fixture4GrabImageX;// 831;
                                targetPos.Y1 = GlobalVar.FixtureSideY1;
                                targetPos.Y2 =  -329.256;
                            }
                            if (GroupAxisMove.XY1Y2MovePos(targetPos, GlobalVar.WholeSpeed, EGoWhichSide.FixtureSide))
                            {
                                step++;
                            }
                            break;
                        case 1:
                            if(Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
                            {
                                step++;
                            }
                            break;
                        case 2:
                            targetPos.X = GlobalVar.Fixture5GrabImageX;
                            targetPos.Y1 = GlobalVar.FixtureSideY1;
                            targetPos.Y2 = GlobalVar.Fixture5GrabImageY2;
                            if (GroupAxisMove.XY1Y2MovePos(targetPos, GlobalVar.WholeSpeed, EGoWhichSide.FixtureSide))
                            {
                                step++;
                            }
                            break;
                        case 3:
                            if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
                            {
                                if(AxisArrived.LoadXY1Y2IsArrived(targetPos.X,targetPos.Y1,targetPos.Y2))
                                {
                                    Thread.Sleep(100);
                                    string logInfo = $"x:{Ops.GetCurPosition(AxisControl.LoadX)},y1:{Ops.GetCurPosition(AxisControl.LoadY1)},y2:{Ops.GetCurPosition(AxisControl.LoadY2)}";
                                    MessageQueue.Instance.Insert(logInfo);
                                    step++;
                                }
                                //Thread.Sleep(1000);
                                
                            }
                            break;
                        case 4:
                            UpCameraHelper.Grab();
                            VisionResult vr = VisionHelper.Grab(EVisionScene.FixtureDumpProduct);
                            if(vr != null && vr.Result)
                            {
                                step = 0;
                            }
                            break;
                    }
                }
            });
        }

        private void button1_Click_1(object sender, EventArgs e)
        {
            Task.Run(() => {
                FixtureTakeFlow.Instance.Take(5, 1, true);
                DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
            });
        }

        private void button2_Click_1(object sender, EventArgs e)
        {
            Task.Run(() => {
                FixturePlaceFlow.Instance.Place(5, 1,true);
                DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
            });
        }

        private void button4_Click(object sender, EventArgs e)
        {
            AxisControl.LoadY2.ComparePulse(1, false);
        }

       static bool bContinueGrab = false;
        private void button5_Click_1(object sender, EventArgs e)
        {
            bContinueGrab=!bContinueGrab;
            if(bContinueGrab)
            {
                Task.Run(() => {
                    while (bContinueGrab)
                    {
                        AxisControl.LoadY2.ComparePulse(1, false);
                        Thread.Sleep(500);
                    }
                });
            }
        }


        private void button11_Click(object sender, EventArgs e)
        {
            int.TryParse(this.comboBox1.SelectedItem.ToString(), out int fixtureIndex);
            TestFixtureManager.Instance.GetTestFixture(fixtureIndex).StartTest(this.textBox1.Text);
        }

        private void button13_Click(object sender, EventArgs e)
        {
            Task.Run(() => {

                foreach (Control item in groupBox1.Controls)
                {
                    if(item is RadioButton)
                    {
                        if(((RadioButton)item).Checked)
                        {
                            int index = (int.Parse(item.Text)-1)*16+1;
                            ProductLocationFlow.Instance.Grab(ETrayType.Grr, index);
                            ProductLocationResult[] productLocationResult = OneGrabSixteenManager.Instance.GetResults();
                            if (productLocationResult != null)
                            {
                                //foreach (ProductLocationResult item in productLocationResult)
                                //{
                                //    string msg = $"{item.SlotIndex},{item.Result}\r\n";
                                //    File.AppendAllText("d://flyresult.csv", msg);
                                //}
                            }
                            break;
                        }
                        
                    }
                }
                
            });
        }

       


        private void button9_Click(object sender, EventArgs e)
        {
            Task.Run(() => { 
                while (true)
                {
                   TraySlot slot = GlobalTray.GrrTray.GetSlot(ESlotStatus.Have);
                    if(slot==null)
                    {
                        DischargeModuleGoSafePosFlow.Instance.GoSafePostion();
                        break;
                    }
                    else
                    {
                        ProductLocationResult fixtureret = FixedGrabProductFlow.Instance.TakePicture(ETrayType.Grr, slot.Index, 1);
                        if(fixtureret!=null && (fixtureret.Result== EOneGrabSixteenResult.Ok || fixtureret.Result== EOneGrabSixteenResult.LocationOkScanBarcodeFail))
                        {
                            StockTakeFlow.Instance.Take(ETrayType.Grr, slot.Index, 1, EStockScanBarcodeMode.Single, fixtureret,false);
                            GlobalTray.GrrTray.ChangeStatus(slot.Index, ESlotStatus.NotHave);
                            slot = GlobalTray.RetestTray.GetSlot(ESlotStatus.NotHave);
                            if(slot!=null)
                            {
                                StockPlaceFlow.Instance.Place(ETrayType.ReTest, slot.Index, 1,false);
                            }
                        }
                        else
                        {
                            GlobalTray.GrrTray.ChangeStatus(slot.Index, ESlotStatus.NotHave);
                        }
                    }
                }
            });
        }
    }
}