using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Security.Cryptography.X509Certificates;
using System.Text;
using System.Windows.Forms;
using AR;

namespace Project
{
    public partial class Form1 : Form
    {
        AR.Log log;
        arDev.DIO.IDIO dio;
        StateMachine sm;
        AR.MemoryMap.Server swplc;
        bool exitforce = false;

        byte[] buffer = new byte[16];

        public Form1()
        {
            InitializeComponent();
            this.Text = $"{Application.ProductName} ver {Application.ProductVersion}";
            log = new AR.Log();
            log.RaiseMsg += (p1, p2, p3) => { this.logTextBox1.AddMsg(p1, p2, p3); };
            this.FormClosing += Form1_FormClosing;

            this.logTextBox1.ColorList = new arCtl.sLogMessageColor[] {
                new arCtl.sLogMessageColor("NORM",Color.Yellow),
                new arCtl.sLogMessageColor("ERR",Color.Red),
                new arCtl.sLogMessageColor("WARN",Color.Tomato),
                new arCtl.sLogMessageColor("INFO",Color.LightSkyBlue)
            };


            List<string> piname = new List<String>();
            List<string> titles = new List<String>();
            List<bool> values = new List<bool>();

            titles.AddRange(new string[] {
                "Upper Limit","Reel Detect","Lower Limit",
                "Motor Direction(1=DN,0=UP)","Motor Run","Emergency",
            });
            piname.AddRange(new string[] {
                "X"+((int)eDIName.PORTL_LIM_UP).ToString("X2"),
                "X"+((int)eDIName.PORTL_DET_UP).ToString("X2"),
                "X"+((int)eDIName.PORTL_LIM_DN).ToString("X2"),
                "Y"+((int)eDOName.PORTL_MOT_DIR).ToString("X2"),
                "Y"+((int)eDOName.PORTL_MOT_RUN).ToString("X2"),"--"
            });

            titles.AddRange(new string[] {
                "Upper Limit","Reel Detect","Lower Limit",
                "Motor Direction(1=DN,0=UP)","Motor Run","--",
            });
            piname.AddRange(new string[] {
                "X"+((int)eDIName.PORTC_LIM_UP).ToString("X2"),
                "X"+((int)eDIName.PORTC_DET_UP).ToString("X2"),
                "X"+((int)eDIName.PORTC_LIM_DN).ToString("X2"),
                "Y"+((int)eDOName.PORTC_MOT_DIR).ToString("X2"),
                "Y"+((int)eDOName.PORTC_MOT_RUN).ToString("X2"),"--"
            });


            titles.AddRange(new string[] {
                "Upper Limit","Reel Detect","Lower Limit",
                "Motor Direction(1=DN,0=UP)","Motor Run","--"
            });
            piname.AddRange(new string[] {
                "X"+((int)eDIName.PORTR_LIM_UP).ToString("X2"),
                "X"+((int)eDIName.PORTR_DET_UP).ToString("X2"),
                "X"+((int)eDIName.PORTR_LIM_DN).ToString("X2"),
                "Y"+((int)eDOName.PORTR_MOT_DIR).ToString("X2"),
                "Y"+((int)eDOName.PORTR_MOT_RUN).ToString("X2"),"--"
            });

            for (int i = 0; i < titles.Count; i++)
                values.Add(false);

            ioPanel1.ColorList = new arDev.AjinEXTEK.UI.ColorListItem[] {
                new arDev.AjinEXTEK.UI.ColorListItem{ BackColor1 = Color.DimGray, BackColor2 = Color.FromArgb(30,30,30), Remark="False" },
                new arDev.AjinEXTEK.UI.ColorListItem{ BackColor1 = Color.Lime, BackColor2 = Color.Green, Remark="True" },
                new arDev.AjinEXTEK.UI.ColorListItem{ BackColor1 = Color.Magenta, BackColor2 = Color.Green, Remark="True" },
                new arDev.AjinEXTEK.UI.ColorListItem{ BackColor1 = Color.SkyBlue, BackColor2 = Color.LightSkyBlue, Remark="True" },
            };

            this.ioPanel1.setTitle(titles.ToArray());
            this.ioPanel1.setNames(piname.ToArray());
            this.ioPanel1.setValue(values.ToArray());
            this.ioPanel1.Invalidate();

            //내부버퍼확인
            titles.Clear();
            piname.Clear();
            var valueb = new List<ushort>();
            for (int i = 0; i < 16; i++)
            {
                var addr = (eswPLCAddr)i;
                piname.Add(i.ToString("X2"));
                titles.Add(addr.ToString());
                valueb.Add(0);
            }

            gridView1.ColorList = new arCtl.GridView.ColorListItem[] {
               new arCtl.GridView.ColorListItem{ BackColor1 = Color.DimGray, BackColor2 = Color.FromArgb(30,30,30), Remark="False" },
                new arCtl.GridView.ColorListItem{ BackColor1 = Color.Lime, BackColor2 = Color.Green, Remark="True" },
                new arCtl.GridView.ColorListItem{ BackColor1 = Color.Magenta, BackColor2 = Color.Green, Remark="True" },
                new arCtl.GridView.ColorListItem{ BackColor1 = Color.SkyBlue, BackColor2 = Color.LightSkyBlue, Remark="True" },
            };

            this.gridView1.setTitle(titles.ToArray());
            this.gridView1.setNames(piname.ToArray());
            this.gridView1.setValue(valueb.ToArray());
            this.gridView1.ShowValueString = true;
            this.gridView1.ShowNameString = true;
            this.gridView1.ShowIndexString = false;
            this.gridView1.Invalidate();

        }

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

            timer1.Stop();
            dio.Dispose();
            sm.Stop();
            log.AddI("Program terminated");
            log.Flush();
        }

        private void Form1_Load(object sender, EventArgs e)
        {
            log.AddI("Program started");
            dio = new arDev.AjinEXTEK.DIO(arDev.AjinEXTEK.ELibraryType.AXT);// arDev.AjinEXTEK.DIO();
            if (dio.Init())
            {
                dio.IOValueChanged += Dio_IOValueChanged;
                dio.RunMonitor();
                log.Add($"DI:{dio.GetDICount}/DO:{dio.GetDOCount}");
            }
            else log.AddE($"DIO initialization failed");

            swplc = new AR.MemoryMap.Server(PUB.Setting.swplc_name, PUB.Setting.swplc_size);
            swplc.ValueChanged += Plc_ValueChanged;
            swplc.Start();

            ioPanel1.ItemClick += IoPanel1_ItemClick;

            sm = new AR.StateMachine();
            sm.StepChanged += Sm_StepChanged;
            sm.Running += Sm_Running;
            sm.SPS += Sm_SPS;
            if (dio.IsInit == false) log.AddE($"DIO initialization failed");
            log.Add($"State machine started");
            sm.Start();
            sm.SetNewStep((byte)eSMStep.RUN);

            this.starttime = DateTime.Now;
            timer1.Start();
        }

        private void Plc_ValueChanged(object sender, AR.MemoryMap.Core.monitorvalueargs e)
        {

        }
        private void Dio_IOValueChanged(object sender, arDev.DIO.IOValueEventArgs e)
        {
            if (e.Direction == arDev.DIO.eIOPINDIR.INPUT)
            {
                var pin = (eDIName)e.ArrIDX;

                //센서가 활성화될때는 이값을 설정해준다
                //나머지조건은 autocontrol 에서 처리된다.
                var value = GetDIValue(pin);
                if (value)
                {
                    if (pin == eDIName.PORTL_LIM_DN) WriteBuffer(eswPLCAddr.LPort, 1);
                    if (pin == eDIName.PORTL_DET_UP) WriteBuffer(eswPLCAddr.LPort, 2);
                    if (pin == eDIName.PORTL_LIM_UP) WriteBuffer(eswPLCAddr.LPort, 3);

                    if (pin == eDIName.PORTC_LIM_DN) WriteBuffer(eswPLCAddr.CPort, 1);
                    if (pin == eDIName.PORTC_DET_UP) WriteBuffer(eswPLCAddr.CPort, 2);
                    if (pin == eDIName.PORTC_LIM_UP) WriteBuffer(eswPLCAddr.CPort, 3);

                    if (pin == eDIName.PORTR_LIM_DN) WriteBuffer(eswPLCAddr.RPort, 1);
                    if (pin == eDIName.PORTR_DET_UP) WriteBuffer(eswPLCAddr.RPort, 2);
                    if (pin == eDIName.PORTR_LIM_UP) WriteBuffer(eswPLCAddr.RPort, 3);
                }

            }
            else
            {
                var pin = (eDOName)e.ArrIDX;

                if (pin == eDOName.PORTL_MOT_RUN)
                {
                    if (e.NewValue == false) WriteBuffer(eswPLCAddr.LMotor, 3);
                    else
                    {
                        //방향을 확인해야한다
                        var value = GetDOValue(eDOName.PORTL_MOT_DIR) ? 2 : 1;
                        WriteBuffer(eswPLCAddr.LMotor, (byte)value);
                    }
                }
                else if (pin == eDOName.PORTC_MOT_RUN)
                {
                    if (e.NewValue == false) WriteBuffer(eswPLCAddr.CMotor, 3);
                    else
                    {
                        //방향을 확인해야한다
                        var value = GetDOValue(eDOName.PORTC_MOT_DIR) ? 2 : 1;
                        WriteBuffer(eswPLCAddr.CMotor, (byte)value);
                    }
                }
                else if (pin == eDOName.PORTR_MOT_RUN)
                {
                    if (e.NewValue == false) WriteBuffer(eswPLCAddr.RMotor, 3);
                    else
                    {
                        //방향을 확인해야한다
                        var value = GetDOValue(eDOName.PORTR_MOT_DIR) ? 2 : 1;
                        WriteBuffer(eswPLCAddr.RMotor, (byte)value);
                    }
                }
            }
        }
        private void IoPanel1_ItemClick(object sender, arDev.AjinEXTEK.UI.IOPanel.ItemClickEventArgs e)
        {
            if (dio != null && dio.IsInit == false) return;
            var name = this.ioPanel1.Names[e.idx];
            if (name.StartsWith("Y"))
            {
                var pinno = Convert.ToInt32(name.Substring(1), 16);
                var pin = (eDOName)pinno;
                var cur = dio.GetDOValue(pinno);
                dio.SetOutput(pinno, !cur);
                log.Add($"value change [X{pinno:X2}] {pin} to {!cur}");
            }
        }
        bool GetDOValue(eDOName pin)
        {
            return dio.GetDOValue((int)pin);
        }
        bool GetDIValue(eDIName pin)
        {
            if (pin == eDIName.PORTL_LIM_DN || pin == eDIName.PORTC_LIM_DN || pin == eDIName.PORTR_LIM_DN)
            {
                return !dio.GetDIValue((int)pin);
            }
            else if (pin == eDIName.PORTL_LIM_UP || pin == eDIName.PORTC_LIM_UP || pin == eDIName.PORTR_LIM_UP)
            {
                return !dio.GetDIValue((int)pin);
            }
            else if (pin == eDIName.PORTL_DET_UP || pin == eDIName.PORTC_DET_UP || pin == eDIName.PORTR_DET_UP)
            {
                return !dio.GetDIValue((int)pin);
            }
            else if (pin == eDIName.BUT_EMGF)
            {
                return !dio.GetDIValue((int)pin);
            }
            else return dio.GetDIValue((int)pin);
        }


        private void Sm_SPS(object sender, EventArgs e)
        {
            //limit 센서에 의해 자동 멈춤
            if (swplc.Init)
            {
                AutoStop();
                WriteBuffer();
                CommandProcess();
            }
        }
        void CommandProcess()
        {
            //시스템 상태값 0:7 기록
            swplc.Write(0, buffer, 0, 12);

            //명령어 가져오기 7:3개의 데이터 확인
            if (swplc.ReadBytes(12, 3, out byte[] plcbuffer))
            {
                //내부버퍼에 상태를 기록한다
                Array.Copy(plcbuffer, 0, this.buffer, 12, plcbuffer.Length);
            }

            //command value
            var lcmd = ReadBuffer(eswPLCAddr.LCmd);
            var ccmd = ReadBuffer(eswPLCAddr.CCmd);
            var rcmd = ReadBuffer(eswPLCAddr.RCmd);

            //left command check
            if (lcmd == 1) MotorControl(eMotList.Left, eMotControl.Down);
            else if (lcmd == 2) MotorControl(eMotList.Left, eMotControl.Up);
            else if (lcmd == 3) MotorControl(eMotList.Left, eMotControl.Stop);
            else if (lcmd == 4) MotorRefresh(eMotList.Left);
            if (lcmd < 4 && ReadBuffer(eswPLCAddr.LSts) != 0) WriteBuffer(eswPLCAddr.LSts, 0);

            //center command check
            if (ccmd == 1) MotorControl(eMotList.Center, eMotControl.Down);
            else if (ccmd == 2) MotorControl(eMotList.Center, eMotControl.Up);
            else if (ccmd == 3) MotorControl(eMotList.Center, eMotControl.Stop);
            else if (ccmd == 4) MotorRefresh(eMotList.Center);
            if (ccmd < 4 && ReadBuffer(eswPLCAddr.CSts) != 0) WriteBuffer(eswPLCAddr.CSts, 0);

            //right command check
            if (rcmd == 1) MotorControl(eMotList.Right, eMotControl.Down);
            else if (rcmd == 2) MotorControl(eMotList.Right, eMotControl.Up);
            else if (rcmd == 3) MotorControl(eMotList.Right, eMotControl.Stop);
            else if (rcmd == 4) MotorRefresh(eMotList.Right);
            if (rcmd < 4 && ReadBuffer(eswPLCAddr.RSts) != 0) WriteBuffer(eswPLCAddr.RSts, 0);
        }

        /// <summary>
        /// 모터를 down -> up 합니다.
        /// </summary>
        /// <param name="mot"></param>
        /// <param name="cmd"></param>
        void MotorRefresh(eMotList mot)
        {
            eswPLCAddr address = (eswPLCAddr)((int)eswPLCAddr.LSts + (int)mot);
            var Sts = ReadBuffer(address);

            //상태값을 변경한다
            if (Sts == 0)   //처음시작하는경우이다
            {
                motortime[(int)mot] = DateTime.Now;
                MotorControl(mot, eMotControl.Down);
                WriteBuffer(address, 1);
                log.Add($"Motor[{mot}] Refresh #1 : Down,Addr={address}");
            }
            else if (Sts == 1)  //3초간 내린다. 센서가 감지되면 계속 내려야 한다
            {
                //low limit check
                if (mot == eMotList.Left && GetDIValue(eDIName.PORTL_LIM_DN))
                {
                    log.Add($"Motor[{mot}] Refresh #2 : Down Limit,Addr={address}");
                    MotorControl(mot, eMotControl.Stop);
                    WriteBuffer(address, 2);
                }
                else if (mot == eMotList.Center && GetDIValue(eDIName.PORTC_LIM_DN))
                {
                    log.Add($"Motor[{mot}] Refresh #2 : Down Limit,Addr={address}");
                    MotorControl(mot, eMotControl.Stop);
                    WriteBuffer(address, 2);
                }
                else if (mot == eMotList.Right && GetDIValue(eDIName.PORTR_LIM_DN))
                {
                    log.Add($"Motor[{mot}] Refresh #2 : Down Limit,Addr={address}");
                    MotorControl(mot, eMotControl.Stop);
                    WriteBuffer(address, 2);
                }
                else if (mot == eMotList.Left && GetDIValue(eDIName.PORTL_DET_UP))
                {
                    return;
                }
                else if (mot == eMotList.Center && GetDIValue(eDIName.PORTC_DET_UP))
                {
                    return;
                }
                else if (mot == eMotList.Right && GetDIValue(eDIName.PORTR_DET_UP))
                {
                    return;
                }
                else
                {
                    var ts = DateTime.Now - motortime[(int)mot];
                    if (ts.TotalSeconds > 3)
                    {
                        log.Add($"Motor[{mot}] Refresh #2 : Down Time Over,Addr={address}");
                        MotorControl(mot, eMotControl.Stop);
                        WriteBuffer(address, 2);
                    }
                }
            }
            else if (Sts == 2) //다시 올린다
            {
                log.Add($"Motor[{mot}] Refresh #3 : Up Addr={address}");
                MotorControl(mot, eMotControl.Up);
                motortime[(int)mot] = DateTime.Now;
                WriteBuffer(address, 3);
            }
            else if (Sts == 3) //올라가는건 
            {
                WriteBuffer(address, 0);
                eswPLCAddr addressCmd = (eswPLCAddr)((int)eswPLCAddr.LCmd + (int)mot);
                if (addressCmd == eswPLCAddr.CCmd)
                {

                }
                log.Add($"Refresh[{mot}] Complete Addr={address}/{addressCmd} Reset");
                swplc.Write((int)addressCmd, 0);
            }
        }
        int[] motorseq = new int[] { 0, 0, 0 };
        DateTime[] motortime = new DateTime[] { DateTime.Now, DateTime.Now, DateTime.Now };

        void MotorControl(eMotList mot, eMotControl cmd)
        {
            if (cmd == eMotControl.Stop)
            {
                eDOName pin = eDOName.PORTL_MOT_RUN;
                if (mot == eMotList.Center) pin = eDOName.PORTC_MOT_RUN;
                else if (mot == eMotList.Right) pin = eDOName.PORTR_MOT_RUN;

                //출력이켜져있다면 끈다
                if (GetDOValue(pin)) SetOutput(pin, false);
            }
            else if (cmd == eMotControl.Down || cmd == eMotControl.Up)
            {
                var dir = cmd == eMotControl.Down ? true : false;
                eDOName pinDir = eDOName.PORTL_MOT_DIR;
                if (mot == eMotList.Center) pinDir = eDOName.PORTC_MOT_DIR;
                else if (mot == eMotList.Right) pinDir = eDOName.PORTR_MOT_DIR;

                eDOName pinRun = eDOName.PORTL_MOT_RUN;
                if (mot == eMotList.Center) pinRun = eDOName.PORTC_MOT_RUN;
                else if (mot == eMotList.Right) pinRun = eDOName.PORTR_MOT_RUN;

                if (GetDOValue(pinDir) != dir) SetOutput(pinDir, dir);
                if (GetDOValue(pinRun) == false) SetOutput(pinRun, true);
            }

        }
        bool SetOutput(eDOName pin, bool value)
        {
            return dio.SetOutput((int)pin, value);
        }

        /// <summary>
        /// Check the value of internal temporary buffer
        /// </summary>
        /// <param name="addr"></param>
        /// <returns></returns>
        byte ReadBuffer(eswPLCAddr addr)
        {
            return buffer[(int)addr];
        }
        void WriteBuffer(eswPLCAddr addr, byte value)
        {
            if (addr >= eswPLCAddr.LCmd) throw new Exception("Command must be written directly to swplc");
            buffer[(int)addr] = value;
        }



        void WriteBuffer()
        {
            var idx = 0;

            //현재상태를 기록합니다
            var bReady = dio != null && dio.IsInit;
            buffer[idx++] = bReady ? (byte)1 : (byte)2;

            //모터상태값3개는 동작시 발생한다
            idx++;
            idx++;
            idx++;

        }



        /// <summary>
        /// Automatically stops when limit sensor and detect are detected.
        /// </summary>
        void AutoStop()
        {
            if (dio == null || dio.IsInit == false || autocontrol == false) return;

            //모터가 동작중에만 처리한다.
            var motrunL = dio.GetDOValue((int)eDOName.PORTL_MOT_RUN);
            var motrunC = dio.GetDOValue((int)eDOName.PORTC_MOT_RUN);
            var motrunR = dio.GetDOValue((int)eDOName.PORTR_MOT_RUN);
            if (motrunL)
            {
                if (GetDIValue(eDIName.BUT_EMGF))
                {
                    dio.SetOutput((int)eDOName.PORTL_MOT_RUN, false);
                }
                else
                {
                    var dirDn = dio.GetDOValue((int)eDOName.PORTL_MOT_DIR);
                    var limUp = GetDIValue(eDIName.PORTL_LIM_UP);
                    var detect = GetDIValue(eDIName.PORTL_DET_UP);
                    var limDn = GetDIValue(eDIName.PORTL_LIM_DN);
                    if (dirDn == false)
                    {
                        if (detect)
                            dio.SetOutput((int)eDOName.PORTL_MOT_RUN, false);
                        else if (limUp)
                            dio.SetOutput((int)eDOName.PORTL_MOT_RUN, false);
                    }
                    else
                    {
                        if (limDn)
                            dio.SetOutput((int)eDOName.PORTL_MOT_RUN, false);
                    }
                }

            }
            if (motrunC)
            {
                if (GetDIValue(eDIName.BUT_EMGF))
                {
                    dio.SetOutput((int)eDOName.PORTC_MOT_RUN, false);
                }
                else
                {
                    var dirDn = dio.GetDOValue((int)eDOName.PORTC_MOT_DIR);
                    var limUp = GetDIValue(eDIName.PORTC_LIM_UP);
                    var detect = GetDIValue(eDIName.PORTC_DET_UP);
                    var limDn = GetDIValue(eDIName.PORTC_LIM_DN);
                    if (dirDn == false)
                    {
                        if (detect)
                            dio.SetOutput((int)eDOName.PORTC_MOT_RUN, false);
                        else if (limUp)
                            dio.SetOutput((int)eDOName.PORTC_MOT_RUN, false);
                    }
                    else
                    {
                        if (limDn)
                            dio.SetOutput((int)eDOName.PORTC_MOT_RUN, false);
                    }
                }

            }
            if (motrunR)
            {
                if (GetDIValue(eDIName.BUT_EMGF))
                {
                    dio.SetOutput((int)eDOName.PORTR_MOT_RUN, false);
                }
                else
                {
                    var dirDn = dio.GetDOValue((int)eDOName.PORTR_MOT_DIR);
                    var limUp = GetDIValue(eDIName.PORTR_LIM_UP);
                    var detect = GetDIValue(eDIName.PORTR_DET_UP);
                    var limDn = GetDIValue(eDIName.PORTR_LIM_DN);
                    if (dirDn == false)
                    {
                        if (detect)
                            dio.SetOutput((int)eDOName.PORTR_MOT_RUN, false);
                        else if (limUp)
                            dio.SetOutput((int)eDOName.PORTR_MOT_RUN, false);
                    }
                    else
                    {
                        if (limDn)
                            dio.SetOutput((int)eDOName.PORTR_MOT_RUN, false);
                    }
                }

            }
        }
        private void Sm_Running(object sender, AR.StateMachine.RunningEventArgs e)
        {
            //throw new NotImplementedException();
            var step = (eSMStep)e.Step;
            switch (step)
            {
                case eSMStep.RUN:
                    break;
            }
        }

        private void Sm_StepChanged(object sender, AR.StateMachine.StepChangeEventArgs e)
        {
            var step = (eSMStep)e.New;
            log.Add($"Step Changed : {step}");

        }

        DateTime starttime;
        bool startminimize = false;
        private void timer1_Tick(object sender, EventArgs e)
        {
            //io상태표시  시작시  최소한한다 230823
            if (startminimize == false && this.IsDisposed == false && this.Disposing == false)
            {
                var ts = DateTime.Now - starttime;
                if (ts.TotalSeconds > 3)
                {
                    this.WindowState = FormWindowState.Minimized;
                    startminimize = true;
                }
            }


            var idx = 0;
            if (dio != null && dio.IsInit)
            {

                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTL_LIM_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTL_DET_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTL_LIM_DN));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTL_MOT_DIR));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTL_MOT_RUN));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.BUT_EMGF));

                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTC_LIM_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTC_DET_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTC_LIM_DN));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTC_MOT_DIR));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTC_MOT_RUN));
                ioPanel1.setValue(idx++, false);

                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTR_LIM_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTR_DET_UP));
                ioPanel1.setValue(idx++, GetDIValue(eDIName.PORTR_LIM_DN));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTR_MOT_DIR));
                ioPanel1.setValue(idx++, GetDOValue(eDOName.PORTR_MOT_RUN));
                ioPanel1.setValue(idx++, false);
            }
            else
            {
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);

                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);

                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
                ioPanel1.setValue(idx++, false);
            }
            ioPanel1.Invalidate();

            //내부버퍼표시
            for (int i = 0; i < 16; i++)
            {
                var addr = (eswPLCAddr)i;
                var val = ReadBuffer(addr);
                var title = addr.ToString();
                if (addr == eswPLCAddr.LCmd || addr == eswPLCAddr.CCmd || addr == eswPLCAddr.RCmd)
                {
                    if (val == 0) title += "(--)";
                    else if (val == 1) title += "(up)";
                    else if (val == 2) title += "(up)";
                    else if (val == 3) title += "(stop)";
                    else if (val == 4) title += "(refresh)";
                    gridView1.setTitle(i, title);
                }
                else if (addr == eswPLCAddr.LSts || addr == eswPLCAddr.CSts || addr == eswPLCAddr.RSts)
                {
                    if (val == 0) title += "(--)";
                    else title += "(~run~)";
                    gridView1.setTitle(i, title);
                }
                else if (addr == eswPLCAddr.LMotor || addr == eswPLCAddr.CMotor || addr == eswPLCAddr.RMotor)
                {
                    if (val == 0) title += "(--)";
                    else if (val == 1) title += "(Down)";
                    else if (val == 2) title += "(up)";
                    else if (val == 3) title += "(stop)";
                    gridView1.setTitle(i, title);
                }
                else if (addr == eswPLCAddr.LPort || addr == eswPLCAddr.CPort || addr == eswPLCAddr.RPort)
                {
                    if (val == 0) title += "(--)";
                    else if (val == 1) title += "(Limit -)";
                    else if (val == 2) title += "(Reel Detect)";
                    else if (val == 3) title += "(Limit +)";
                    gridView1.setTitle(i, title);
                }
                gridView1.setValue(i, val);
            }
            gridView1.Invalidate();

            toolStripStatusLabel1.ForeColor = autocontrol ? Color.Green : Color.Black;
            toolStripStatusLabel2.Text = swplc.Init ? "Connected" : "Disconnected";
            toolStripStatusLabel2.ForeColor = swplc.Init ? Color.Black : Color.Red;
            toolStripStatusLabel3.Text = $"Loop({sm.Loop_ms:N0}ms)";
        }

        bool autocontrol = true;

        private void toolStripStatusLabel1_Click(object sender, EventArgs e)
        {
            this.autocontrol = !this.autocontrol;
        }

        private void button1_Click(object sender, EventArgs e)
        {
            var but = sender as Button;
            var butno = int.Parse(but.Tag.ToString());
            swplc.Write((int)eswPLCAddr.LCmd + butno, 4); //refresh port
        }

        private void button4_Click(object sender, EventArgs e)
        {
            var but = sender as Button;
            var butno = int.Parse(but.Tag.ToString());
            if (butno == 0)
                MotorControl(eMotList.Left, eMotControl.Up);
            else if (butno == 1)
                MotorControl(eMotList.Center, eMotControl.Up);
            else if (butno == 2)
                MotorControl(eMotList.Right, eMotControl.Up);
        }

        private void button9_Click(object sender, EventArgs e)
        {
            var but = sender as Button;
            var butno = int.Parse(but.Tag.ToString());
            if (butno == 0)
                MotorControl(eMotList.Left, eMotControl.Down);
            else if (butno == 1)
                MotorControl(eMotList.Center, eMotControl.Down);
            else if (butno == 2)
                MotorControl(eMotList.Right, eMotControl.Down);
        }

        private void button11_Click(object sender, EventArgs e)
        {

        }

        private void button12_Click(object sender, EventArgs e)
        {
            var but = sender as Button;
            var butno = int.Parse(but.Tag.ToString());
            if (butno == 0)
                MotorControl(eMotList.Left, eMotControl.Stop);
            else if (butno == 1)
                MotorControl(eMotList.Center, eMotControl.Stop);
            else if (butno == 2)
                MotorControl(eMotList.Right, eMotControl.Stop);
        }

        private void button13_Click(object sender, EventArgs e)
        {
            var dlg =UTIL.MsgQ("Do you want to exit the program?\nThis is a program that monitors I/O malfunction.It is recommended to run at all times");
            if (dlg != DialogResult.Yes) return;
            this.exitforce = true;
            this.Close();
        }
    }
}