Rs.DeweyTester/Rs.DeweyTester/Recipe/StockTrayLocationRecipe.cs

using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.NormalFlow;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;

namespace Rs.MotionPlat.Recipe
{
    public partial class StockTrayLocationRecipe : BaseForm
    {
        private TraySlot selectedSlot;
        private string m_trayName = "";
        DataTable dt = new DataTable();
        SqliteHelper db=new SqliteHelper();
        
        public StockTrayLocationRecipe()
        {
            InitializeComponent();

        }

        public StockTrayLocationRecipe(string trayName)
        {
            InitializeComponent();
            m_trayName = trayName;
            //cameraTemplate1.ItemName = m_trayName;
            //cameraTemplate1.CustomDefineGrabEvent += CameraTemplate1_CustomDefineGrabEvent;
        }

        private void CameraTemplate1_CustomDefineGrabEvent()
        {
            AxisControl.LoadX.ComparePulse(2, false);
        }

        private void BindPoints()
        {
            BindBasePoint();
            BindRunPoint();
        }

        void BindBasePoint()
        {
            string querySql = $"select * from TrayPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
            DataTable dtRunPoints = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
            {
                dgvBasePoints.DataSource = dtRunPoints;
            }
        }

        void BindRunPoint()
        {
            dgvRunPoints.DataSource = TrayRunPointManager.GetData(m_trayName);
            //string querySql = $"select * from TrayRunPoints where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}' order by slotindex";
            //DataTable dtRunPoints = db.GetDataTable(querySql);
            //if (ObjectHelper.IsNotNullorEmpty(dtRunPoints))
            //{
            //    dgvRunPoints.DataSource = dtRunPoints;
            //}
        }

        private void StockTrayLocationRecipe_Load(object sender, EventArgs e)
        {
            CheckPermission();
            if(m_trayName=="Input" || m_trayName=="Grab")
            {
                btnThreePointLocation.Visible = false;
            }
            else
            {
                btnThreePointLocation.Visible = true;
            }
            LanguageHelper.LoadLanguage(this, this.GetType());
            rsTray1.HeadText= m_trayName;
            string querySql = $"select * from NormalTray where trayname='{m_trayName}' and recipename='{GlobalVar.CurRecipe}'";
            dt = db.GetDataTable(querySql);
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                DataRow dr = dt.Rows[0];
                foreach (DataColumn dc in dt.Columns)
                {
                    string columname = dc.ColumnName;
                    Control txt = ControlManager.FindControl(groupBox1, "txt" + columname);
                    if (txt != null)
                    {
                        txt.Text = dr[columname].ToString();
                        rsTray1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
                        rsTray1.RowNum = int.Parse(dr["RowNum"].ToString());
                    }
                }
            }
            //dgvBasePoints.AutoGenerateColumns = false;
            dgvBasePoints.AutoGenerateColumns = false;
            dgvRunPoints.AutoGenerateColumns = false;
            BindPoints();

        }

        private void btnCreateMatrix_Click(object sender, EventArgs e)
        {
            btnCreateMatrix.Enabled = false;
            btnThreePointLocation.Enabled = false;
            List<string> executeSql = new List<string>();
            int rowEffect = 0;
            if (ObjectHelper.IsNotNullorEmpty(dt))
            {
                string deleteSql = $"delete from TrayPoints where trayid='{dt.Rows[0]["ID"]}'";
                rowEffect = db.ExecuteNonQuery(deleteSql);
                if (rowEffect >= 0)
                {
                    int rowNum = int.Parse(dt.Rows[0]["RowNum"].ToString());
                    int colNum = int.Parse(dt.Rows[0]["ColumnNum"].ToString());
                    int index = 1;
                    for (int i = 0; i < rowNum; i++)
                    {
                        for (int j = 0; j < colNum; j++)
                        {
                            int tempIndex = (colNum + 1) - (index - (i * colNum)) + (i * colNum);
                            double xRun = 0.0;
                            double yRun = 0.0;
                            if(rsTray1.SortDir== ESortDir.LeftToRight)
                            {
                                xRun = double.Parse(txtMarkX1.Text) + (j * double.Parse(txtSlotOffsetDistX.Text));
                                yRun = double.Parse(txtMarkY2.Text) + (i * double.Parse(txtSlotOffsetDistY.Text));
                            }
                            else if(rsTray1.SortDir== ESortDir.LeftBottomToTop)
                            {
                                xRun = double.Parse(txtMarkX1.Text) + (i * double.Parse(txtSlotOffsetDistX.Text));
                                yRun = double.Parse(txtMarkY2.Text) + (j * double.Parse(txtSlotOffsetDistY.Text));
                            }
                            
                            string insertRunSql = $"insert into TrayPoints(trayid,recipename,trayname,slotindex,x,y) values('{dt.Rows[0]["id"]}','{dt.Rows[0]["recipename"]}','{dt.Rows[0]["TrayName"]}',{index},{xRun},{yRun})";
                            executeSql.Add(insertRunSql);
                            
                            index++;
                        }
                    }
                    if(executeSql!=null&&executeSql.Count>0)
                    {
                        string sql = string.Join(";", executeSql);
                        rowEffect = db.ExecuteNonQuery(sql);
                        if(rowEffect>0)
                        {
                            Msgbox.ShowDialog(EButtonType.Ok, $"{rowEffect} data updated!");
                        }
                    }
                    BindPoints();
                    TrayPointManager.LoadPoint();
                    btnCreateMatrix.Enabled = true;
                    btnThreePointLocation.Enabled = true;
                }

            }
        }

        private void rsTray1_SlotClickEvent(TraySlot arg1, MouseEventArgs arg2)
        {
            selectedSlot=arg1;
            contextMenuStrip1.Show(MousePosition.X, MousePosition.Y);
        }

        private void goToolStripMenuItem_Click(object sender, EventArgs e)
        {
            if(selectedSlot!=null)
            {
                int nozzleIndex = 0;
                string querySql = string.Empty;
                //if(m_trayName=="Input" || m_trayName=="Ng")
                {
                    querySql = $"select * from TrayPoints where trayname='{dt.Rows[0]["trayname"]}' and slotindex={selectedSlot.Index}";
                }
                //else
                //{
                    //querySql = $"select * from TrayRunPoints where trayname='{dt.Rows[0]["trayname"]}' and slotindex={selectedSlot.Index}";
                //}
               
                DataTable dtGoPosition = db.GetDataTable(querySql);
                if(ObjectHelper.IsNotNullorEmpty(dtGoPosition))
                {
                    double targetX = double.Parse(dtGoPosition.Rows[0]["X"].ToString());
                    double targetY = double.Parse(dtGoPosition.Rows[0]["Y"].ToString());
                    ToolStripMenuItem subMenu=sender as ToolStripMenuItem;
                    ToolStripMenuItem parentMenu = (ToolStripMenuItem)subMenu.OwnerItem;
                    if (parentMenu.Text.IndexOf("Nozzle") >= 0)
                    {
                        nozzleIndex = int.Parse(parentMenu.Text.Replace("Nozzle", "").Replace("GO", ""));
                        //SlotPoint dist = TrayPointManager.GetDistToNozzle1(nozzleIndex);

                        targetX += NozzleManager.GetNozzleToCameraOffsetX(nozzleIndex);
                        targetY += NozzleManager.GetNozzleToCameraOffsetY2(nozzleIndex);
                    }
                    DialogResult dr = Msg.ShowQuestion($"Are you sure to move loadx to {targetX},loady to {targetY}?");
                    if(dr== DialogResult.OK)
                    {
                        Motion.ErrorCode errCode = AxisControl.GetAxis("LoadX").MovePos(targetX,4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loadx move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("LoadY1").MovePos(GlobalVar.StockSideY1, 4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loady1 move fail,ret={errCode}");
                            return;
                        }
                        errCode = AxisControl.GetAxis("LoadY2").MovePos(targetY,4);
                        if (errCode > Motion.ErrorCode.Ok)
                        {
                            Msg.ShowError($"axis loady2 move fail,ret={errCode}");
                            return;
                        }
                        if (subMenu.Text.IndexOf("TakeProduct") >= 0)
                        {
                            TakeProduct(selectedSlot.Index, nozzleIndex);
                        }
                        else if (subMenu.Text.IndexOf("DumpProduct") >= 0)
                        {
                            DumpProduct(selectedSlot.Index, nozzleIndex);
                        }
                    }
                }
            }
        }

        private void btnTeach_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnTeach", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double pos = Ops.GetCurPosition(txt.Tag.ToString());
                txt.Text = pos.ToString("0.000");
                if (ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {txt.Name.Replace("txt", "")}={txt.Text} where recipename='{GlobalVar.CurRecipe}' and trayname='{dt.Rows[0]["trayname"]}'";
                    if (db.ExecuteNonQuery(updateSql) > 0)
                    {
                        Msg.ShowInfo("teach point ok!");
                    }
                }
            }
        }

        private void btnMove_Click(object sender, EventArgs e)
        {
            Button btnTeach = (Button)sender;
            string name = btnTeach.Name.Replace("btnMove", "");
            Control txt = ControlManager.FindControl(groupBox1, "txt" + name);
            if (txt != null)
            {
                double targetPos = double.Parse(txt.Text);
                DialogResult dr = Msg.ShowQuestion($"are you sure to move axis {txt.Tag} to postion at:{targetPos}?");
                if (dr == DialogResult.OK)
                {
                    Motion.ErrorCode errCode = AxisControl.GetAxis(txt.Tag.ToString()).MovePos(targetPos, 4);
                    if (errCode != Motion.ErrorCode.Ok)
                    {
                        Msg.ShowError($"axis {txt.Tag.ToString()} move fail {errCode}");
                    }
                }
            }
        }

        private void btnSavePoint_Click(object sender, EventArgs e)
        {
            Button button = (Button)sender;
            string name = button.Name.Replace("btnSave", "");
            Control txt = ControlManager.FindControl(this, "txt" + name);
            if (txt != null)
            {
                if(ObjectHelper.IsNotNullorEmpty(dt))
                {
                    string updateSql = $"update NormalTray set {name}={txt.Text} where id={dt.Rows[0]["id"]}";
                    if(db.ExecuteNonQuery(updateSql)>0)
                    {
                        Msg.ShowInfo("save ok!");
                    }
                }
            }
        }

        /// <summary>
        /// 取料
        /// </summary>
        private void TakeProduct(int slotIndex, int nozzleIndex)
        {
            ErrorCode errCode = ErrorCode.Ok;
            Task.Run(() => { 
                while (true)
                {
                    if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
                        break;
                    Thread.Sleep(10);
                }
                DialogResult dr = Msg.ShowQuestion("Are you sure to take product?", MessageBoxButtons.OKCancel);
                if (dr == DialogResult.OK)
                {
                    Nozzle takeNozzle=NozzleManager.GetNozzle(nozzleIndex);
                    if(Enum.TryParse<ETrayType>(m_trayName, out ETrayType takeTray))
                    {
                        double pos = NozzleManager.GetNozzleToTrayTakeProductPos(takeTray, nozzleIndex);
                        errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(pos, GlobalVar.WholeSpeed);
                        if (errCode > ErrorCode.Ok) return;
                        while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                        {
                            Thread.Sleep(10);
                        }
                        takeNozzle.VacSuction(EIoOperate.Open,nameof(StockTrayLocationRecipe));
                        if (NozzleManager.GotoSafePos(nozzleIndex))
                        {
                            while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                            {
                                Thread.Sleep(10);
                            }
                        }
                    }
                }
            });
        }
        /// <summary>
        /// 放料
        /// </summary>
        private void DumpProduct(int slotIndex, int nozzleIndex)
        {
            ErrorCode errCode = ErrorCode.Ok;
            Task.Run(() => {
                while (true)
                {
                    if (Ops.IsStop("LoadX", "LoadY1", "LoadY2"))
                        break;
                    Thread.Sleep(10);
                }
                DialogResult dr = Msg.ShowQuestion("Are you sure to dump product?", MessageBoxButtons.OKCancel);
                if (dr == DialogResult.OK)
                {
                    Nozzle takeNozzle = NozzleManager.GetNozzle(nozzleIndex);
                    if (Enum.TryParse<ETrayType>(m_trayName, out ETrayType takeTray))
                    {
                        double pos = NozzleManager.GetNozzleToTrayTakeProductPos(takeTray, nozzleIndex);
                        errCode = AxisControl.GetAxis($"NozzleZ{nozzleIndex}").MovePos(pos, GlobalVar.WholeSpeed);
                        if (errCode > ErrorCode.Ok) return;
                        while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                        {
                            Thread.Sleep(10);
                        }
                        takeNozzle.VacSuction(EIoOperate.Close,nameof(StockTrayLocationRecipe));
                        takeNozzle.VacBreak(EIoOperate.Open,nameof(StockTrayLocationRecipe));
                        takeNozzle.VacBreak(EIoOperate.Close, nameof(StockTrayLocationRecipe));
                        if (NozzleManager.GotoSafePos(nozzleIndex))
                        {
                            while (!Ops.IsStop($"NozzleZ{nozzleIndex}"))
                            {
                                Thread.Sleep(10);
                            }
                        }
                    }
                       
                }
            });
        }

        private void btnCreateTrayStatus_Click(object sender, EventArgs e)
        {
            string deleteSql = $"delete from traystatus where trayname='{m_trayName}'";
            db.ExecuteNonQuery(deleteSql);
            string insertSql = "insert into traystatus(trayname,slotindex,status) values('{0}',{1},{2})";
            for (int row = 1; row <= rsTray1.RowNum; row++)
            {
                for (int col = 1; col <= rsTray1.ColumnNum; col++)
                {
                    int index = col + (row - 1) * rsTray1.ColumnNum;
                    string executeSql = string.Format(insertSql, m_trayName, index, 0);
                    db.ExecuteNonQuery(executeSql);
                }
            }
        }

        public void txtSysParam_KeyUp(object sender, KeyEventArgs e)
        {
            if(e.KeyCode== Keys.Enter)
            {
                UpdateSysParam((TextBox)sender);
            }
        }

        private void dgvRunPoints_CellMouseEnter(object sender, DataGridViewCellEventArgs e)
        {
            DataGridView dgv=(DataGridView)sender;
            if(e.RowIndex>=0)
            {
                dgv.Rows[e.RowIndex].DefaultCellStyle.BackColor = Color.Red ;
            }
        }

        private void dgvRunPoints_CellMouseLeave(object sender, DataGridViewCellEventArgs e)
        {
            DataGridView dgv = (DataGridView)sender;
            if (e.RowIndex >= 0)
            {
                dgv.Rows[e.RowIndex].DefaultCellStyle.BackColor = Color.FromArgb(11, 16, 36);
            }
        }

        private void btnThreePointLocation_Click(object sender, EventArgs e)
        {
            Task.Run(() => {
                if(m_trayName=="Ng")
                {
                    ThreePointLocationFlow.Instance.Location(ETrayType.Ng);
                }
                else if(m_trayName== "ReTest")
                {
                    ThreePointLocationFlow.Instance.Location(ETrayType.ReTest);
                }
                else if (m_trayName == "Grr")
                {
                    ThreePointLocationFlow.Instance.Location(ETrayType.Grr);
                }
                else if (m_trayName == "Ok")
                {
                    ThreePointLocationFlow.Instance.Location(ETrayType.Ok);
                }
                BindPoints();
            });
        }
    }
}