using ChoiceTech.Halcon.Control;
using HalconDotNet;
using Rs.Camera;
using Rs.Controls;
using Rs.DataAccess;
using Rs.Framework;
using Rs.Motion.Base;
using Rs.MotionPlat.AuxiliaryEquipment;
using Rs.MotionPlat.Commom;
using Rs.MotionPlat.Entitys.Trays;
using Rs.MotionPlat.Flow;
using Rs.MotionPlat.Flow.Camera;
using Rs.MotionPlat.Flow.SafePosFlow;
using Rs.MotionPlat.Flow.SubFlow;
using Rs.MotionPlat.SysConfig;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Diagnostics;
using System.Drawing;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using static Rs.MotionPlat.Commom.SchedulingMessageBox;

namespace Rs.MotionPlat
{
    public partial class FormMain : BaseForm
    {
        HObject defaultImage = new HObject();
        public FormMain()
        {
            InitializeComponent();
        }

        private void Instance_OnMatchResult(List<MatchResult> obj)
        {
            int i = 1;
            foreach (MatchResult matchResult in obj)
            {
                HWindow_Final hwin = null;
                if (i == 9) return;
                switch (i)
                {
                    case 1: hwin = himgNozzle1; break;
                    case 5: hwin = himgNozzle5; break;
                    default:
                        break;
                }
                if (hwin != null)
                {
                    hwin.ClearWindow();
                    hwin.HobjectToHimage(matchResult.Himage);
                    if (matchResult.IsOK)
                    {
                        hwin.DispObj(matchResult.ContourXld, "green");
                        string OffsetCol = matchResult.OffsetCol.ToString("0.000");
                        string OffsetRow = matchResult.OffsetRow.ToString("0.000");
                        string OffsetA = matchResult.OffsetA.ToString("0.000");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"X:{OffsetCol}", 200, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"Y:{OffsetRow}", 400, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"R:{OffsetA}", 600, 20, "green");
                    }
                    else
                    {
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
                    }
                    i++;
                }
            }
        }

        private void Instance_OnUpCameraGrabResult(List<Flow.Camera.VisionResult> obj)
        {
            foreach (VisionResult matchResult in obj)
            {
                HWindow_Final hwin = null;
                switch (matchResult.SlotIndex)
                {
                    case 1: hwin = hwin_turnoverSlot1; break;
                    case 2: hwin = hwin_turnoverSlot2; break;
                    case 3: hwin = hwin_turnoverSlot3; break;
                    case 4: hwin = hwin_turnoverSlot4; break;
                    case 5: hwin = hwin_turnoverSlot5; break;
                    case 6: hwin = hwin_turnoverSlot6; break;
                    case 7: hwin = hwin_turnoverSlot7; break;
                    case 8: hwin = hwin_turnoverSlot8; break;
                    case 9: hwin = hwin_turnoverSlot9; break;
                    case 10: hwin = hwin_turnoverSlot10; break;
                    case 11: hwin = hwin_turnoverSlot11; break;
                    case 12: hwin = hwin_turnoverSlot12; break;
                    case 13: hwin = hwin_turnoverSlot13; break;
                    case 14: hwin = hwin_turnoverSlot14; break;
                    case 15: hwin = hwin_turnoverSlot15; break;
                    case 16: hwin = hwin_turnoverSlot16; break;
                    case 17: hwin = hwin_turnoverSlot17; break;
                    case 18: hwin = hwin_turnoverSlot18; break;
                    case 19: hwin = hwin_turnoverSlot19; break;
                    case 20: hwin = hwin_turnoverSlot20; break;
                    case 21: hwin = hwin_turnoverSlot21; break;
                    case 22: hwin = hwin_turnoverSlot22; break;
                    case 23: hwin = hwin_turnoverSlot23; break;
                    case 24: hwin = hwin_turnoverSlot24; break;
                    case 25: hwin = hwin_turnoverSlot25; break;
                    case 26: hwin = hwin_turnoverSlot26; break;
                    case 27: hwin = hwin_turnoverSlot27; break;
                    case 28: hwin = hwin_turnoverSlot28; break;
                    case 29: hwin = hwin_turnoverSlot29; break;
                    case 30: hwin = hwin_turnoverSlot30; break;
                    case 31: hwin = hwin_turnoverSlot31; break;
                    case 32: hwin = hwin_turnoverSlot32; break;
                    default:
                        break;
                }
                if (hwin != null)
                {
                    hwin.ClearWindow();
                    if (matchResult.SearchModelOK)
                    {
                        hwin.HobjectToHimage(matchResult.SourceImage);
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, matchResult.SN, 20, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"x:{matchResult.OffsetX}", 200, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"y:{matchResult.OffsetY}", 400, 20, "green");
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"r:{matchResult.OffsetR}", 600, 20, "green");
                    }
                    else
                    {
                        hwin.ClearWindow();
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
                    }
                }
            }
        }
        private void timer1_Tick(object sender, EventArgs e)
        {
            //获取运行信息
            while (MessageQueue.Instance.HaveMessage())
            {
                MessageItem runInfo = MessageQueue.Instance.GetMessage();
                if (runInfo != null)
                {
                    while (dgv_runinfo.Rows.Count > 500)
                    {
                        dgv_runinfo.Rows.RemoveAt(dgv_runinfo.Rows.Count - 1);
                    }
                    dgv_runinfo.Rows.Insert(0, runInfo.Time, runInfo.Content);
                }

                MessageItem errorInfo = MessageQueue.Instance.GetWarn();
                if (errorInfo != null)
                {
                    while (dgv_errinfo.Rows.Count > 500)
                    {
                        dgv_errinfo.Rows.RemoveAt(dgv_errinfo.Rows.Count - 1);
                    }
                    dgv_errinfo.Rows.Insert(0, errorInfo.Time, errorInfo.Content);
                }
            }
            if(MachineManage.Instance.MachineStatus== EMachineStatus.Working)
            {
                if (btnWholeHome.Visible == true)
                    btnWholeHome.Visible = false;
            }
            else
            {
                if (btnWholeHome.Visible == false)
                    btnWholeHome.Visible = true;
            }
        }

        private void FormMain_Load(object sender, EventArgs e)
        {
            SqliteHelper db = new SqliteHelper();
            string querySql = "select * from NormalTray";
            DataTable dt = db.GetDataTable(querySql);
            //if (dt != null && dt.Rows.Count > 0)
            //{
            //    DataRow dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty1").First();
            //    if (dr != null)
            //    {
            //        trayMulti.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        trayMulti.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }

            //    dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Input").First();
            //    if (dr != null)
            //    {
            //        //trayInput.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        //trayInput.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }

            //    dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ok").First();
            //    if (dr != null)
            //    {
            //        trayInput1.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        trayInput1.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }

            //    dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Ng").First();
            //    if (dr != null)
            //    {
            //        trayInput2.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        trayInput2.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }


            //    dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Multi").First();
            //    if (dr != null)
            //    {
            //        trayInput3.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        trayInput3.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }

            //    dr = dt.AsEnumerable().Where(r => r.Field<string>("TrayName") == "Empty2").First();
            //    if (dr != null)
            //    {
            //        trayReject.ColumnNum = int.Parse(dr["ColumnNum"].ToString());
            //        trayReject.RowNum = int.Parse(dr["RowNum"].ToString());
            //    }
            //}

            timer1.Interval = 500;
            timer1.Enabled = true;
            DischargeFlow.Instance.OnMatchResult += Instance_OnMatchResult;
            DischargeFlow.Instance.OnUpCameraGrabResult += Instance_OnUpCameraGrabResult;
            DischargeFlow.Instance.OnShowGrabResult += Instance_OnShowGrabResult;

            UpCameraCheckFlow.Instance.OnStockTrayHasOrNotResult += Instance_OnStockTrayProductHasOrNotResult;
            UpCameraCheckFlow.Instance.OnTurnTrayHasOrNotResult += Instance_OnTurnoverTrayProductHasOrNotResult;
            UpCameraScanBarCodeFlow.Instance.OnTurnoverTrayProductLocateResult += Instance_OnTurnoverTrayProductLocateResult;
            trayTurnover.ItemName = "Turnover";
           
            trayInput1.ItemName = "Input1";
            trayInput2.ItemName = "Input2";
            trayInput3.ItemName = "Input3";
            trayReject.ItemName = "Reject";

            trayGood1.ItemName = "Good1";
            trayGood2.ItemName = "Good2";
            trayGood3.ItemName = "Good3";
            trayMulti.ItemName = "Multi";

            trayInput1.InitSlotStatus = ESlotStatus.Have;
            trayInput2.InitSlotStatus = ESlotStatus.Have;
            trayInput3.InitSlotStatus = ESlotStatus.Have;
            trayReject.InitSlotStatus = ESlotStatus.NotHave;
            trayGood1.InitSlotStatus = ESlotStatus.NotHave;
            trayGood2.InitSlotStatus = ESlotStatus.NotHave;
            trayGood3.InitSlotStatus = ESlotStatus.NotHave;
            trayMulti.InitSlotStatus = ESlotStatus.NotHave;

            GlobalTray.Input1Tray= trayInput1;
            GlobalTray.Input2Tray= trayInput2;
            GlobalTray.Input3Tray= trayInput3;
            GlobalTray.RejectTray= trayReject;
            GlobalTray.Good1Tray= trayGood1;
            GlobalTray.Good2Tray= trayGood2;
            GlobalTray.Good3Tray= trayGood3;
            GlobalTray.MultiTray= trayMulti;
            GlobalTray.TurnoverTray = trayTurnover;
            GlobalTray.TestTray = trayTest;
            GlobalTray.DischargeNozzle= trayDischargeNozzle;
            GlobalTray.TurnoverNozzle= trayTurnoverNozzle;
            //StockManager.Instance.Start();
            //LoadStockStatus();
            HOperatorSet.ReadImage(out defaultImage, "default.bmp");
        }

        /// <summary>
        /// 周转盘产品定位结果
        /// </summary>
        /// <param name="arg1">定位结果</param>
        /// <param name="isOK">定位是否OK</param>
        private void Instance_OnTurnoverTrayProductLocateResult(VisionResult arg1, bool isOK)
        {
            if(arg1!=null)
            {
                hWindow_Final3.ClearWindow();
                hWindow_Final3.HobjectToHimage(arg1.SourceImage);
                if(isOK)
                {
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, isOK ? "OK" : "NG", 20, 20, "green");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"X:{arg1.OffsetX.ToString("0.000")}", 200, 20, "green");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"Y:{arg1.OffsetY.ToString("0.000")}", 400, 20, "green");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"R:{arg1.OffsetR.ToString("0.000")}", 600, 20, "green");
                }
                else
                {
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, isOK ? "OK" : "NG", 20, 20, "red");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"X:{arg1.OffsetX.ToString("0.000")}", 200, 20, "red");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"Y:{arg1.OffsetY.ToString("0.000")}", 400, 20, "red");
                    //HalconTool.DispMessage(hWindow_Final3.hWindowControl.HalconWindow, $"R:{arg1.OffsetR.ToString("0.000")}", 600, 20, "red");
                }
            }
        }

        private void Instance_OnTurnoverTrayProductHasOrNotResult(SlotProductHasOrNotResult obj)
        {
            if(obj !=null)
            {
                hwin_turnoverTrayHasOrNot.ClearWindow();
                hwin_turnoverTrayHasOrNot.HobjectToHimage(obj.SourceImage);
                if(obj.HasProduct)
                {
                    //h//win_turnoverTrayHasOrNot.DispObj(obj.SearchRegion,"green");
                }
                else
                {
                    //hwin_turnoverTrayHasOrNot.DispObj(obj.SearchRegion,"red");
                }
            }
        }

        private void Instance_OnStockTrayProductHasOrNotResult(SlotProductHasOrNotResult obj)
        {
            if (obj != null)
            {
                hWindow_Final4.ClearWindow();
                hWindow_Final4.HobjectToHimage(obj.SourceImage);
                if(obj.HasProduct)
                {
                    //hWindow_Final4.DispObj(obj.SearchRegion,"green");
                }
                else
                {
                    //hWindow_Final4.DispObj(obj.SearchRegion,"red");
                }
            }
        }

        private void Instance_OnShowGrabResult(VisionResult matchResult, bool arg2)
        {
            HWindow_Final hwin = null;
            switch (matchResult.SlotIndex)
            {
                case 1: hwin = hwin_turnoverSlot1; break;
                case 2: hwin = hwin_turnoverSlot2; break;
                case 3: hwin = hwin_turnoverSlot3; break;
                case 4: hwin = hwin_turnoverSlot4; break;
                case 5: hwin = hwin_turnoverSlot5; break;
                case 6: hwin = hwin_turnoverSlot6; break;
                case 7: hwin = hwin_turnoverSlot7; break;
                case 8: hwin = hwin_turnoverSlot8; break;
                case 9: hwin = hwin_turnoverSlot9; break;
                case 10: hwin = hwin_turnoverSlot10; break;
                case 11: hwin = hwin_turnoverSlot11; break;
                case 12: hwin = hwin_turnoverSlot12; break;
                case 13: hwin = hwin_turnoverSlot13; break;
                case 14: hwin = hwin_turnoverSlot14; break;
                case 15: hwin = hwin_turnoverSlot15; break;
                case 16: hwin = hwin_turnoverSlot16; break;
                case 17: hwin = hwin_turnoverSlot17; break;
                case 18: hwin = hwin_turnoverSlot18; break;
                case 19: hwin = hwin_turnoverSlot19; break;
                case 20: hwin = hwin_turnoverSlot20; break;
                case 21: hwin = hwin_turnoverSlot21; break;
                case 22: hwin = hwin_turnoverSlot22; break;
                case 23: hwin = hwin_turnoverSlot23; break;
                case 24: hwin = hwin_turnoverSlot24; break;
                case 25: hwin = hwin_turnoverSlot25; break;
                case 26: hwin = hwin_turnoverSlot26; break;
                case 27: hwin = hwin_turnoverSlot27; break;
                case 28: hwin = hwin_turnoverSlot28; break;
                case 29: hwin = hwin_turnoverSlot29; break;
                case 30: hwin = hwin_turnoverSlot30; break;
                case 31: hwin = hwin_turnoverSlot31; break;
                case 32: hwin = hwin_turnoverSlot32; break;
                default:
                    break;
            }
            if (hwin != null)
            {
                hwin.ClearWindow();
                if (arg2)
                {
                    if (matchResult.ScanBarCodeOK)
                    {
                        string SN = matchResult.SN;
                        hwin.HobjectToHimage(matchResult.SourceImage);
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, $"sn:{SN}", 20, 20, "green");
                    }
                    else
                    {
                        hwin.HobjectToHimage(matchResult.SourceImage);
                        HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "NG", 20, 20, "red");
                    }
                }
                else
                {
                    //加载默认图片
                    hwin.HobjectToHimage(defaultImage);
                    HalconTool.DispMessage(hwin.hWindowControl.HalconWindow, "no product", 20, 20, "red");
                }
            }
            
        }

        private void btnWholeHome_Load(object sender, EventArgs e)
        {
            Ops.GoHome();
        }

        private void btnSpaceRun_BtnClick(object sender, EventArgs e)
        {
            //SpaceTest.Instance.Start();
            if (MachineManage.Instance.MachineStatus== EMachineStatus.Homed || MachineManage.Instance.MachineStatus == EMachineStatus.Stop)
            {
                //MachineManage.Instance.RunStatus = Commom.ERunStatus.Started;
                ////WorkFlow.Instance.Start();
                //TurnoverFlow.Instance.Start();
                //TakeTrayFlow.Instance.Start();

                Ops.Start();

                //TakeTrayFlow.Instance.Start();
                //StockManager.Instance.Start();
                //WorkEnvironment.Instance.Ready();


                //TakeDumpTest.Instance.Start();
            }
            else
            {
                MessageQueue.Instance.Warn($"device {MachineManage.Instance.MachineStatus} status，cann't start！");
            }
        }

        private void btnStop_BtnClick(object sender, EventArgs e)
        {

            Ops.Stop();
            //TakeDumpTest.Instance.Stop();
            //LoadAndUnloadTest.Instance.Stop();
            //TakeTrayTest.Instance.Stop();
            //TurnoverFlow.Instance.Stop();
            //TakeTrayFlow.Instance.Stop();
            ////ZRTest.Instance.Stop();
            ////CameraTriggerTest.Instance.Stop();
            ////SpaceTest.Instance.Stop();
            //WorkFlow.Instance.Stop();
            //MachineManage.Instance.MachineStatus = EMachineStatus.Stop;
        }

        private void LoadStockStatus()
        {
            //StringBuilder msg = new StringBuilder();
            //if (StockManager.Instance.HasTray(ETrayType.Input))
            //{
            //    msg.Append(ETrayType.Input.ToString()).Append(",");
            //}
            //if (StockManager.Instance.HasTray(ETrayType.Ok))
            //{
            //    msg.Append(ETrayType.Ok.ToString()).Append(",");
            //}
            //if (StockManager.Instance.HasTray(ETrayType.Ng))
            //{
            //    msg.Append(ETrayType.Ng.ToString()).Append(",");
            //}
            //if (StockManager.Instance.HasTray(ETrayType.Multi))
            //{
            //    msg.Append(ETrayType.Multi.ToString()).Append(",");
            //}
            //if(msg.Length > 0)
            //{
            //    Task.Run(() => {
            //        Msg.ShowInfo("Stock " + msg.ToString().TrimEnd(new char[] { ',' }) + " has tray,please check products status");
            //    });
            //}
            //if (StockManager.Instance.HasTray(ETrayType.Empty1))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Empty1).ChangeStatus(EStockTrayStatus.Loaded);
            //}
            //else
            //{
            //    GlobalTray.GetTray(ETrayType.Empty1).Status = EStockTrayStatus.Empty.ToString();
            //}
            //if (StockManager.Instance.HasTray(ETrayType.Input))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Input).ChangeStatus(EStockTrayStatus.Loaded,false);
            //    TrayStatusManager.Init(ETrayType.Input);
            //    //GlobalTray.InputTray.ChangeStatus()
            //}
            //else
            //{
            //   // GlobalTray.GetTray(ETrayType.Input).Status = EStockTrayStatus.Empty.ToString();
            //}

            //if (StockManager.Instance.HasTray(ETrayType.Ok))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Ok).ChangeStatus(EStockTrayStatus.Loaded, false);
            //    TrayStatusManager.Init(ETrayType.Ok);
            //}
            //else
            //{
            //    GlobalTray.GetTray(ETrayType.Ok).Status = EStockTrayStatus.Empty.ToString();
            //}

            //if (StockManager.Instance.HasTray(ETrayType.Ng))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Ng).ChangeStatus(EStockTrayStatus.Loaded, false);
            //    TrayStatusManager.Init(ETrayType.Ng);
            //}
            //else
            //{
            //    GlobalTray.GetTray(ETrayType.Ng).Status = EStockTrayStatus.Empty.ToString();
            //}

            //if (StockManager.Instance.HasTray(ETrayType.Multi))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Multi).ChangeStatus(EStockTrayStatus.Loaded, false);
            //    TrayStatusManager.Init(ETrayType.Multi);
            //}
            //else
            //{
            //    GlobalTray.GetTray(ETrayType.Multi).Status = EStockTrayStatus.Empty.ToString();
            //}

            //if (StockManager.Instance.HasTray(ETrayType.Empty2))
            //{
            //    StockManager.Instance.GetStock(ETrayType.Empty2).ChangeStatus(EStockTrayStatus.Loaded);
            //}
            //else
            //{
            //    GlobalTray.GetTray(ETrayType.Empty2).Status = EStockTrayStatus.Empty.ToString();
            //}

            //TrayStatusManager.InitDischargeNozzle();
            //TrayStatusManager.InitTrunoverTray();
            //TrayStatusManager.InitTurnoverNozzle();
            //TrayStatusManager.InitFixtureTray();
        }

        private void button1_Click(object sender, EventArgs e)
        {
            PromptMessageBox.ShowDialog(111, "取料失败!! \r\n周转吸嘴取治具{}号穴位的物料时失败 \r\nPickup fail !!\r\nNozzle of tester from site{} socket\r\nPickup fail !!\r\nSite{} socket 으로부터 Unit을 pickup할때 pickup fail이 발생하였습니다.", ETipButton.Yes);
        }

        /// <summary>
        /// 治具盘画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTest_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TestTrayManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s=>s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if(status== ESlotStatus.Have)
                {
                    TestTrayManager.Instance.Slot(slotIndex).IsHasProduct = true;
                }
                else
                {
                    TestTrayManager.Instance.Slot(slotIndex).ResetStatus();
                }
            }
        }

        /// <summary>
        /// 周转盘画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTurnover_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TurnoverTrayManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if (status == ESlotStatus.Have)
                {
                    TurnoverTrayManager.Instance.Slot(slotIndex).IsHasProduct = true;
                }
                else
                {
                    TurnoverTrayManager.Instance.Slot(slotIndex).ResetStatus();
                }
            }
        }
        /// <summary>
        /// 周转吸嘴画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayTurnoverNozzle_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //TransitNozzleManager.Instance.ResetStatus();
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);

            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if(status== ESlotStatus.Have)
                {
                    TransitNozzleManager.Instance.Nozzle(slotIndex).FromType = TurnoverType.Turnover;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).FromIndex = slotIndex - 1;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).ToType = TurnoverType.Multifunction;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).ToIndex = (slotIndex <= 8 ? slotIndex + 8 : slotIndex + 16) - 1;
                    TransitNozzleManager.Instance.Nozzle(slotIndex).IsHasProduct = true;
                }
                else
                {
                    TransitNozzleManager.Instance.Nozzle(slotIndex).ResetStaus();
                }
            }
        }
        /// <summary>
        /// 排料吸嘴画盘后事件
        /// </summary>
        /// <param name="obj"></param>
        private void trayDischargeNozzle_DrawTrayAfterEvent(RsTray obj, ESlotStatus status, List<TraySlot> opSlots)
        {
            //NozzleManager.GetAllNozzles().ForEach((n) => { n.ResetStatus(); });
            //List<TraySlot> slots = obj.GetSlots(ESlotStatus.Have);
            LogHelper.Debug($"手动画盘设置{opSlots.Select(s => s.Index).ToJoinString()}{status}");
            foreach (TraySlot slot in opSlots)
            {
                int slotIndex = slot.Index;
                if (status == ESlotStatus.Have)
                {
                    Nozzle nozzle = NozzleManager.GetNozzle(slotIndex);
                    if (nozzle != null)
                    {
                        NozzleManager.GetNozzle(slotIndex).FromType = TurnoverType.Turnover;
                        nozzle.FromIndex = slotIndex - 1;
                        NozzleManager.GetNozzle(slotIndex).ToType = TurnoverType.Multifunction;
                        nozzle.ToIndex = 0;
                        NozzleManager.GetNozzle(slotIndex).Status = ENozzleStatus.ToUnload;
                    }
                }
                else
                {
                    NozzleManager.GetNozzle(slotIndex).ResetStatus();
                }
            }
        }
    }
}