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.Threading;
using System.Windows.Forms;
using Newtonsoft.Json;
using EnumType;
using IWareDataAccess.EF;
using Seagull.BarTender.Print;
using System.IO;

namespace DeviceWCS
{
    public partial class Form1 : Form
    {
        srmSER.SrmService srmOPC = new srmSER.SrmService();
        rgvSRM.RgvService rgvOPC = new rgvSRM.RgvService();
        tranSRM.SrmTranService tranOPC = new tranSRM.SrmTranService();
        srmInfo SrmInfo = new srmInfo();
        rgvINFO Rgvinfo = new rgvINFO();
        tranInfo TranInfo = new tranInfo();
        int srmNO = 1;
        int rgvNO = 1;
        int tranNO = 1;

        //static  Engine btEngine = new Engine();
        //LabelFormatDocument btFormatEu = btEngine.Documents.Open(Path.Combine(@"F:\", "EUPrint.btw"));//这里是Bartender软件生成的模板文件，你需要先把模板文件做好。
        //LabelFormatDocument btFormatIs = btEngine.Documents.Open(Path.Combine(@"F:\", "IsOkPrint.btw"));//这里是Bartender软件生成的模板文件，你需要先把模板文件做好。
        public Form1()
        {
            InitializeComponent();
            this.dGVQuery.AutoGenerateColumns = false;

            Control.CheckForIllegalCrossThreadCalls = false;
            Thread thsrm = new Thread(srmInfo);
            thsrm.Start();
            Thread thrgv = new Thread(rgvinfo);
            thrgv.Start();
            Thread thtran = new Thread(traninfo);
            thtran.Start();

            //Thread thprint = new Thread(thprintinfo);
            // thprint.Start();

        }

        //private void thprintinfo(object obj)
        //{
        //    while (true) 
        //    {
        //     using (Model md = new Model())
        //    {
        //        var printinfo = md.BASE_PRINT.OrderBy(x => x.CREATETIME).FirstOrDefault(x=>x.STATE==0);
        //        int type = printinfo.TYPE;
        //        LabelFormatDocument btFormat;
        //        if (type == 1)
        //        {

        //            btFormat = btFormatEu;
        //        }
        //        else 
        //        {
        //            btFormat = btFormatIs;
        //        }

        //        btEngine.Start();
        //        btFormat.PrintSetup.PrinterName = printinfo.PRINTDEVNAME;// "80mmThermalPrinter";//打印机名称
        //        btFormat.PrintSetup.IdenticalCopiesOfLabel = 1; //打印份数
        //        Messages messages;
        //        int waitout = 1000; // 10秒 超时

        //        if (type == 1)
        //        {
        //            btFormat.SubStrings["ItemNum"].Value = printinfo.ITEMNUM;//为Bartender里的数据源（文本框、条码等等）传值
        //            btFormat.SubStrings["ItemTypeNum"].Value = printinfo.ITEMTYPENUM;//为Bartender里的数据源（文本框、条码等等）传值
        //            btFormat.SubStrings["CVIQRCode"].Value = printinfo.CVIQRCODE;//为Bartender里的数据源（文本框、条码等等）传值
        //        }
        //        else
        //        {
        //            btFormat.SubStrings["Num"].Value = printinfo.NUM;//为Bartender里的数据源（文本框、条码等等）传值
        //            btFormat.SubStrings["ItemCode"].Value = printinfo.ITEMCODE;//为Bartender里的数据源（文本框、条码等等）传值
        //            btFormat.SubStrings["ItemName"].Value = printinfo.ITEMNAME;//为Bartender里的数据源（文本框、条码等等）传值
        //            btFormat.SubStrings["ProductLine"].Value = printinfo.BACKUP1;//为Bartender里的数据源（文本框、条码等等）传值
        //        }
        //        btFormat.SubStrings["CVICode"].Value = printinfo.CVICODE;//为Bartender里的数据源（文本框、条码等等）传值
        //        btFormat.SubStrings["IsOk"].Value = printinfo.ISOK; ;//为Bartender里的数据源（文本框、条码等等）传值

        //        btFormat.SubStrings["CreateTime"].Value = ((DateTime)printinfo.CREATETIME).ToString("yyyy-MM-dd");//为Bartender里的数据源（文本框、条码等等）传值
        //        Result nResult1 = btFormat.Print("标签打印软件", waitout, out messages);
        //        btFormat.PrintSetup.Cache.FlushInterval = CacheFlushInterval.Daily;
        //        Resolution rl = new Resolution(300, 300);
        //        //string name = DateTime.Now.ToLongDateString();
        //        // btFormat.ExportImageToFile(@"F:\"+"name.png", ImageType.PNG, ColorDepth.Mono, rl, OverwriteOptions.Overwrite);
        //        btFormat.Close(SaveOptions.DoNotSaveChanges);//不保存对打开模板的修改
        //        btEngine.Stop();

        //        if (nResult1.ToString() == "Success" || nResult1.ToString() == "0")
        //        {
        //            printinfo.STATE=1;
        //        }
        //        md.SaveChanges();  
        //    }
        //     Thread.Sleep(1000);
        //    }
        //}
        #region 枚举

        /// <summary>堆垛机号
        /// 
        /// </summary>
        public enum srmid
        {
            一号堆垛机 = 1,
            二号堆垛机 = 2,
            三号堆垛机 = 3,
            四号堆垛机 = 4,
            五号堆垛机 = 5,
            六号堆垛机 = 6,
            七号堆垛机 = 7,
            八号堆垛机 = 8,
            九号堆垛机 = 9
        }

        /// <summary>堆垛机命令
        /// 
        /// </summary>
        public enum command
        {
            搬运 = 1,
            单放 = 2,
            移动 = 3
        }

        /// <summary>堆垛机模式
        /// 
        /// </summary>
        public enum srmMode
        {
            自动模式 = 1,
            手动模式 = 2,
            半自动模式 = 3,
            维修模式 = 4,
            关机模式 = 0
        }

        /// <summary>堆垛机状态
        /// 
        /// </summary>
        public enum srmState
        {
            空闲 = 0,
            取货定位中 = 1,
            请求取货 = 2,
            取货中 = 3,
            取货完成放货定位中 = 4,
            请求放货 = 5,
            放货中 = 6,
            维修 = 98,
            报警 = 99
        }

        /// <summary>货叉位置
        /// 
        /// </summary>
        public enum liftPosition
        {
            货叉原位 = 0,
            货叉在左侧 = 1,
            货叉在右侧 = 2
        }
        /// <summary>RGVid枚举
        /// 
        /// </summary>
        public enum rgvid
        {
            一号RGV = 1,
            二号RGV = 2,
            三号RGV = 3,
            四号RGV = 4
        }

        #endregion


        /// <summary>自动选择任务号
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox2_SelectionChangeCommitted(object sender, EventArgs e)
        {
            int a = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
            textBox1.Text = (a * 1111).ToString();
        }
        /// <summary>优化显示
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)
        {
            if (comboBox1.Text == "单放" || comboBox1.Text == "移动")
            {
                textBox2.Enabled = false;
                //comboBox3.Enabled = false;
            }
            else
            {
                textBox2.Enabled = true;
                comboBox3.Enabled = true;
            }
        }

        /// <summary>发送堆垛机任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button1_Click(object sender, EventArgs e)
        {
            try
            {
                if (comboBox1.Text == "搬运")
                {
                    int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                    int taskid = int.Parse(textBox1.Text);
                    int pallet = int.Parse(comboBox3.Text.Split('-')[0]);
                    int result = srmOPC.SendSrmTask(id, taskid, textBox2.Text, textBox3.Text, pallet, 1);
                    #region 判断返回值
                    if (result == 1)
                    {
                        label9.Text = id + "号堆垛机搬运成功发送";
                        label9.ForeColor = Color.Green;
                    }
                    else if (result == 2)
                    {
                        label9.Text = id + "号堆垛机搬运任务参数错误!!!!!!!!1";
                        label9.ForeColor = Color.Red;
                    }
                    else
                    {
                        label9.Text = id + "号堆垛机搬运发送失败!!!!!!!!1";
                        label9.ForeColor = Color.Red;
                    }
                    #endregion
                }

                else
                {
                    int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                    int taskid = int.Parse(textBox1.Text);
                    int comm = (int)Enum.Parse(typeof(command), comboBox1.Text);
                    int pallet = int.Parse(comboBox3.Text.Split('-')[0]);
                    int result = srmOPC.SendSrmMove(id, taskid, textBox3.Text, comm, pallet, 1);
                    #region 判断返回值
                    if (result == 1)
                    {
                        label9.Text = id + "号堆垛机单放或移动成功发送";
                        label9.ForeColor = Color.Green;
                    }
                    else if (result == 2)
                    {
                        label9.Text = id + "号堆垛机单放或移动任务参数错误!!!!!!!!1";
                        label9.ForeColor = Color.Red;
                    }
                    else
                    {
                        label9.Text = id + "号堆垛机单放或移动任务发送失败!!!!!!!!1";
                        label9.ForeColor = Color.Red;
                    }
                    #endregion
                }
            }
            catch (Exception)
            {
                label9.Text = "堆垛机单放或移动任务发送异常!!!!!!!!1";
                label9.ForeColor = Color.Red;
            }


        }


        /// <summary>确认任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button2_Click(object sender, EventArgs e)
        {
            try
            {
                int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                int result = srmOPC.SendSrmTaskFinishConfirm(id);
                if (result == 1)
                {
                    label9.Text = id + "号堆垛机确认任务发送成功";
                    label9.ForeColor = Color.Green;
                }
                else
                {
                    label9.Text = id + "号堆垛机确认任务发送失败";
                    label9.ForeColor = Color.Red;
                }
            }
            catch (Exception)
            {

                label9.Text = "堆垛机确认任务发送异常";
                label9.ForeColor = Color.Red;
            }


        }
        /// <summary>堆垛机解除报警
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button5_Click(object sender, EventArgs e)
        {
            try
            {
                int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                srmOPC.SrmRlsAlert(id);
            }
            catch (Exception)
            {
                label9.Text = "堆垛机解除报警发送异常";
                label9.ForeColor = Color.Red;
            }


        }
        /// <summary>删除任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button4_Click(object sender, EventArgs e)
        {
            try
            {
                int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                int result = srmOPC.SendSrmDelete(id);
                if (result == 1)
                {
                    label9.Text = id + "号堆垛机删除任务发送成功";
                    label9.ForeColor = Color.Green;
                }
                else
                {
                    label9.Text = id + "号堆垛机删除任务发送失败";
                    label9.ForeColor = Color.Red;
                }
            }
            catch (Exception)
            {

                label9.Text = "堆垛机删除任务发送异常";
                label9.ForeColor = Color.Red;
            }
            MessageBox.Show("已单独删除此堆垛机任务");
        }
        /// <summary>急停任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button3_Click(object sender, EventArgs e)
        {
            try
            {
                int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
                int result = srmOPC.SendSrmEStop(id);
                if (result == 1)
                {
                    label9.Text = id + "号堆垛机急停任务发送成功";
                    label9.ForeColor = Color.Green;
                }
                else
                {
                    label9.Text = id + "号堆垛机急停任务发送失败";
                    label9.ForeColor = Color.Red;
                }
            }
            catch (Exception)
            {

                label9.Text = "堆垛机急停任务发送异常";
                label9.ForeColor = Color.Red;
            }
        }

        /// <summary>读取堆垛机状态
        /// 
        /// </summary>
        public void srmInfo()
        {
            while (true)
            {
                try
                {
                    Thread.Sleep(1000);
                    // var ff  =srmOPC.GetSrmInfo(srmNO);
                    SrmInfo = JsonConvert.DeserializeObject<srmInfo>(srmOPC.GetSrmInfo(srmNO));
                    label10.Text = "心跳:" + SrmInfo.RhandShake;
                    label11.Text = "模式:" + Enum.GetName(typeof(srmMode), SrmInfo.Rmode);
                    label18.Text = "状态:" + Enum.GetName(typeof(srmState), SrmInfo.Rstate);
                    label19.Text = "堆垛机名:" + SrmInfo.SrmName;
                    label17.Text = "系统任务号:" + SrmInfo.RtaskNO + " 设备任务号:" + SrmInfo.RDevicetaskNO;
                    label12.Text = "是否报警:" + (SrmInfo.Ralarm == 1 ? "报警状态" : "状态正常");
                    label13.Text = "是否有货:" + (SrmInfo.RliftFull == 1 ? "货叉上有货" : "货叉上无货");
                    label14.Text = "当前列:" + SrmInfo.Rposx + "列";
                    label15.Text = "当前层:" + SrmInfo.Rposy + "层";
                    label16.Text = "货叉位置:" + Enum.GetName(typeof(liftPosition), SrmInfo.Rposz);
                    label29.Text = "报警内容:" + Enum.GetName(typeof(ESrmAlarm), SrmInfo.RalarmNumber);

                    label54.Text = "任务是否完成：" + SrmInfo.RtaskFinish;
                }
                catch (Exception ex)
                {
                    label19.Text = "堆垛机名:" + SrmInfo.SrmName + "产生异常" + ex;

                }


            }

        }

        /// <summary>选择设备
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox4_SelectedIndexChanged(object sender, EventArgs e)
        {
            srmNO = (int)Enum.Parse(typeof(srmid), comboBox4.Text);
        }

        /// <summary>发送RGV任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button6_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            int pallet = int.Parse(comboBox8.Text.Split('-')[0]);
            int result = rgvOPC.SendRgvTask(rgvID, rgvID * 1111, Convert.ToInt32(textBox5.Text), Convert.ToInt32(textBox6.Text), (comboBox6.Text == "搬运" ? 1 : 2), pallet, 1);
            if (result == 1)
            {
                label1.Text = rgvID + "号RGV任务发送成功";
                label1.ForeColor = Color.Green;
            }
            else
            {
                label1.Text = rgvID + "号RGV任务发送失败";
                label1.ForeColor = Color.Red;
            }

        }

        /// <summary>自动设置任务号
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox5_SelectedIndexChanged(object sender, EventArgs e)
        {
            int a = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            textBox4.Text = (a * 1111).ToString();
        }

        /// <summary>优化显示
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox6_SelectedIndexChanged(object sender, EventArgs e)
        {

        }

        /// <summary>RGV确认任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button10_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            bool isok = rgvOPC.SendRgvFinishConfirm(rgvID);
            if (isok)
            {
                label1.Text = rgvID + "号RGV任务确认成功";
                label1.ForeColor = Color.Green;

            }
            else
            {
                label1.Text = rgvID + "号RGV任务确认失败";
                label1.ForeColor = Color.Red;
            }
        }

        /// <summary>RGV解警
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button8_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            int result = rgvOPC.SendRgvRlsAlert(rgvID);
            if (result == 1)
            {
                label1.Text = rgvID + "号RGV解警成功";
                label1.ForeColor = Color.Green;

            }
            else
            {
                label1.Text = rgvID + "号RGV解警失败";
                label1.ForeColor = Color.Red;
            }
        }
        /// <summary>删除RGV任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button7_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            int result = rgvOPC.SendRgvDelete(rgvID);
            if (result == 1)
            {
                label1.Text = rgvID + "号RGV删除任务成功";
                label1.ForeColor = Color.Green;

            }
            else
            {
                label1.Text = rgvID + "号RGV删除任务失败";
                label1.ForeColor = Color.Red;
            }
        }
        /// <summary>选择RGV信息展示
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void comboBox7_SelectedIndexChanged(object sender, EventArgs e)
        {
            rgvNO = (int)Enum.Parse(typeof(rgvid), comboBox7.Text);
        }
        /// <summary>获取RGV信息
        /// 
        /// </summary>
        public void rgvinfo()
        {
            while (true)
            {
                try
                {
                    Thread.Sleep(1000);
                    Rgvinfo = JsonConvert.DeserializeObject<rgvINFO>(rgvOPC.GetRgvInfo(rgvNO));
                    label33.Text = "RGV名:" + Rgvinfo.RgvName;
                    label34.Text = "心跳:" + Rgvinfo.handShake;
                    label32.Text = "模式:" + (Rgvinfo.onLine == 3 ? "自动" : "非自动");
                    label25.Text = "状态:" + Rgvinfo.state;
                    label26.Text = "系统任务号:" + Rgvinfo.taskId + " 设备任务号:" + Rgvinfo.deviceTaskId;
                    label31.Text = "是否报警:" + (Rgvinfo.ararm == 1 ? "报警状态" : "状态正常");
                    label30.Text = "是否有货:" + (Rgvinfo.loaded == 1 ? "RGV有货" : "RGV无货");
                    label27.Text = "rgv当前位置:" + Rgvinfo.pos;
                    label28.Text = "报警代码:" + Enum.GetName(typeof(ESrgvAlarm), Rgvinfo.alarmCode);
                    label53.Text = "任务是否完成:" + Rgvinfo.taskFinish;
                    label57.Text = "RGV可用:" + Rgvinfo.useful;

                }
                catch (Exception)
                {
                    label33.Text = "RGV名:" + Rgvinfo.RgvName + "异常";
                }


            }
        }
        /// <summary>发送输送线任务
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button9_Click(object sender, EventArgs e)
        {
            try
            {
                int pallet = int.Parse(comboBox9.Text.Split('-')[0]);
                int result = tranOPC.SendGoodsReady(Convert.ToInt32(textBox9.Text), Convert.ToInt32(textBox8.Text), Convert.ToInt32(textBox7.Text), 1);
                if (result == 1)
                {
                    label40.Text = "信息提示:输送线任务发送成功";
                    label40.ForeColor = Color.Green;
                }
            }
            catch (Exception)
            {
                label40.Text = "信息提示:输送线任务发送异常";
                label40.ForeColor = Color.Red;

            }


        }
        /// <summary>获取输送线信息
        /// 
        /// </summary>
        public void traninfo()
        {
            while (true)
            {
                try
                {
                    Thread.Sleep(1000);
                    TranInfo = JsonConvert.DeserializeObject<tranInfo>(tranOPC.GetSrmConveyorStationInfo(tranNO));
                    label49.Text = "输送线编号:" + TranInfo.stationNo;
                    label50.Text = "心跳:" + TranInfo.handShake;
                    label48.Text = "模式:" + (TranInfo.auto == true ? "自动" : "非自动");
                    label42.Text = "故障:" + TranInfo.err;
                    label43.Text = "系统任务号:" + TranInfo.taskId + " 设备任务号:" + TranInfo.deviceTaskId;
                    label47.Text = "报警号:" + Enum.GetName(typeof(ETranAlarm), TranInfo.errId);
                    label46.Text = "是否有货:" + (TranInfo.goods == true ? "有货" : "无货");
                    label45.Text = "货物重量:" + TranInfo.weihgt;

                    label44.Text = "外形检测:" + (tranOPC.IsPassed(tranNO) == 0 ? "到位正常" : "不正常");
                    //label44.Text = "外形检测:" + (TranInfo.shapeCheck == 3 ? "到位正常" : "不正常");
                    label55.Text = "条码：" + TranInfo.Code;
                    label56.Text = "允许下发任务:" + TranInfo.TaskSendAllow;
                    //获取入口是否有新货(测试)
                    //tranOPC.HasTranGoods();
                    //tranOPC.ClearTranGoods(61);
                }
                catch (Exception)
                {
                    label33.Text = "RGV名:" + Rgvinfo.RgvName + "异常";
                }


            }
        }

        /// <summary>窗口关闭
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            Environment.Exit(0);
        }
        /// <summary>输送线设备选择
        /// 
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void textBox10_TextChanged(object sender, EventArgs e)
        {
            try
            {
                tranNO = Convert.ToInt32(textBox10.Text);
            }
            catch
            {

            }
        }

        private void button11_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            int result = rgvOPC.SendRgvStop(rgvID);
            if (result == 1)
            {
                label1.Text = rgvID + "号RGV急停成功";
                label1.ForeColor = Color.Green;

            }
            else
            {
                label1.Text = rgvID + "号RGV急停失败";
                label1.ForeColor = Color.Red;
            }
        }

        private void button14_Click(object sender, EventArgs e)
        {
            int tranid = int.Parse(textBox10.Text);
            int result = tranOPC.SendTranReset(tranid);
            if (result == 1)
            {
                label40.Text = tranid + "号输送线解警成功";
                label40.ForeColor = Color.Green;

            }
            else
            {
                label40.Text = tranid + "号输送线解警失败";
                label40.ForeColor = Color.Red;
            }
        }

        private void button13_Click(object sender, EventArgs e)
        {
            int tranid = int.Parse(textBox10.Text);
            int result = tranOPC.SendTranDelete(tranid);
            if (result == 1)
            {
                label40.Text = tranid + "号输送线删除成功";
                label40.ForeColor = Color.Green;

            }
            else
            {
                label40.Text = tranid + "号输送线删除失败";
                label40.ForeColor = Color.Red;
            }
        }

        private void button12_Click(object sender, EventArgs e)
        {
            int tranid = int.Parse(textBox10.Text);
            int result = tranOPC.SendTranStop(tranid);
            if (result == 1)
            {
                label40.Text = tranid + "号输送线急停成功";
                label40.ForeColor = Color.Green;

            }
            else
            {
                label40.Text = tranid + "号输送线急停失败";
                label40.ForeColor = Color.Red;
            }
        }

        private void button15_Click_1(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            bool result = rgvOPC.ChangeUseful(rgvID);
            if (result)
            {
                label1.Text = rgvID + "号RGV切换成功";
                label1.ForeColor = Color.Lime;

            }
            else
            {
                label1.Text = rgvID + "号RGV切换失败";
                label1.ForeColor = Color.Red;
            }

        }

        /// <summary>
        /// 删除关联任务
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void button16_Click(object sender, EventArgs e)
        {
            //int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            //int result = rgvOPC.SendRgvDeleteAll(rgvID);
            //if (result == 1)
            //{
            //    label1.Text = rgvID + "号RGV删除任务成功";
            //    label1.ForeColor = Color.Green;

            //}
            //else
            //{
            //    label1.Text = rgvID + "号RGV删除任务失败";
            //    label1.ForeColor = Color.Red;
            //}

        }

        private void button17_Click(object sender, EventArgs e)
        {
            int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
            int result = srmOPC.SendSrmDelete(id);
            if (result == 1)
            {
                label9.Text = id + "号堆垛机删除任务成功";
                label9.ForeColor = Color.Green;

            }
            else
            {
                label9.Text = id + "号堆垛机删除任务失败";
                label9.ForeColor = Color.Red;
            }
        }

        private void button18_Click(object sender, EventArgs e)
        {
            int tranid = int.Parse(textBox10.Text);
            int result = tranOPC.SendTranDelete(tranid);
            if (result == 1)
            {
                label40.Text = tranid + "号输送线删除任务成功";
                label40.ForeColor = Color.Green;

            }
            else if (result == 0)
            {
                label40.Text = tranid + "号输送线删除任务失败";
                label40.ForeColor = Color.Red;
            }
            else if (result == 2)
            {
                label40.Text = tranid + "号输送线删除任务失败，编号校验失败（可能其它线程访问中），请重发";
                label40.ForeColor = Color.Red;
            }
        }

        private void button19_Click(object sender, EventArgs e)
        {
            int[] srmid;
            int[] rgvid;
            int[] tranid;
            int dir = 0;
            string[] place;
            int mainid = int.Parse(textBox11.Text);
            string containerName = textBox11.Text.Trim();
            if (srmOPC.DeleteMainTask(mainid, out tranid, out rgvid, out srmid, out place, out dir))
            //if (srmOPC.DeleteMainTaskByContainerName(containerName, out tranid, out rgvid, out srmid, out place,out dir))
            {
                string text = "";
                foreach (var i in place)
                {
                    text = i + " ";
                }
                MessageBox.Show("拿出" + text);
            }
            else
            {
                MessageBox.Show("删除失败，未修改数据");
            }

            if (!tranOPC.UnlockTran(dir))
            {
                if (dir == 1)
                {
                    MessageBox.Show("输送线解锁失败，请开至安全位后手动解锁：东");
                }
                else if (dir == 0)
                {
                    MessageBox.Show("输送线解锁失败，请开至安全位后手动解锁：西");
                }
            }
        }

        private void button20_Click(object sender, EventArgs e)
        {
            int dir = 2;
            if (cbDir.Text == "东：冲压")
            {
                dir = 1;
            }
            else if (cbDir.Text == "西：焊装")
            {
                dir = 0;
            }
            else
            {
                MessageBox.Show("请选择东或者西");
            }
            bool result = tranOPC.UnlockTran(dir);
            if (result)
            {
                MessageBox.Show("解锁成功");
            }
            else
            {
                MessageBox.Show("未修改一条数据，请检查RGV是否开至安全位,可能原始数据即可用");
            }
        }

        private void button21_Click(object sender, EventArgs e)
        {
            int dir = 2;
            if (cbDir.Text == "东：冲压")
            {
                dir = 1;
            }
            else if (cbDir.Text == "西：焊装")
            {
                dir = 0;
            }
            else
            {
                MessageBox.Show("请选择东或者西");
            }
            bool result = tranOPC.UnFullTran(dir);
            if (result)
            {
                MessageBox.Show("解占用成功");
            }
            else
            {
                MessageBox.Show("未修改一条数据，可能原始数据即可用");
            }
        }

        private void button22_Click(object sender, EventArgs e)
        {
            int id = (int)Enum.Parse(typeof(srmid), comboBox2.Text);
            bool open = srmOPC.UseAutoMove(id);
            if (open)
            {
                button22.Text = "切换优化:开启";
            }
            else
            {
                button22.Text = "切换优化:关闭";
            }
        }

        private void btnSearch_Click(object sender, EventArgs e)
        {
            int taskid = 0;
            bool result = int.TryParse(tbTaskId.Text.Trim(), out taskid);
            if (result)
            {
                List<taskCommon> taskViewList = new List<taskCommon>();
                using (Model edm = new Model())
                {
                    TASK_TASK task = edm.TASK_TASK.FirstOrDefault(x => x.ID == taskid);
                    if (task.TASKTYPE == 2)
                    {
                        foreach (var i in task.SrmTask)
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "堆垛机";
                            taskCommon.deviceNum = i.USESRMID;
                            taskCommon.sourcePlace = i.SOURCEPLACE;
                            taskCommon.toPlace = i.TOPLACE;
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }
                        foreach (var i in task.RgvTask.OrderBy(x => x.ID))
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "RGV";
                            taskCommon.deviceNum = i.USERGVID;
                            taskCommon.sourcePlace = i.SOURCEPLACE.ToString();
                            taskCommon.toPlace = i.TOPLACE.ToString();
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }
                        //foreach (var i in task.TranTasks)
                        //{
                        //    taskCommon taskCommon = new taskCommon();
                        //    taskCommon.id = i.ID;
                        //    taskCommon.device = "输送线";
                        //    taskCommon.deviceNum = i.SOURCEPLACE;
                        //    taskCommon.sourcePlace = i.SOURCEPLACE.ToString();
                        //    taskCommon.toPlace = i.TOPLACE.ToString();
                        //    taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                        //    taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                        //    taskViewList.Add(taskCommon);
                        //}
                    }
                    else if (task.TASKTYPE == 1)
                    {
                        foreach (var i in task.TranTask)
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "输送线";
                            taskCommon.deviceNum = i.SOURCEPLACE;
                            taskCommon.sourcePlace = i.SOURCEPLACE.ToString();
                            taskCommon.toPlace = i.TOPLACE.ToString();
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }
                        foreach (var i in task.RgvTask.OrderBy(x => x.ID))
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "RGV";
                            taskCommon.deviceNum = i.USERGVID;
                            taskCommon.sourcePlace = i.SOURCEPLACE.ToString();
                            taskCommon.toPlace = i.TOPLACE.ToString();
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }
                        foreach (var i in task.SrmTask)
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "堆垛机";
                            taskCommon.deviceNum = i.USESRMID;
                            taskCommon.sourcePlace = i.SOURCEPLACE;
                            taskCommon.toPlace = i.TOPLACE;
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }
                    }
                    else if (task.TASKTYPE == 3)
                    {
                        foreach (var i in task.SrmTask)
                        {
                            taskCommon taskCommon = new taskCommon();
                            taskCommon.id = i.ID;
                            taskCommon.device = "堆垛机";
                            taskCommon.deviceNum = i.USESRMID;
                            taskCommon.sourcePlace = i.SOURCEPLACE;
                            taskCommon.toPlace = i.TOPLACE;
                            taskCommon.isReleased = i.ISRELEASED == 1 ? "是" : "否";
                            taskCommon.hasFinished = i.HASFINISHED == 1 ? "是" : "否";
                            taskViewList.Add(taskCommon);
                        }

                    }

                    dGVQuery.DataSource = taskViewList;
                }
            }
            else
            {
                dGVQuery.DataSource = null;
                MessageBox.Show("输入正确格式任务号");
            }
        }

        private void button23_Click(object sender, EventArgs e)
        {
            int rgvID = (int)Enum.Parse(typeof(rgvid), comboBox5.Text);
            if (!rgvOPC.IsRgvReady(rgvID))
            {
                label1.Text = rgvID + "号RGV设备状态不空闲，不允许重发任务";
                label1.ForeColor = Color.Red;
            }
            RgvTask rgvTask = null;
            int palletType = 0;
            using (Model edm = new Model())
            {
                rgvTask = edm.RgvTask.AsNoTracking().OrderByDescending(u => u.ID).FirstOrDefault(x => x.ISRELEASED == 1 && x.HASFINISHED == 0 && x.USERGVID == rgvID);
                if (rgvTask != null)
                {
                    if (rgvTask.TASK_TASK.TASKSTATUS != "任务执行中")
                    {
                        label1.Text = rgvID + "号RGV没有需要重发的任务";
                        label1.ForeColor = Color.Red;
                        return;
                    }
                    try
                    {
                        palletType = rgvTask.TASK_TASK.BASE_CONTAINER.BASE_PALLET.PALLETCODE ?? 0;
                    }
                    catch
                    {
                        label1.Text = rgvID + "号器具类型转换异常";
                        label1.ForeColor = Color.Red;
                        return;
                    }
                }

            }
            if (rgvTask != null)
            {
                //int result = rgvOPC.SendRgvTask(rgvID, rgvID * 1111, Convert.ToInt32(textBox5.Text), Convert.ToInt32(textBox6.Text), (comboBox6.Text == "搬运" ? 1 : 2), pallet, 1);
                int result = rgvOPC.SendRgvTask(rgvTask.USERGVID, (rgvTask.ID % 32767) + 1, rgvTask.SOURCEPLACE, rgvTask.TOPLACE, rgvTask.TASKTYPE, palletType, (rgvTask.FASTHERTASKID % 32767) + 1);

                if (result == 1)
                {
                    label1.Text = rgvID + "号RGV任务发送成功";
                    label1.ForeColor = Color.Green;
                }
                else
                {
                    label1.Text = rgvID + "号RGV任务发送失败";
                    label1.ForeColor = Color.Red;
                }
            }
            else
            {
                label1.Text = rgvID + "号RGV没有需要重发的任务";
                label1.ForeColor = Color.Red;
            }
        }
    }
}