using System;
using System.Collections;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Globalization;
using System.Linq;
using System.Security.Cryptography.X509Certificates;
using System.Text;
using System.Windows.Forms;
using System.Windows.Forms.VisualStyles;
using static AGVEmulator.DevAGV;

namespace AGVEmulator
{
    public partial class Form1 : Form
    {
        arUtil.Log logPLC, logAGV, logBMS, logCAL;
        DevBMS BMS;
        DevAGV AGV;
        DevPLC PLC;
        DevCAL CAL;


        float BMS_MaxA = 80f;
        float BMS_Remain = 79f;
        float BMS_CurA = 70f;
        float BMS_Volt = 25.4f;

        UInt16[] cellvolt = new UInt16[] { 0, 0, 0, 0, 0, 0, 0, 0 };


        public Form1()
        {
            InitializeComponent();
            logPLC = new arUtil.Log();
            logAGV = new arUtil.Log();
            logBMS = new arUtil.Log();
            logCAL = new arUtil.Log();

            logPLC.FileNameFormat = "{yyyyMMdd}_PLC";
            logAGV.FileNameFormat = "{yyyyMMdd}_AGV";
            logBMS.FileNameFormat = "{yyyyMMdd}_BMS";
            logCAL.FileNameFormat = "{yyyyMMdd}_CAL";

            logPLC.RaiseMsg += (s1, e1, d1) => { this.rtPLC.AddMsg(s1, e1, d1); };
            logAGV.RaiseMsg += (s1, e1, d1) =>
            {
                if (d1.StartsWith("Tx"))
                    this.rtAGV.AddMsg(s1, e1, d1);
                else
                    this.rtAGVPro.AddMsg(s1, e1, d1);
            };
            logBMS.RaiseMsg += (s1, e1, d1) => { this.rtBMS.AddMsg(s1, e1, d1); };
            logCAL.RaiseMsg += (s1, e1, d1) => { this.rtCAL.AddMsg(s1, e1, d1); };


            var logcolor = new arCtl.sLogMessageColor[] {
                 new arCtl.sLogMessageColor("NORM", Color.White),
                 new arCtl.sLogMessageColor("INF", Color.SkyBlue),
                 new arCtl.sLogMessageColor("WARN", Color.Tomato),
                 new arCtl.sLogMessageColor("ERR", Color.Red),
                 new arCtl.sLogMessageColor("RX", Color.Lime),
                 new arCtl.sLogMessageColor("TX", Color.Orange),
            };

            rtPLC.ColorList = logcolor;
            rtAGV.ColorList = logcolor;
            rtBMS.ColorList = logcolor;
            rtCAL.ColorList = logcolor;
            rtAGVPro.ColorList = logcolor;

            this.FormClosed += Form1_FormClosed;

            BMS = new DevBMS();
            AGV = new DevAGV();
            PLC = new DevPLC();
            CAL = new DevCAL();
            this.serAGV.dev = AGV;
            this.serPLC.dev = PLC;
            this.serBMS.dev = BMS;
            this.serCAL.dev = CAL;

            BMS.Message += Bms_Message;
            AGV.Message += Bms_Message;
            PLC.Message += Bms_Message;
            CAL.Message += Bms_Message;

            BMS.RequestBatteryData += Bms_RequestBatteryData;
            BMS.RequestVoltageData += BMS_RequestVoltageData;
            PLC.RequestData += Plc_RequestData;
            PLC.ValueChanged += Plc_ValueChanged;
            AGV.RequestStatusData += Agv_RequestStatusData;
            AGV.ValueChanged += Agv_ValueChanged;
            AGV.StsValueChanged += Agv_StsValueChanged;
            AGV.Command += Agv_Command;

        }

      

        Random rnd;
        private void Form1_Load(object sender, EventArgs e)
        {
            rnd = new Random(3000);

            serAGV.BaudRate = 57600;
            serPLC.BaudRate = 57600;
            trackBar1_Scroll(null, null);
            timer1.Start();

            //plc inout 이름 설정
            List<string> titles = new List<string>();
            List<bool> values = new List<bool>();
            for (int i = 0; i < 16; i++)
            {
                var pin = (DevPLC.DIName)i;
                titles.Add(pin.ToString());
                values.Add(false);
            }
            for (int i = 0; i < 8; i++)
            {
                var pin = (DevPLC.DOName)i;
                titles.Add(pin.ToString());
                values.Add(false);
            }
            this.gvdPLCInOut.setTitle(titles.ToArray());
            this.gvdPLCInOut.setValue(values.ToArray());


            titles.Clear();
            values.Clear();
            for (int i = 0; i < 32; i++)
            {
                titles.Add(i.ToString());
                values.Add(false);
            }
            this.gvdPLCFlag.setTitle(titles.ToArray());
            this.gvdPLCFlag.setValue(values.ToArray());
            this.gvdPLCInOut.ItemClick += GvdPLCInOut_ItemClick;
            this.gvdPLCFlag.ItemClick += GvdPLCFlag_ItemClick;
            this.gvdPLCFlag.ColorList = new arFrame.Control.ColorListItem[] {
                new arFrame.Control.ColorListItem(){ BackColor1 = Color.DimGray, BackColor2 = Color.Gray },
                 new arFrame.Control.ColorListItem(){ BackColor1 = Color.Green, BackColor2 = Color.Lime },
                  new arFrame.Control.ColorListItem(){ BackColor1 = Color.Red, BackColor2 = Color.Tomato },
            };
            this.gvdPLCInOut.ColorList = this.gvdPLCFlag.ColorList;

            var arrs = Enum.GetNames(typeof(DevAGV.esystemflag0));
            foreach (var item in arrs)
            {
                var data = (DevAGV.esystemflag0)Enum.Parse(typeof(DevAGV.esystemflag0), item);

                var chk = new CheckBox();
                chk.Text = $"[{(int)data:00}] {item}";
                chk.AutoSize = true;
                chk.Visible = true;
                chk.Tag = (int)data;
                chk.Dock = DockStyle.Top;
                chk.CheckedChanged += Chk_CheckedChanged;
                this.panel6.Controls.Add(chk);
                chk.Checked = true; //기본값 rue
            }
            arrs = Enum.GetNames(typeof(DevAGV.esystemflag1));
            foreach (var item in arrs)
            {
                var data = (DevAGV.esystemflag1)Enum.Parse(typeof(DevAGV.esystemflag1), item);

                var chk = new CheckBox();
                chk.Text = $"[{(int)data:00}] {item}";
                chk.AutoSize = true;
                chk.Visible = true;
                chk.Tag = (int)data;
                chk.Dock = DockStyle.Top;
                chk.CheckedChanged += Chk_CheckedChanged;
                this.panel7.Controls.Add(chk);
            }
            arrs = Enum.GetNames(typeof(DevAGV.esignal));
            foreach (var item in arrs)
            {
                var data = (DevAGV.esignal)Enum.Parse(typeof(DevAGV.esignal), item);

                var chk = new CheckBox();
                chk.Text = $"[{(int)data:00}] {item}";
                chk.AutoSize = true;
                chk.Visible = true;
                chk.Tag = (int)data;
                chk.Dock = DockStyle.Top;
                chk.CheckedChanged += Chk_CheckedChanged;
                this.panel8.Controls.Add(chk);
            }
            arrs = Enum.GetNames(typeof(DevAGV.eerror));
            foreach (var item in arrs)
            {
                var data = (DevAGV.eerror)Enum.Parse(typeof(DevAGV.eerror), item);

                var chk = new CheckBox();
                chk.Text = $"[{(int)data:00}] {item}";
                chk.AutoSize = true;
                chk.Visible = true;
                chk.Tag = (int)data;
                chk.Dock = DockStyle.Top;
                chk.CheckedChanged += Chk_CheckedChanged;
                this.panel9.Controls.Add(chk);
            }

            //기본 중지상태로 변환
            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);

            foreach (RadioButton rad in groupBox5.Controls)
            {
                rad.CheckedChanged += (s1, e1) =>
                {
                    if (rad.Checked)
                    {
                        AGV.sts_dir = rad.Text[0];
                    }
                };
            }
            foreach (RadioButton rad in groupBox2.Controls)
            {
                rad.CheckedChanged += (s1, e1) =>
                {
                    if (rad.Checked)
                    {
                        AGV.sts_bunki = rad.Text[0];
                    }
                };
            }
            foreach (RadioButton rad in groupBox4.Controls)
            {
                rad.CheckedChanged += (s1, e1) =>
                {
                    if (rad.Checked)
                    {
                        AGV.sts_speed = rad.Text[0];
                    }
                };
            }
            foreach (RadioButton rad in groupBox8.Controls)
            {
                rad.CheckedChanged += (s1, e1) =>
                {
                    if (rad.Checked)
                    {
                        AGV.sts_sensor = rad.Text[0];
                    }
                };
            }

            MakeViewer();


            agvViewer1.TagTouched += AgvViewer1_TagTouched;
            agvViewer1.MarkTouched += AgvViewer1_MarkTouched;
            agvViewer1.Command += AgvViewer1_Command;
        }
        private void Agv_Command(object sender, commandargs e)
        {
            switch (e.Command.ToLower())
            {
                case "stopmark":
                    agvViewer1.StopbyMark = true;
                    break;
            }
        }
        void MakeViewer()
        {
            //태그목록
            List<UC.AgvViewer.ptdata> listTAG = new List<UC.AgvViewer.ptdata>();
            //var strtag = new string[] {
            //    "9000", "9001", //not
            //    "9010", "9011",
            //    //"9020", "9021",
            //    "9030", "9031",
            //   // "9040", "9041",
            //    "9050", "9051",
            //   // "9060", "9061",
            //    "9070", "9071",
            //    "9080", "9081",
            //    "9090", "9091"};

            //foreach(var tag in strtag)
            //{
            //    listTAG.Add(new UC.AgvViewer.ptdata { 
            //         active=false,
            //          data = tag,
            //           pos = 
            //    });
            //}
            //agvViewer1.listTAG = listTAG.ToArray();

            //마크지점
            List<UC.AgvViewer.ptdata> listMRK = new List<UC.AgvViewer.ptdata>();
            var strmark = new string[] { "NOT", "QC", "CHG", "{0}", "#1", "{1}", "#2", "{2}", "#3", "{3}", "#4", "POT" };
            var pos = 50;
            var tagstart = 9000;
            foreach (var item in strmark)
            {
                listMRK.Add(new UC.AgvViewer.ptdata
                {
                    pos = pos,
                    data = item,
                });


                if (item.Equals("CHG"))
                {
                    pos += 100;
                    continue;
                }
                else if (item.Equals("{0}")) tagstart = 9350;
                else if (item.Equals("{1}")) tagstart = 9450;
                else if (item.Equals("{2}")) tagstart = 9550;
                else if (item.Equals("{3}")) tagstart = 9650;
                else if (item.Equals("#1")) tagstart = 9400;
                else if (item.Equals("#2")) tagstart = 9500;
                else if (item.Equals("#3")) tagstart = 9600;
                else if (item.Equals("#4")) tagstart = 9700;


                //지정위치 좌우에 태그를 심는다
                listTAG.Add(new UC.AgvViewer.ptdata
                {
                    pos = pos - 20,
                    data = tagstart.ToString(),
                });

                if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
                    tagstart += 1;


                listTAG.Add(new UC.AgvViewer.ptdata
                {
                    pos = pos + 20,
                    data = tagstart.ToString(),
                });


                pos += 100;

                if (item.Equals("NOT") == false && item.Equals("POT") == false && item.StartsWith("{") == false)
                    tagstart += 99;
                else
                    tagstart += 100;


                if (item.Equals("NOT"))
                    tagstart = 9300;

                //else
                //{
                //    pos += 100;
                //    tagstart += 10;
                //}

            }
            agvViewer1.listMRK = listMRK.ToArray();
            agvViewer1.listTAG = listTAG.ToArray();
            agvViewer1.Invalidate();

        }
        private void AgvViewer1_Command(object sender, UC.AgvViewer.TagArgs e)
        {
            if (e.Data == "stop")
            {
                AGV.SetAGV(esystemflag1.agv_run, false);
                AGV.SetAGV(esystemflag1.agv_stop, true);
                logAGV.Add("시뮬로부터 자동 중지");
            }
        }

        private void AgvViewer1_MarkTouched(object sender, UC.AgvViewer.TagArgs e)
        {
            // throw new NotImplementedException();
            AGV.SetAGV(esignal.mark_sensor_1, e.Active);
            logAGV.Add($"mark {e.Data} touch:{e.Active}");
        }

        private void AgvViewer1_TagTouched(object sender, UC.AgvViewer.TagArgs e)
        {
            logAGV.Add($"tag touch:{e.Data}");
            numericUpDown1.Value = decimal.Parse(e.Data);
            button18.PerformClick();
        }

        private void Agv_StsValueChanged(object sender, DevAGV.StsValueChangedArgs e)
        {
            Console.WriteLine($"STS [{e.vtype}] VAL={e.Value}");
            if (this.InvokeRequired)
            {
                this.BeginInvoke(new EventHandler<StsValueChangedArgs>(Agv_StsValueChanged), sender, e);
                return;
            }
            switch (e.vtype)
            {
                case DevAGV.estsvaluetype.direction:
                    foreach (RadioButton c in this.groupBox5.Controls)
                    {
                        if (c.Text[0].Equals(e.Value))
                        {
                            c.Checked = true;

                        }
                        else
                        {
                            c.Checked = false;
                        }
                        c.Refresh();
                    }
                    groupBox5.Refresh();
                    break;
                case DevAGV.estsvaluetype.bunki:
                    foreach (RadioButton c in this.groupBox2.Controls)
                    {
                        if (c.Text[0].Equals(e.Value))
                        {
                            c.Checked = true;
                            c.Refresh();
                            break;
                        }
                    }
                    break;
                case DevAGV.estsvaluetype.speed:
                    foreach (RadioButton c in this.groupBox4.Controls)
                    {
                        if (c.Text[0].Equals(e.Value))
                        {
                            c.Checked = true;
                            c.Refresh();
                            break;
                        }
                    }
                    break;
                case DevAGV.estsvaluetype.sensor:
                    foreach (RadioButton c in this.groupBox8.Controls)
                    {
                        if (c.Text.Equals(e.Value))
                        {
                            c.Checked = true;
                            c.Refresh();
                            break;
                        }
                    }
                    break;
            }
        }

        private void Agv_ValueChanged(object sender, DevAGV.ValueChangedArgs e)
        {
            if (this.InvokeRequired)
            {
                this.Invoke(new EventHandler<ValueChangedArgs>(Agv_ValueChanged), sender, e);
                return;
            }

            //내부값이 바뀌었다면 컨트롤을 변경해준다.
            switch (e.vtype)
            {

                case DevAGV.evaluetype.system0:
                    foreach (CheckBox c in panel6.Controls)
                    {
                        var idx = int.Parse(c.Tag.ToString());
                        if (idx == e.Idx)
                        {
                            c.Checked = e.Value;
                            break;
                        }
                    }
                    break;
                case DevAGV.evaluetype.system1:

                    var v = (DevAGV.esystemflag1)e.Idx;
                    if (e.Value)
                    {
                        if (v == esystemflag1.agv_run)
                        {
                            agvViewer1.wat.Restart();
                        }
                        if (v == esystemflag1.agv_stop)
                        {
                            agvViewer1.wat.Stop();
                        }
                    }


                    foreach (CheckBox c in panel7.Controls)
                    {
                        var idx = int.Parse(c.Tag.ToString());
                        if (idx == e.Idx)
                        {
                            c.Checked = e.Value;
                            break;
                        }
                    }
                    break;
                case DevAGV.evaluetype.error:
                    foreach (CheckBox c in panel9.Controls)
                    {
                        var idx = int.Parse(c.Tag.ToString());
                        if (idx == e.Idx)
                        {
                            c.Checked = e.Value;
                            break;
                        }
                    }
                    break;
                case DevAGV.evaluetype.signal:
                    foreach (CheckBox c in panel8.Controls)
                    {
                        var idx = int.Parse(c.Tag.ToString());
                        if (idx == e.Idx)
                        {
                            c.Checked = e.Value;
                            break;
                        }
                    }
                    break;


            }
        }

        char GetGroupItemCheckbox(GroupBox grp)
        {
            foreach (var ctl in grp.Controls)
            {
                if (ctl is RadioButton)
                {
                    var rad = ctl as RadioButton;
                    if (rad.Checked) return rad.Text[0];
                }
            }
            return '0';
        }




        int PLC_LeftPosition = 0;
        int PLC_RightPosition = 0;
        int PLC_LeftDir = 0;
        int PLC_RightDir = 0;

        private void Plc_ValueChanged(object sender, DevPLC.ValueChangedArgs e)
        {
            if (e.IsOut)
            {
                this.gvdPLCInOut.setValue(e.Idx + 16, e.Value);
                var doname = (DevPLC.DOName)e.Idx;

                switch (doname)
                {
                    case DevPLC.DOName.PINO_GUIDEMOTOR_RRUN:
                        break;
                    case DevPLC.DOName.PINO_GUIDEMOTOR_LRUN:
                        break;
                }
            }
            else
            {
                this.gvdPLCInOut.setValue(e.Idx, e.Value);

            }
            this.gvdPLCInOut.Invalidate();
        }

        private void Plc_RequestData(object sender, DevPLC.RequestBatteryDataArgs e)
        {
            var idx = 0;
            UInt32 val = 0;
            foreach (var data in gvdPLCInOut.Values)
            {
                SetBit(ref val, idx++, (data > 0));
            }
            e.IOValue = val;
            idx = 0;
            val = 0;
            foreach (var data in gvdPLCFlag.Values)
            {
                SetBit(ref val, idx++, (data > 0));
            }
            e.FGValue = val;
        }

        public void SetBit(ref UInt32 _value, int idx, Boolean value)
        {
            if (value)
            {
                var offset = (UInt32)(1 << idx);
                _value = _value | offset;
            }
            else
            {
                var offset = (UInt32)(~(1 << idx));
                _value = _value & offset;
            }
        }
        public void SetBit(ref UInt16 _value, int idx, Boolean value)
        {
            if (value)
            {
                var offset = (UInt16)(1 << idx);
                _value = (UInt16)(_value | offset);
            }
            else
            {
                var offset = (UInt16)(~(1 << idx));
                _value = (UInt16)(_value & offset);
            }
        }
        public void SetBit(ref byte _value, int idx, Boolean value)
        {
            if (value)
            {
                var offset = (byte)(1 << idx);
                _value = (byte)(_value | offset);
            }
            else
            {
                var offset = (byte)(~(1 << idx));
                _value = (byte)(_value & offset);
            }
        }

        void aaplycheckboxbit(ref UInt16 v, Panel p)
        {
            foreach (CheckBox chk in p.Controls)
            {
                var idx = int.Parse(chk.Tag.ToString());
                SetBit(ref v, idx, chk.Checked);
            }
        }
        void aaplycheckboxbit(ref byte v, Panel p)
        {
            foreach (CheckBox chk in p.Controls)
            {
                var idx = int.Parse(chk.Tag.ToString());
                SetBit(ref v, idx, chk.Checked);
            }
        }



        private void Agv_RequestStatusData(object sender, DevAGV.RequestStatusDataArgs e)
        {
            //UInt16 system0 = 0xFFFF;
            //UInt16 system1 = 0xFFFF;
            //UInt16 error = 0xFFFF;
            //byte signal = 0xFF;

            aaplycheckboxbit(ref AGV.system0, panel6);
            aaplycheckboxbit(ref AGV.system1, panel7);
            aaplycheckboxbit(ref AGV.error, panel9);
            aaplycheckboxbit(ref AGV.signal, panel8);

            if (this.agvViewer1.StopbyMark) AGV.sts_speed = 'S';
            else AGV.sts_speed = GetGroupItemCheckbox(groupBox4);
            AGV.sts_bunki = GetGroupItemCheckbox(groupBox2);
            AGV.sts_dir = GetGroupItemCheckbox(groupBox5);
            AGV.sts_sensor = GetGroupItemCheckbox(groupBox8);

            //this.Invoke(new Action(() =>
            //{
            //    e.system0 = system0;
            //    e.system1 = system1;
            //    e.error = error;
            //    e.signal = signal;
            //    e.speed = GetGroupItemCheckbox(groupBox4);
            //    e.bunki = GetGroupItemCheckbox(groupBox2);
            //    e.direction = GetGroupItemCheckbox(groupBox5);
            //    e.sensor = GetGroupItemCheckbox(groupBox8);

            //    e.volt = 23.4f;
            //}));
        }
        private void BMS_RequestVoltageData(object sender, DevBMS.RequestVoltageDataArgs e)
        {
          
            //cell전압값추가
            for (int i = 0; i < cellvolt.Length; i++)
            {
                this.cellvolt[i] = (UInt16)rnd.Next(3300, 3350);
            }
            Array.Copy(this.cellvolt, 0, e.cellVolt, 0, 8);
            this.btc1.Invoke(new Action(() => {
                var idx = 0;
                btc1.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc2.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc3.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc4.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc5.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc6.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc7.Text = (this.cellvolt[idx++] / 1000f).ToString();
                btc8.Text = (this.cellvolt[idx++] / 1000f).ToString();
            }));

        }
        private void Bms_RequestBatteryData(object sender, DevBMS.RequestBatteryDataArgs e)
        {
            if (checkBox1.Checked)
                this.trackBar1.Invoke(new Action(() =>
                {
                    this.trackBar1.Value -= 1;
                    trackBar1_Scroll(null, null);
                }));

            e.CurA = (int)BMS_CurA;
            e.MaxA = (int)BMS_MaxA;
            e.Remain = BMS_Remain;
            e.Volt = BMS_Volt;
            
        }

        private void button5_Click(object sender, EventArgs e)
        {
            AGV.WriteData("ACK");
        }

        private void button4_Click(object sender, EventArgs e)
        {
            AGV.WriteData("NAK");
        }

        private void button7_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
            var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
            var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;

            this.gvdPLCInOut.setValue((int)pinDL + 16, true);
            this.gvdPLCInOut.setValue((int)pinDR + 16, true);
            this.gvdPLCInOut.setValue((int)pinL + 16, true);
            this.gvdPLCInOut.setValue((int)pinR + 16, true);
            this.gvdPLCInOut.Invalidate();
        }

        private void button6_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
            var cur = gvdPLCInOut.Values[(int)pinL + 16];
            this.gvdPLCInOut.setValue((int)pinL + 16, false);
            this.gvdPLCInOut.setValue((int)pinR + 16, false);
            this.gvdPLCInOut.Invalidate();
        }

        private void button8_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
            var pinR = DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
            var pinDL = DevPLC.DOName.PINO_GUIDEMOTOR_LDIR;
            var pinDR = DevPLC.DOName.PINO_GUIDEMOTOR_RDIR;

            this.gvdPLCInOut.setValue((int)pinDL + 16, false);
            this.gvdPLCInOut.setValue((int)pinDR + 16, false);
            this.gvdPLCInOut.setValue((int)pinL + 16, true);
            this.gvdPLCInOut.setValue((int)pinR + 16, true);
            this.gvdPLCInOut.Invalidate();
        }

        private void trackBar1_Scroll(object sender, EventArgs e)
        {
            BMS_MaxA = float.Parse(label4.Text);
            BMS_CurA = (float)(trackBar1.Value / 100f);
            BMS_Remain = 100f * (BMS_CurA / BMS_MaxA);// (trackBar1.Value / 10f);
            var minvolt = 20.2f;
            var maxvolt = 26.8f;
            //   BMS_CurA = (BMS_MaxA * (BMS_Remain / 100f));
            label3.Text = BMS_CurA.ToString("N0"); //curr amp
            label5.Text = $"{BMS_Remain:N2}%";
            BMS_Volt = minvolt + ((maxvolt - minvolt) * (BMS_CurA / BMS_MaxA));
            label6.Text = $"{BMS_Volt:N2}v";
        }

        private void timer1_Tick(object sender, EventArgs e)
        {
            timer1.Stop();
            sbAGV.ForeColor = AGV.IsOpen ? Color.ForestGreen : Color.Red;
            sbPLC.ForeColor = PLC.IsOpen ? Color.ForestGreen : Color.Red;
            sbBMS.ForeColor = BMS.IsOpen ? Color.ForestGreen : Color.Red;
            sbCAL.ForeColor = CAL.IsOpen ? Color.ForestGreen : Color.Red;

            if (checkBox2.Checked && PLC != null && PLC.IsOpen) PLC.AutoSendData();  //자동전송해야함
            if (checkBox3.Checked && AGV != null && AGV.IsOpen) AGV.AutoSendData();  //자동전송해야함
            if (BMS != null && BMS.IsOpen) BMS.AutoSendData();  //자동전송해야함
            if (CAL != null && CAL.IsOpen) CAL.AutoSendData();  //자동전송해야함

            if (chkSimulation.Checked && AGV.GetAGV(esystemflag1.agv_run))
            {
                if (radioButton15.Checked)
                {
                    agvViewer1.dir = 1;
                }
                else
                {
                    agvViewer1.dir = -1;
                }
                if (radioButton12.Checked) agvViewer1.mspd = 7;
                else if (radioButton11.Checked) agvViewer1.mspd = 20;
                else agvViewer1.mspd = 40;
                agvViewer1.Invalidate();
            }

            UpdatePLC();
            label7.Text = $"I/O L({PLC_LeftPosition}),R({PLC_RightPosition})";

            timer1.Start();
        }

        void UpdatePLC()
        {
            //plc값을 업데이트해준다.
            var LRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN + 16) == 1;
            var RRun = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN + 16) == 1;
            var LDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_LDIR + 16) == 1;
            var RDir = gvdPLCInOut.getValue((int)DevPLC.DOName.PINO_GUIDEMOTOR_RDIR + 16) == 1;

            if (LRun == false) this.PLC_LeftDir = 0;
            else if (LDir == true) this.PLC_LeftDir = 1;
            else this.PLC_LeftDir = -1;

            if (RRun == false) this.PLC_RightDir = 0;
            else if (RDir == true) this.PLC_RightDir = 1;
            else this.PLC_RightDir = -1;

            this.PLC_LeftPosition += this.PLC_LeftDir;
            this.PLC_RightPosition += this.PLC_RightDir;

            var maxvalue = 20;
            if (PLC_LeftPosition >= maxvalue)
            {
                PLC_LeftPosition = maxvalue;
                PLC_LeftDir = 0;//멈춤
                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
                gvdPLCInOut.setValue(idx + 16, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
                gvdPLCInOut.setValue(idx, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
                gvdPLCInOut.setValue(idx, true);
            }
            else if (PLC_LeftPosition <= 0)
            {
                PLC_LeftPosition = 0;
                PLC_LeftDir = 0;
                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_LRUN;
                gvdPLCInOut.setValue(idx + 16, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_LU;
                gvdPLCInOut.setValue(idx, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_LD;
                gvdPLCInOut.setValue(idx, true);
            }
            else if (PLC_LeftPosition > 5 && PLC_LeftPosition < maxvalue - 5)
            {
                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LD) > 0)
                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LD, false);
                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_LU) > 0)
                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_LU, false);
            }

            if (PLC_RightPosition >= maxvalue)
            {
                PLC_RightPosition = maxvalue;
                PLC_RightDir = 0;//멈춤
                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
                gvdPLCInOut.setValue(idx + 16, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
                gvdPLCInOut.setValue(idx, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
                gvdPLCInOut.setValue(idx, true);
            }
            else if (PLC_RightPosition <= 0)
            {
                PLC_RightPosition = 0;
                PLC_RightDir = 0;
                var idx = (int)DevPLC.DOName.PINO_GUIDEMOTOR_RRUN;
                gvdPLCInOut.setValue(idx + 16, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_RU;
                gvdPLCInOut.setValue(idx, false);
                idx = (int)DevPLC.DIName.PINI_LIMIT_RD;
                gvdPLCInOut.setValue(idx, true);
            }
            else if (PLC_RightPosition > 5 && PLC_RightPosition < maxvalue - 5)
            {
                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RD) > 0)
                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RD, false);
                if (gvdPLCInOut.getValue((int)DevPLC.DIName.PINI_LIMIT_RU) > 0)
                    gvdPLCInOut.setValue((int)DevPLC.DIName.PINI_LIMIT_RU, false);
            }
        }


        private void Bms_Message(object sender, AR.Dev.RS232.MessageEventArgs e)
        {
            var dev = sender as AR.Dev.RS232;
            if (dev is DevBMS)
            {
                logBMS.Add(e.Message);
            }
            else if (dev is DevAGV)
            {
                logAGV.Add(e.Message);
            }
            else if (dev is DevPLC)
            {
                logPLC.Add(e.Message);
            }
            else if (dev is DevCAL)
            {
                if (e.MsgType == AR.Dev.RS232.MessageType.Send)
                    logCAL.Add(">> " + e.Data.HexString());
                else if (e.MsgType == AR.Dev.RS232.MessageType.Recv)
                    logCAL.Add("<< " + e.Data.HexString());
                else logCAL.Add(e.Message);
            }
        }

        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            timer1.Stop();
            logPLC.Flush();
            logAGV.Flush();
            logBMS.Flush();
            logCAL.Flush();
        }

        private void btPLCemg_Click(object sender, EventArgs e)
        {
            var pin = DevPLC.DIName.PINI_EMG;
            var cur = gvdPLCInOut.Values[(int)pin];
            this.gvdPLCInOut.setValue((int)pin, cur == 0);
            this.gvdPLCInOut.Invalidate();
        }

        private void button9_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DIName.PINI_LIMIT_LU;
            var pinR = DevPLC.DIName.PINI_LIMIT_RU;
            var cur = gvdPLCInOut.Values[(int)pinL];
            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
            this.gvdPLCInOut.setValue((int)pinR, cur == 0);

            pinL = DevPLC.DIName.PINI_LIMIT_LD;
            pinR = DevPLC.DIName.PINI_LIMIT_RD;
            this.gvdPLCInOut.setValue((int)pinL, false);
            this.gvdPLCInOut.setValue((int)pinR, false);
            this.gvdPLCInOut.Invalidate();
        }

        private void button10_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DIName.PINI_LIMIT_LD;
            var pinR = DevPLC.DIName.PINI_LIMIT_RD;
            var cur = gvdPLCInOut.Values[(int)pinL];
            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
            this.gvdPLCInOut.setValue((int)pinR, cur == 0);


            pinL = DevPLC.DIName.PINI_LIMIT_LU;
            pinR = DevPLC.DIName.PINI_LIMIT_RU;
            this.gvdPLCInOut.setValue((int)pinL, false);
            this.gvdPLCInOut.setValue((int)pinR, false);


            this.gvdPLCInOut.Invalidate();
        }

        private void button13_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DIName.PINI_BTN_1;
            var cur = gvdPLCInOut.Values[(int)pinL];
            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
            this.gvdPLCInOut.Invalidate();
        }

        private void button12_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DIName.PINI_BTN_2;
            var cur = gvdPLCInOut.Values[(int)pinL];
            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
            this.gvdPLCInOut.Invalidate();
        }

        private void button11_Click(object sender, EventArgs e)
        {
            var pinL = DevPLC.DIName.PINI_BTN_3;
            var cur = gvdPLCInOut.Values[(int)pinL];
            this.gvdPLCInOut.setValue((int)pinL, cur == 0);
            this.gvdPLCInOut.Invalidate();
        }

        private void panel4_Paint(object sender, PaintEventArgs e)
        {

        }

        private void groupBox9_Enter(object sender, EventArgs e)
        {

        }

        private void button14_Click(object sender, EventArgs e)
        {
            //agv 정지
            //비상정지 에러 플래그 
            AGV.SetAGV(DevAGV.eerror.Emergency, true);
            AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
        }



        private void button16_Click(object sender, EventArgs e)
        {
            AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, true);
        }

        private void button15_Click(object sender, EventArgs e)
        {
            AGV.SetAGV(DevAGV.esystemflag1.stop_by_front_detect, false);
        }

        private void button17_Click(object sender, EventArgs e)
        {
            //agv 정지
            //비상정지 에러 플래그 
            AGV.SetAGV(DevAGV.eerror.Emergency, false);
            AGV.SetAGV(DevAGV.eerror.line_out_error, false);
            AGV.SetAGV(DevAGV.eerror.Overcurrent, false);
            AGV.SetAGV(DevAGV.esystemflag1.agv_run, false);
            AGV.SetAGV(DevAGV.esystemflag1.agv_stop, true);
        }



        private void Chk_CheckedChanged(object sender, EventArgs e)
        {
            var chk = sender as CheckBox;
            var idx = int.Parse(chk.Tag.ToString());

            switch (chk.Parent.Tag.ToString().ToLower())
            {
                case "s0":
                    var v0 = (DevAGV.esystemflag0)idx;
                    AGV.SetAGV(v0, chk.Checked);
                    break;
                case "s1":
                    var v1 = (DevAGV.esystemflag1)idx;
                    AGV.SetAGV(v1, chk.Checked);
                    break;
                case "er":
                    var v2 = (DevAGV.eerror)idx;
                    AGV.SetAGV(v2, chk.Checked);
                    break;
                case "sg":
                    var v3 = (DevAGV.esignal)idx;
                    AGV.SetAGV(v3, chk.Checked);
                    break;
            }

            chk.BackColor = chk.Checked ? Color.Lime : SystemColors.Window;
        }

        private void button18_Click(object sender, EventArgs e)
        {
            AGV.SendTag(numericUpDown1.Value.ToString());
        }

        private void button1_Click(object sender, EventArgs e)
        {
            var bt = sender as Button;
            var kitno = nudBMSKitNo.Value.ToString()[0];
            var value = bt.Tag.ToString()[0];
            var barr = new List<byte>();
            barr.Add(0x02);
            barr.Add((byte)kitno);
            barr.Add((byte)value);
            barr.Add(0x03);
            CAL.WriteData(barr.ToArray());
        }

        private void serAGV_Load(object sender, EventArgs e)
        {

        }

        private void agvViewer1_Click(object sender, EventArgs e)
        {

        }

        private void agvViewer1_MouseDown(object sender, MouseEventArgs e)
        {
            if (e.Button == MouseButtons.Left)
            {
                agvViewer1.StopbyMark = !agvViewer1.StopbyMark;
            }
            else if (e.Button == MouseButtons.Right)
            {
                MakeViewer();
            }
        }

        private void radioButton20_Click(object sender, EventArgs e)
        {
            var rad = sender as RadioButton;
            var kitno = int.Parse(rad.Text);
            nudBMSKitNo.Value = (decimal)kitno;
        }

        private void toolStripButton1_Click(object sender, EventArgs e)
        {
            serAGV.Connect();
            serPLC.Connect();
            serBMS.Connect();
            serCAL.Connect();
        }

        private void toolStripButton2_Click(object sender, EventArgs e)
        {
            serAGV.Disconnect();
            serPLC.Disconnect();
            serBMS.Disconnect();
            serCAL.Disconnect();
        }

        private void serBMS_Load(object sender, EventArgs e)
        {

        }

        void checkboxevent()
        {

        }

        private void GvdPLCFlag_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
        {
            var newvalue = gvdPLCFlag.Values[e.idx];
            this.gvdPLCFlag.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
            this.gvdPLCFlag.Invalidate();
        }

        private void GvdPLCInOut_ItemClick(object sender, arFrame.Control.GridView.ItemClickEventArgs e)
        {
            var newvalue = gvdPLCInOut.Values[e.idx];
            this.gvdPLCInOut.setValue(e.idx, (ushort)(newvalue == 0 ? 1 : 0));
            this.gvdPLCInOut.Invalidate();
        }
    }
}