using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Runtime.InteropServices;
using COMM;
using System.CodeDom;
using AR;
using Project.StateMachine;
using System.Security.Cryptography.X509Certificates;

namespace Project
{
    public partial class fMain : Form
    {
        double freeSpaceRate = 0.0;

        //뷰어용화면
        ViewForm.fAuto form_auto = null;
        ViewForm.fManual form_manu = null;
        ViewForm.fIO form_zlift = null;
        ViewForm.fFlag form_flag = null;
        ViewForm.fAgv form_agv = null;
        ViewForm.fBms form_bms = null;
        Dialog.fLog form_log = null;

        bool remoteClose = false;
        bool forceClose = false;

        readonly usbdetect.DriveDetector usbdet;
        public fMain()
        {
            InitializeComponent();
            VAR.Init(128);
            PUB.initCore();
            this.KeyDown += (s1, e1) =>
            {
                if (e1.KeyCode == Keys.Escape) this.Close();
                else if (e1.KeyCode == Keys.F1 && e1.Control && e1.Shift)
                {

                }
                else if (e1.KeyCode == Keys.F5) btAutoRun.PerformClick();
                else if (e1.KeyCode == Keys.F9) btAutoRun.PerformClick();

                if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now;
            };
            usbdet = new usbdetect.DriveDetector(this);
            usbdet.DeviceArrived += Usbdet_DeviceArrived;
            usbdet.DeviceRemoved += Usbdet_DeviceRemoved;

            this.panTopMenu.MouseMove += LbTitle_MouseMove;
            this.panTopMenu.MouseUp += LbTitle_MouseUp;
            this.panTopMenu.MouseDown += LbTitle_MouseDown;
            this.panTopMenu.DoubleClick += LbTitle_DoubleClick;

            this.ctlPos1.ItemClick += CtlPos1_ItemClick;
            this.MouseMove += (s1, e1) => { if (DateTime.Now > PUB.LastInputTime) PUB.LastInputTime = DateTime.Now; };
            this.FormClosing += __Closing;

            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;

        }

        protected override void WndProc(ref Message m)
        {
            base.WndProc(ref m);
            if (usbdet != null)
            {
                usbdet.WndProc(ref m);
            }
        }

        private void Usbdet_DeviceRemoved(object sender, usbdetect.DriveDetectorEventArgs e)
        {
            //throw new NotImplementedException();
            Console.WriteLine(e.Drive);
        }

        private void Usbdet_DeviceArrived(object sender, usbdetect.DriveDetectorEventArgs e)
        {
            //throw new NotImplementedException();
            using (var fUpdate = new Dialog.fUpdateForm(e.Drive))
                if (fUpdate.ShowDialog() == DialogResult.Yes)
                {
                    //종료한다
                    remoteClose = true;
                    this.Close();
                }
        }

        /// <summary>
        /// 상단 위치 표시기의 대상 위치값을 표시 합니다
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Display_Position_TargetPosSet(object sender, EventArgs e)
        {
            //대상위치가 설정되었다x
            this.ctlPos1.SetTargetPosition(PUB.Result.TargetPos);
            this.ctlPos1.Invalidate();
        }


        private void __Closing(object sender, FormClosingEventArgs e)
        {
            PUB.popup.needClose = true;
            if (remoteClose == true)
            {
                PUB.log.Add("패치로 인해 프로그램을 종료 합니다");
                PUB.sm.SetNewStep(eSMStep.IDLE);
                //_Close_Start();
                _STEP_CLOSING_START(PUB.sm.Step);
                PUB.sm.Stop();

                var patchfile = new System.IO.FileInfo(System.IO.Path.Combine(UTIL.CurrentPath, "SWPatch.exe"));
                if (patchfile.Exists == false)
                {
                    UTIL.MsgE("패치파일(" + patchfile.Name + ")이 없습니다.\n프로그램을 다시 실행해주세요", true);
                }
                else
                {
                    UTIL.RunProcess(patchfile.FullName);
                }
            }
            else if (forceClose == true)
            {
                PUB.log.Add("강제 종료");
                PUB.sm.SetNewStep(eSMStep.IDLE);
                //_Close_Start();
                _STEP_CLOSING_START(PUB.sm.Step);
                PUB.sm.Stop();


            }
            else
            {
                if (PUB.sm.Step == eSMStep.RUN)
                {
                    UTIL.MsgE("동작 중에는 종료 할 수 없습니다.");
                    e.Cancel = true;
                    return;
                }
                if (PUB.sm.Step < eSMStep.CLOSING)
                {
                    var rlt = UTIL.MsgQ("종료하시겠습니까");
                    if (rlt == System.Windows.Forms.DialogResult.Yes)
                    {
                        //비젼의 측정상태가 변경된 경우
                        PUB.sm.SetNewStep(eSMStep.CLOSING, true);

                    }
                    e.Cancel = true;
                    return;
                    //_Close_Start();
                }
            }

        }

        private Dictionary<string, int> FlagMap = new Dictionary<string, int>();
        private void __Load(object sender, EventArgs e)
        {
            this.Text = Application.ProductName + " ver " + Application.ProductVersion;
            //this.lbTitle.Text = this.Text;
            PUB.init(); //public initialize
            if (PUB.setting.FullScreen) this.WindowState = FormWindowState.Maximized;
            //  PUB.log.RaiseMsg += log_RaiseMsg;
            this.Show();

            PUB.Result.TargetPosSet += Display_Position_TargetPosSet;

            this.ctlPos1.ClearData();
            this.ctlPos1.Invalidate();

            //lbDM1.Text = "";
            //sbBatteryLv.Text = "";
            btHome.Text = "홈";
            btChargeA.Text = "자동충전";
            VAR.STR[eVarString.SWVersion] = Application.ProductVersion;
            Application.DoEvents();

            //setting dio events
            this.IOState.ItemClick += gridView2_ItemClick;
            //PUB.flag.ValueChanged += Flag_ValueChagned;
            VAR.BOOL.PropertyChanged += BOOL_PropertyChanged;


            /////모터용 pLC
            //PUB.PLC = new arDev.FakePLC();
            //PUB.PLC.ValueChanged += PLC_DioChanged;
            //PUB.PLC.FlagChanged += PLC_FlagChanged;
            //PUB.PLC.Message += PLC_Message;

            //지그비통신
            PUB.XBE = new Device.Xbee();
            PUB.XBE.MessageReceived += XBE_MessageReceived;
            PUB.XBE.ProtocReceived += XBE_ProtocReceived;

            //HWState.setTitle(1, 3, Pub.setting.Port_Xbee);
            //HWState.setTitle(1, 0, Pub.setting.Address_RFID);

            //AGV
            PUB.AGV = new arDev.Narumi();
            PUB.AGV.Message += AGV_Message;
            PUB.AGV.DataReceive += AGV_DataReceive;


            //배터리관리시스템
            PUB.BMS = new arDev.BMS();
            PUB.BMS.BMSDataReceive += Bms_BMSDataReceive;
            PUB.BMS.BMSCellDataReceive += BMS_BMSCellDataReceive;
            PUB.BMS.Message += Bms_Message;
            PUB.BMS.ChargeDetect += BMS_ChargeDetect;
            PUB.BMS.ScanInterval = PUB.setting.interval_bms;//

            //디버그메세지 출력용 소켓
            PUB.sock_debug = new Device.Socket();
            PUB.sock_debug.GetMessage += socket_GetMessage;
            PUB.sock_debug.RecvMessage += socket_RecvMessage;
            PUB.sock_debug.SendMessage += socket_SendMessage;

            //clear 
            Resultclear();

            //충전이 시작되지 않도록 기본값을 넣는다
            VAR.TIME[eVarTime.ChargeTry] = DateTime.Now;
            VAR.TIME[eVarTime.ChargeSearch] = DateTime.Now;

            PUB.sm.SetMsgOptOff(); //모든 메세지출력을 해제한다. (이벤트는 동작함)

            PUB.log.Add("State Machine Start");
            PUB.sm = new StateMachine.StateMachine();
            PUB.sm.StepChanged += sm_StepChanged;
            PUB.sm.Message += sm_Message;
            PUB.sm.Running += sm_Running;
            PUB.sm.SPS += sm_SPS;
            PUB.sm.Start();

            tmDisplay.Tick += tmDisplay_Tick;
            tmDisplay.Start(); //start Display
            this.btDebug.Visible = PUB.setting.UseDebugMode;

            PUB.log.Add("Program Start");


            //수량표시
            PUB.counter.PropertyChanged += (s1, e1) => Update_Count();
            Update_Count();

            PUB.log.Add("프로그램 실행 기록 추가");
            PUB.CheckNRegister3(Application.ProductName, "chi", Application.ProductVersion);

            if (PUB.setting.StartLog)
                MenuLog.PerformClick();

            PUB.AddEEDB("프로그램 시작");

        }

     

        #region "Mouse Form Move"

        private Boolean fMove = false;
        private Point MDownPos;

        private void LbTitle_DoubleClick(object sender, EventArgs e)
        {
            if (this.WindowState == FormWindowState.Maximized) this.WindowState = FormWindowState.Normal;
            else this.WindowState = FormWindowState.Maximized;
        }
        private void LbTitle_MouseMove(object sender, MouseEventArgs e)
        {
            if (fMove)
            {
                Point offset = new Point(e.X - MDownPos.X, e.Y - MDownPos.Y);
                this.Left += offset.X;
                this.Top += offset.Y;
                //offset = new Point(0, 0);
            }
        }
        private void LbTitle_MouseUp(object sender, MouseEventArgs e)
        {
            fMove = false;
        }
        private void LbTitle_MouseDown(object sender, MouseEventArgs e)
        {
            MDownPos = new Point(e.X, e.Y);
            fMove = true;
        }

        #endregion
        void socket_SendMessage(object sender, Device.Socket.SocketMessageEventArgs e)
        {
            //핑로그가 꺼져있는 상황일때 핑로그는 로그를 기록하지 않는다.  181205
            if (!PUB.setting.Log_Ping && e.Message.Type == Device.Socket.eType.REPLY && e.Message.SType == Device.Socket.eSType.STATUS)
            {
                return;
            }
            PUB.log.Add("WS << " + e.rawData);
        }

        void socket_RecvMessage(object sender, Device.Socket.SocketMessageEventArgs e)
        {
            if (e.Message.isError)
                PUB.log.AddE("WS >> " + e.Message.ErrorMessage + ",RAW=" + e.rawData);
            else
            {

                switch (e.Message.Type)
                {
                    case Device.Socket.eType.REQUEST:
                        if (e.Message.SType == Device.Socket.eSType.STATUS)
                        {
                            var packet = PUB.sock_debug.makeReplyStatus(Device.Socket.eStatus.IDLE);
                            var rlt = PUB.sock_debug.Send(PUB.setting.Asset, Device.Socket.eType.REPLY, Device.Socket.eSType.STATUS, packet);
                            if (!rlt)
                            {
                                PUB.log.AddE("Status Reply Error");
                            }
                            else
                            {
                                if (PUB.setting.Log_Ping) PUB.log.AddI("Server Status Reply OK");
                            }
                        }
                        else
                        {
                            PUB.log.Add("WS >> " + e.rawData);
                        }
                        break;
                }
            }
        }

        void socket_GetMessage(object sender, Device.Socket.MesasgeEventArgs e)
        {
            if (e.isError) PUB.log.AddE("WS:" + e.Message);
            else PUB.log.Add("WS:" + e.Message);
        }
        delegate void SelectModelHandler(string modelName);
        void SelectModelM(string modelName)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new SelectModelHandler(SelectModelM), new object[] { modelName });
                return;
            }
        }

        void func_sw_start(bool Prompt = false)
        {
            if (VAR.BOOL[eVarBool.FLAG_AUTORUN] == false)    //자동상태가 아니라면
            {
                PUB.AGV.AGVErrorReset();
                if (Prompt)
                {
                    if (UTIL.MsgQ("AGV상태를 자동으로 전환 할까요?") != DialogResult.Yes) return;
                }
                //충전상태확인
                if (PUB.CheckManualChargeMode() == false) return;
                PUB.popup.needClose = true;
                PUB.sm.bPause = false;
                PUB.sm.SetNewStep(eSMStep.RUN);

                if (PUB.Result.CurrentPos == ePosition.NONE || PUB.Result.TargetPos == ePosition.NONE)
                {
                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
                }
                PUB.Speak(Lang.자동전환);
            }
            else
            {
                PUB.AGV.AGVCharge(PUB.setting.ChargerID, false);    //230425 수동전환하면 충전 해제한다
                PUB.sm.SetNewStep(eSMStep.IDLE);
                PUB.Speak(Lang.작업종료);
            }
        }

        void Resultclear()
        {
            PUB.Result.Clear();
            PUB.log.AddI("Clear Resultclear");
        }


        void CheckFreeSpace()
        {
            try
            {

                if (PUB.path.FullName.StartsWith("\\"))
                {
                    SSInfo.setTitle(0, 1, "UNC Path Detected");
                    SSInfo.setValue(0, 1, 2);
                }
                else
                {
                    double freeSpaceRate_ = PUB.GetFreeSpace();
                    this.freeSpaceRate = freeSpaceRate_;
                    SSInfo.setTitle(0, 1, "FREE(" + PUB.path.FullName.Substring(0, 1) + ") : " + freeSpaceRate.ToString("N2") + "%");
                    if (freeSpaceRate < PUB.setting.AutoDeleteThreshold)
                    {
                        VAR.BOOL[eVarBool.MINSPACE] = true;
                        SSInfo.setValue(0, 1, 2); //lbFreeSpace.ForeColor = Color.Tomato;
                    }
                    else
                    {
                        VAR.BOOL[eVarBool.MINSPACE] = false;
                        SSInfo.setValue(0, 1, 3);// lbFreeSpace.ForeColor = Color.White;
                    }
                }

                //Pub.log.Add("남은디스크공간확인:" + freeSpaceRate.ToString("N2") + "%"); 190129
            }
            catch (Exception ex)
            {
                SSInfo.setTitle(0, 1, "FREE SPACE : -ERROR-");
                PUB.log.AddE("check free space : " + ex.Message);
            }
        }


        private void CtlPos1_ItemClick(object sender, CtlPos.ItemClickEventArgs e)
        {
            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM] == true)
            {
                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
                return;
            }
            if (VAR.BOOL[eVarBool.EMERGENCY] == true)
            {
                var dlgE = UTIL.MsgQ("비상정지 상태입니다.\n오류를 먼저 소거하고 실행 할까요?");
                if (dlgE == DialogResult.Yes) PUB.AGV.AGVErrorReset();
                else return;
            }
            //위치표시 컨트롤에서 아이템을 클릭했다
            var dlg = new Dialog.fJobSelect();
            PUB.log.Add("사용자 임의 위치 클릭 : " + e.Item.Title);
            switch (e.Item.Position)
            {
                case ePosition.QA:

                    //아이템을 가지고 있었으니 하차를 해야한다
                    if (VAR.BOOL[eVarBool.ITEMON])
                    {
                        dlg.setMessage("작업 실행\n" +
                            "(QA) 위치로 하차를 진행 할까요?\n" +
                            "대상위치 : QA\n" +
                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
                        if (dlg.ShowDialog() == DialogResult.Yes)
                        {
                            //아이템이 있으면 하차이고 없으면 상차이다
                            PUB.sm.ClearRunStep();
                            PUB.Result.TargetPos = ePosition.QA;
                            PUB.sm.SetNewRunStep(ERunStep.GODOWN);
                            PUB.sm.SetNewStep(eSMStep.RUN);
                        }
                    }
                    else
                    {
                        dlg.setMessage("작업 실행\n" +
                            "(QA) 위치로 이동을 실행 할까요?\n" +
                            "대상위치 : QA\n" +
                            "현재위치 : " + PUB.Result.CurrentPos.ToString());

                        if (dlg.ShowDialog() == DialogResult.Yes)
                        {

                            //아이템이 있으면 하차이고 없으면 상차이다
                            PUB.sm.ClearRunStep();
                            PUB.Result.TargetPos = ePosition.QA;
                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
                            PUB.sm.SetNewStep(eSMStep.RUN);
                        }
                    }

                    break;
                case ePosition.QC:

                    //아이템을 가지고 있었으니 하차를 해야한다
                    if (VAR.BOOL[eVarBool.ITEMON])
                    {
                        dlg.setMessage("작업 실행\n" +
                            "홈(QC) 위치로 하차를 진행 할까요?\n" +
                            "대상위치 : QC\n" +
                            "현재위치 : " + PUB.Result.CurrentPos.ToString());
                        if (dlg.ShowDialog() == DialogResult.Yes)
                        {
                            //아이템이 있으면 하차이고 없으면 상차이다
                            PUB.sm.ClearRunStep();
                            PUB.Result.TargetPos = ePosition.QC;
                            PUB.sm.SetNewRunStep(ERunStep.GODOWN);
                            PUB.sm.SetNewStep(eSMStep.RUN);
                        }
                    }
                    else
                    {
                        dlg.setMessage("작업 실행\n" +
                            "홈(QC) 위치로 이동을 실행 할까요?\n" +
                            "대상위치 : QC\n" +
                            "현재위치 : " + PUB.Result.CurrentPos.ToString());

                        if (dlg.ShowDialog() == DialogResult.Yes)
                        {

                            //아이템이 있으면 하차이고 없으면 상차이다
                            PUB.sm.ClearRunStep();
                            PUB.Result.TargetPos = ePosition.QC;
                            PUB.sm.SetNewRunStep(ERunStep.GOHOME);
                            PUB.sm.SetNewStep(eSMStep.RUN);
                        }
                    }

                    break;
                case ePosition.F1:  //FVI영역은 모두 상차이동
                    dlg.setMessage("작업 실행\n" +
                       "(상차) 작업을 실행 할까요?\n" +
                       "대상위치 : FVI-1\n" +
                       "현재위치 : " + PUB.Result.CurrentPos.ToString());
                    if (dlg.ShowDialog() == DialogResult.Yes)
                    {
                        PUB.Result.TargetPos = ePosition.F1;
                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
                        PUB.sm.SetNewStep(eSMStep.RUN);
                    }

                    break;
                case ePosition.F2:
                    dlg.setMessage("작업 실행\n" +
                        "(상차) 작업을 실행 할까요?\n" +
                        "대상위치 : FVI-2\n" +
                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
                    if (dlg.ShowDialog() == DialogResult.Yes)
                    {

                        PUB.Result.TargetPos = ePosition.F2;
                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
                        PUB.sm.SetNewStep(eSMStep.RUN);
                    }

                    break;
                case ePosition.F3:
                    dlg.setMessage("작업 실행\n" +
                        "(상차) 작업을 실행 할까요?\n" +
                        "대상위치 : FVI-3\n" +
                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
                    if (dlg.ShowDialog() == DialogResult.Yes)
                    {

                        PUB.Result.TargetPos = ePosition.F3;
                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
                        PUB.sm.SetNewStep(eSMStep.RUN);
                        //VAR.BOOL[eVarBool.FLAG_AUTORUN] = true;
                    }

                    break;
                case ePosition.F4:
                    dlg.setMessage("작업 실행\n" +
                        "(상차) 작업을 실행 할까요?\n" +
                        "대상위치 : FVI-4\n" +
                        "현재위치 : " + PUB.Result.CurrentPos.ToString());
                    if (dlg.ShowDialog() == DialogResult.Yes)
                    {

                        PUB.Result.TargetPos = ePosition.F4;
                        PUB.sm.SetNewRunStep(ERunStep.GOUP);
                        PUB.sm.SetNewStep(eSMStep.RUN);
                    }

                    break;

            }
            if (dlg != null) dlg.Dispose();
        }

        private void demoRunToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.Result.JobEndTime = DateTime.Now;
        }

        private void setZValidToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.log.Add("user set z-home set on");
        }

        private void errorToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.popup.setMessage("error\berror message");
        }

        private void informationToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.popup.setMessage("info\ninformation message", MessageWindow.eWindowType.information);
        }

        private void attentionToolStripMenuItem_Click(object sender, EventArgs e)
        {
            PUB.popup.setMessage("attention\nattention message", MessageWindow.eWindowType.attention);
        }


        private void btShowManual_Click(object sender, EventArgs e)
        {
            string file = System.IO.Path.Combine(UTIL.CurrentPath, "manual.pdf");
            if (System.IO.File.Exists(file) == false)
            {
                UTIL.MsgE("사용설명서 파일이 존재하지 않습니다\n" +
                    "문의 : T8567 (장비기술 1파트)\n" +
                    "파일명 : " + file);
                return;
            }
            UTIL.RunExplorer(file);
        }

        private void btClose_Click(object sender, EventArgs e)
        {
            this.Close();
        }

        private void arLabel5_Click(object sender, EventArgs e)
        {
            //SetScreen(form_setup);


            var popmsg = PUB.popup.Visible;
            PUB.popup.Visible = false;
            VAR.BOOL[eVarBool.FLAG_SETUP] = true;
            using (var f = new fSetup())
                if (f.ShowDialog() == DialogResult.OK)
                {


                    //AGV정보 싱크
                    PUB.sm.ResetRunStepSeq();
                    PUB.sm.SetNewStep(eSMStep.SYNC);
                }

            VAR.BOOL[eVarBool.FLAG_SETUP] = false;// VAR.BOOL[eVarBool.FLAG_SETUP] = false;//VAR.BOOL[eVarBool.FLAG_SETUP] = false;

            if (popmsg) PUB.popup.Visible = true;
        }

        private void btMReset_Click(object sender, EventArgs e)
        {

            //if (Pub.sm.Step != eSMStep.IDLE)
            //{
            var dlg = UTIL.MsgQ(
                "프로그램 상태를 초기화 하시겠습니까?\n" +
                "진행 중인 사항은 모두 취소 됩니다");
            if (dlg != System.Windows.Forms.DialogResult.Yes) return;
            //}
            //else Pub.log.AddAT("대기상태일때에는 초기화 할 수 없습니다");

            PUB.log.Add("User Click : initialize", false);
            PUB.sm.ClearRunStep();
            PUB.sm.SetNewStep(eSMStep.RESET);
            PUB.sm.bPause = false;
            if (PUB.mplayer != null && PUB.mplayer.SoundLocation.isEmpty() == false)
            {
                PUB.mplayer.Stop();
                PUB.bPlayMusic = false;
            }
        }

        private void btCapture_Click(object sender, EventArgs e)
        {
            UTIL.ScreenCapture(Screen.PrimaryScreen.WorkingArea.Width, Screen.PrimaryScreen.WorkingArea.Height, new Point(0, 0));
        }

        private void btOpenDir_Click(object sender, EventArgs e)
        {
            UTIL.RunExplorer(UTIL.CurrentPath);
        }

        private void ManualMan_Click(object sender, EventArgs e)
        {
            SetScreen(form_manu);
            MenuMAN.ForeColor = Color.Gold;
        }

        private void MenuLift_Click(object sender, EventArgs e)
        {
            SetScreen(form_zlift);
            MenuLift.ForeColor = Color.Gold;
        }

        private void btDebug_Click(object sender, EventArgs e)
        {
            arCtl.arLabel ctl = sender as arCtl.arLabel;
            this.cmDebug.Show(ctl, new Point((int)(ctl.Width / 1.5), (int)(ctl.Height / 1.5)));
        }

        private void btAutorun_Click(object sender, EventArgs e)
        {
            var ctl = sender as arCtl.arLabel;
            if (ctl.Enabled == false) return;
            PUB.log.Add("User Click : Start", false);
            func_sw_start(true);
        }

        private void btMenuAuto_Click(object sender, EventArgs e)
        {
            SetScreen(form_auto);
            MenuAuto.ForeColor = Color.Gold;
        }

        private void btMenuFlag_Click(object sender, EventArgs e)
        {
            SetScreen(form_flag);
            MenuFlag.ForeColor = Color.Gold;
        }

        private void btLog_Click(object sender, EventArgs e)
        {
            if (form_log == null || form_log.IsDisposed || form_log.Disposing)
                form_log = new Dialog.fLog();

            form_log.Show();
            form_log.Activate();
            if (form_log.WindowState == FormWindowState.Minimized)
                form_log.WindowState = FormWindowState.Normal;
        }


        private void btCharge_Click(object sender, EventArgs e)
        {
            var bCharge =
              (PUB.sm.RunStep == ERunStep.GOCHARGE || PUB.sm.RunStep == ERunStep.CHARGECHECK || VAR.BOOL[eVarBool.FLAG_CHARGEONA] == true);

            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
            {
                UTIL.MsgE("수동 충전 상태이므로 진행 할 수 없습니다");
                return;
            }

            //충전을 시작해라ㅏ
            if (bCharge == true)
            {
                var dlg = UTIL.MsgQ("충전을 중지할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
                    PUB.sm.SetNewStep(eSMStep.RUN);
                    PUB.log.Add("사용자 충전 해제");
                }
            }
            else
            {
                var dlg = UTIL.MsgQ("충전을 시작할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
                    PUB.sm.SetNewRunStep(ERunStep.GOCHARGE);
                    PUB.sm.SetNewStep(eSMStep.RUN);
                    PUB.log.Add("충전(사용자)작업 시작");
                }
            }
        }

        private void pictureBox1_Click(object sender, EventArgs e)
        {
            using (var f = new Dialog.fSystem())
            {
                f.ShowDialog();
                if (f.shutdown)
                {
                    forceClose = true;
                    this.Close();
                }
            }

        }

        private void SSInfo_Click(object sender, EventArgs e)
        {
            PUB.Speak("고경석 수석님 밥은 드셨습니까?", true);
            UpdateProgressStatus(20, 100, "progre");
        }
        private void brHome_Click(object sender, EventArgs e)
        {
            var bCharge = PUB.sm.Step == eSMStep.RUN &&
              (PUB.sm.RunStep == ERunStep.GOHOME);

            if (PUB.CheckManualChargeMode() == false) return;

            if (bCharge == true)
            {
                var dlg = UTIL.MsgQ("홈(QC) 이동을 취소 할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
                    PUB.sm.SetNewStep(eSMStep.IDLE);
                    PUB.AGV.AGVMoveStop("user home cancle", arDev.Narumi.eStopOpt.Stop);
                    //PUB.AGV.AddCommand(arDev.Narumi.eAgvCmd.MoveStop);//.Move(Device.PLC.Rundirection.Stop, "사용자 홈 이동 취소");
                    PUB.log.Add("사용자 홈 이동 취소");
                }
            }
            else
            {
                var dlg = UTIL.MsgQ("홈(QC) 이동을 실행 할까요?");
                if (dlg == DialogResult.Yes)
                {
                    PUB.sm.ClearRunStep();
                    PUB.sm.SetNewRunStep(ERunStep.GOHOME);
                    PUB.sm.SetNewStep(eSMStep.RUN);
                    PUB.log.Add("사용자 홈 이동 실행");
                }
            }

        }


        private void btTopMenu_Volume_Click_1(object sender, EventArgs e)
        {
            using (var f = new Dialog.fVolume())
                f.ShowDialog();
        }

        private void lbCNtUp_Click(object sender, EventArgs e)
        {
            //down,up둘다 연결해야함
            using (var f = new Dialog.fCounter())
                f.ShowDialog();
        }

        private void btMenuAGV_Click_1(object sender, EventArgs e)
        {
            SetScreen(form_agv);
            MenuAGV.ForeColor = Color.Gold;
        }

        private void btMenuBMS_Click_1(object sender, EventArgs e)
        {
            SetScreen(form_bms);
            MenuBMS.ForeColor = Color.Gold;
        }

        private void lbBat_Click(object sender, EventArgs e)
        {
            var bat = (int)PUB.BMS.Current_Level;
            var msg = $"{bat}퍼센트";
            PUB.Speak(msg, false, false);
            PUB.counter.CountQA += 1;
        }
        private void IOState_ItemClick_1(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
        {
            var title = IOState.Titles[e.idx];
            switch (title.ToLower())
            {
                case "emg":
                    PUB.AGV.AGVErrorReset();
                    break;
                case "itm":
                    var itemon = VAR.BOOL[eVarBool.ITEMON];
                    VAR.BOOL[eVarBool.ITEMON] = !itemon;
                    break;
            }
        }

        private void btChargeM_Click(object sender, EventArgs e)
        {
            if (VAR.BOOL[eVarBool.FLAG_CHARGEONM])
            {
                var dlg = UTIL.MsgQ("수동 충전을 해제 할까요?");
                if (dlg != DialogResult.Yes) return;
                VAR.BOOL[eVarBool.FLAG_CHARGEONM] = false;
                PUB.log.Add("수동 충전 실행");
            }
            else
            {
                if (PUB.AGV.system1.Battery_charging)
                {
                    UTIL.MsgE("현재 자동 충전 중이라 진행 할 수 없습니다");
                    return;
                }
                var dlg = UTIL.MsgQ("수동 충전을 진행 할까요?");
                if (dlg != DialogResult.Yes) return;
                VAR.BOOL[eVarBool.FLAG_CHARGEONM] = true;
                PUB.log.Add("수동 충전 실행");
            }
        }

    }
}