using System;
using System.Collections.Generic;
using System.Drawing;
using System.Windows.Forms;
using System.IO;
using System.Threading;
using HalconDotNet;
using HalconTools;
using PointGreyAndHalcon;
using System.Diagnostics;
using SuperDog;
using Microsoft.Win32;

namespace LLMF
{
    public partial class frmMain : Form
    {
        #region 定义

        //private LogHelper log = LogHelper.GetInstance();

        string configPath = Application.StartupPath + "\\Config.xml";
        ConfigStruct config;
        ToolKit.FileToolkit.SerializeFileTool<ConfigStruct> sft = new ToolKit.FileToolkit.SerializeFileTool<ConfigStruct>();

        OPC opc;

        string camConfigPath = Application.StartupPath + "\\camConfig.xml";
        PointGreyAndHalcon.PointGreyAndHalcon cam;
        PointGreyAndHalcon.PointGreyAndHalcon cam_left;

        HalconTool ht = new HalconTool();
        HalconTool ht_left = new HalconTool();

        RunStatus runStatus = RunStatus.Normal;
        RunStatus runStatus_left = RunStatus.Normal;

        double initAngle = 0;
        double finalAngle = 0;
        double initAngle_left = 0;
        double finalAngle_left = 0;
        bool booltemAngle = false;
        Stopwatch sw = new Stopwatch();

        HTuple ImageHeight = new HTuple();
        HTuple ImageWidth = new HTuple();
        
        bool isLeftCameraOpen = false;
        bool isRightCameraOpen = false;
        bool isDoorOpen = false;
        //bool isCylinderLoosen = false;
        //bool isCylinder2Loosen = false;
        bool isUUTOut = false;
        bool isRealyOK = false;
        
        #endregion
        WelcomeUser m_WelcomeForm = new WelcomeUser(); //欢迎界面
        public frmMain()
        {
            InitializeComponent();
        }

        private void frmMain_Load(object sender, EventArgs e)
        {
            m_WelcomeForm.Show(); //显示欢迎界面
          //  m_WelcomeForm.ProgressBar1.Value = 0; //欢迎界面进度条
            Application.DoEvents(); //处理所有的当前在消息队列中的Windows消息。

            Log.WriteLog("App main form loading");

            initConfig();
            if (config.leftUsed)
            {
                Log.WriteLog("App main form load leftUsed");
                tabPage2.Parent = null;
                initCam_Left();
                initHalconTool_Left();
                tabControl1.TabPages[0].Select();
            }

            if (config.rightUsed)
            {
                Log.WriteLog("App main form load rightUsed");
                tabPage1.Parent = null;
                initCam_Right();
                initHalconTool();
                tabControl1.TabPages[0].Select();
            }
            initOPC();

            m_WelcomeForm.Close();//
            m_WelcomeForm = null; //清空内存
        }


        /// <summary>
        /// 建立Tag与Control之间的联系
        /// </summary>

        private void MapTagToControl()
        {
            Log.WriteLog("MapTagToControl Enter");

            opc.itemReadDict[InputTag.X_JinDian].control = lblX_JinDian;
            opc.itemReadDict[InputTag.Z_JinDian].control =lblZ_JinDian;
            opc.itemReadDict[InputTag.X_Alarm].control =lblX_Alarm;
            opc.itemReadDict[InputTag.Z_Alarm].control = lblZ_Alarm;
            opc.itemReadDict[InputTag.X_CW].control = lblX_CW;
            opc.itemReadDict[InputTag.X_CCW].control = lblX_CCW;
            opc.itemReadDict[InputTag.Z_CW].control = lblZ_CW;
            opc.itemReadDict[InputTag.Z_CCW].control =lblZ_CCW;
            opc.itemReadDict[InputTag.DingWei_CW].control = lblDingWei_CW;
            opc.itemReadDict[InputTag.DingWei_CCW].control = lblDingWei_CCW;
            opc.itemReadDict[InputTag.DingWei_JinDian].control = lblDingWei_JinDian;
            opc.itemReadDict[InputTag.DingWei_Alarm].control = lblDingWei_Alarm;

            opc.itemReadDict[InputTag.Start1].control = lblStart1;
            opc.itemReadDict[InputTag.Start2].control = lblStart2;
            opc.itemReadDict[InputTag.Reset].control = lblReset;
            opc.itemReadDict[InputTag.E_Stop].control = lblE_Stop;
            opc.itemReadDict[InputTag.SafeCurtain].control = lblSafeCurtain;
            opc.itemReadDict[InputTag.OpenJieJin].control = lblOpenJieJin;
            opc.itemReadDict[InputTag.CeBianQian].control =lblCeBianQian;
            opc.itemReadDict[InputTag.CeBianHou].control = lblCeBianHou;
            opc.itemReadDict[InputTag.WuGanQian].control = lblWuGanQian;
            opc.itemReadDict[InputTag.WuGanHou].control = lblWuGanHou;


            //OutPut  I/O界面显示

            opc.itemWriteDict[OutputTag.CeBianCylider].control = lblCeBianCylider;
            opc.itemWriteDict[OutputTag.ZhengBianCylider].control = lblZhengBianCylider;
            opc.itemWriteDict[OutputTag.WuGanCylider].control = lblWuGanCylider;
            opc.itemWriteDict[OutputTag.HuaTaiCylider].control = lblHuaTaiCylider;
            opc.itemWriteDict[OutputTag.SiFuPowerOn].control = lblSiFuPowerOn;
            opc.itemWriteDict[OutputTag.X_SRV_ON].control = lblX_SRV_ON;
            opc.itemWriteDict[OutputTag.Z_SRV_ON].control = lblZ_SRV_ON;
            opc.itemWriteDict[OutputTag.DingWei_SRV_ON].control = lblDingWei_SRV_ON;
            opc.itemWriteDict[OutputTag.Red].control = lblRed;
            opc.itemWriteDict[OutputTag.Yellow].control = lblYellow;
            opc.itemWriteDict[OutputTag.Green].control = lblGreen;
            opc.itemWriteDict[OutputTag.Buzzer].control = lblBuzzer;
            opc.itemWriteDict[OutputTag.Z_ShaChe].control = lblZ_ShaChe;
            opc.itemWriteDict[OutputTag.ForApple].control = lblForApple;
            opc.itemWriteDict[OutputTag.CameraLighto].control = lblCameraLighto;
            opc.itemWriteDict[OutputTag.WuGanCylider2].control = lblWuGanCylider2;
            
            Log.WriteLog("MapTagToControl Leave");
        }


        #region 初始化
        /// <summary>
        /// 加载配置文件
        /// </summary>
        private void initConfig()
        {
            Log.WriteLog("InitConfig configpath: " + configPath);

            if (File.Exists(configPath))
            {
                config = sft.GetConfig(configPath);
            }
            else
            {
                config = new ConfigStruct();

                config.angleOffset = 0;
                config.opcConfig.itmHandleClient = 1234;
                config.opcConfig.serverIP = "127.0.0.1";
                config.opcConfig.serverName = "KEPware.KEPServerEx.V4";
                config.opcConfig.groupProperty.defaultGroupDeadband = 0;
                config.opcConfig.groupProperty.defaultGroupIsActive = true;
                config.opcConfig.groupProperty.isActive = true;
                config.opcConfig.groupProperty.isSubscribed = true;
                config.opcConfig.groupProperty.updateRate = 300;
                config.title = "LLMF V1.1";
                config.cams = new CamerasConfig();
                config.cams.SerialNumber = new uint[1];
                config.cams.SerialNumber[0] = 11111111;
                config.password = "1";
                config.minAngle = 119;
                config.maxAngle = 121;
                config.pulsePerDegree = 500;
                config.calAngle = 120;
                config.saveImage = true;                
                sft.SetConfig(configPath, config);
            }
            this.tsplabelProductName.Text = config.title;
            this.txtCalAngle.Text = config.calAngle.ToString();
            this.txtCalAngle_left.Text = config.calAngle.ToString();
            this.ckbSaveImage.Checked = config.saveImage;

            List<string> list = new List<string>();
            list.Add("inch13");
            list.Add("inch15");
            list.Add("inch16");
            if (config.leftUsed)
            {
                cboSize_Left.DataSource = list;
                cboSize_Left.SelectedIndex = config.selectedSizeIndex;
            }
            if (config.rightUsed)
            {
                cboSize.DataSource = list;
                cboSize.SelectedIndex = config.selectedSizeIndex;
            }
        }

        /// <summary>
        /// 加载相机
        /// </summary>
        private void  initCam_Right()
        {
            Log.WriteLog("initCam_Right Enter");

            cam = new PointGreyAndHalcon.PointGreyAndHalcon();
            isRightCameraOpen = cam.OpenCamera(config.cams.SerialNumber[1]);
            cam.GrabImageDone += new GrabImageDoneDelegate(cam_GrabImageDone);

            Log.WriteLog("initCam_Right Leave");
        }
        

        /// <summary>
        /// 加载HalconTool
        /// </summary>
        private void initHalconTool()
        {
            Log.WriteLog("initHalconTool Enter");

            ht.LoadJobs();
            ht.resultCreater.ListenEvent += new EventHandler<HalconTools.ListenEventArgs>(resultCreater_ListenEvent);

            Log.WriteLog("initHalconTool Leave");
        }



        /// <summary>
        /// 加载OPC
        /// </summary>
        private void initOPC()
        {
            Log.WriteLog("initOPC Enter");

            ConnectToOpc();
            UpdateOPC();
            MapTagToControl();
            opc.listenEventCreater.ListenEvent += new EventHandler<EventTool.ListenEventArgs>(listenEventCreater_ListenEvent);
            opc.listenEventCreater.ListenEvent += new EventHandler<EventTool.ListenEventArgs>(listenOutTageEventCreater_ListenEvent);

            Log.WriteLog("initOPC Leave");
        }

        #endregion

        #region 各种事件

        void cam_GrabImageDone(string recData, HImage recImage)
        {
            Log.WriteLog("cam_GrabImageDone Enter");

            Log.WriteLog("cam_GrabImageDone recData: " + runStatus.ToString());

            lock (GetMutexLock_Right())
            {
                Log.WriteLog("cam_GrabImageDone lock GetMutexLock_Right enter");

                this.BeginInvoke(new MethodInvoker(delegate
                    {
                        Log.WriteLog("cam_GrabImageDone ui thread proccess begin");

                        switch (recData)
                        {
                            case "GrabSuccess":
                                //cam.image = recImage;
                                Log.WriteLog("cam_GrabImageDone GrabSuccess begin");

                                Log.WriteLog("cam_GrabImageDone GrabSuccess updateImage");

                                cam.UpdateImage(viewPort);

                                Log.WriteLog("cam_GrabImageDone GrabSuccess save image file");
                                if (runStatus != RunStatus.continueCapture)
                                {
                                    #region 保存图片
                                    string FolderPath = "D:\\Image\\" + DateTime.Now.ToString("yyyyMMdd");
                                    string fileName = txtSN.Text.Trim() + "-" + DateTime.Now.ToString("HHmmssffff");

                                    if (!Directory.Exists(FolderPath)) Directory.CreateDirectory(FolderPath);
                                    cam.SaveImage(FolderPath, fileName);
                                    #endregion
                                }

                                ht.JobImage.Dispose();
                                Log.WriteLog("cam_GrabImageDone GrabSuccess getimage info");

                                ht.JobImage = recImage.CopyImage();
                                HOperatorSet.GetImageSize(ht.JobImage, out ImageWidth, out ImageHeight);
                                ht.JobResults.Clear();
                                
                                Log.WriteLog("cam_GrabImageDone GrabSuccess run JobLLMF");
                                ht.Run("JobLLMF");

                                Log.WriteLog("cam_GrabImageDone GrabSuccess end");
                                break;

                            case "GrabFail":
                                Log.WriteLog("cam_GrabImageDone GrabFail");
                                break;
                        }

                        recImage.Dispose();

                        Log.WriteLog("cam_GrabImageDone ui thread proccess end");
                    }));
                GC.Collect();//c#回收系统
            }

            Log.WriteLog("cam_GrabImageDone Leave");
        }

        void cam_left_GrabImageDone(string recData, HImage recImage)
        {
            Log.WriteLog("cam_left_GrabImageDone Enter");

            Log.WriteLog("cam_left_GrabImageDone recData: " + runStatus.ToString());

            lock (GetMutexLock_Left())
            {
                Log.WriteLog("cam_left_GrabImageDone lock GetMutexLock_Left enter");

                this.BeginInvoke(new MethodInvoker(delegate
                    {
                        Log.WriteLog("cam_left_GrabImageDone ui thread proccess begin");

                        switch (recData)
                        {
                            case "GrabSuccess":
                                //cam_left.image = recImage.CopyImage();  
                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess begin");

                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess updateImage");

                                cam_left.UpdateImage(viewPort_left);

                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess save image file");
                                if (runStatus_left != RunStatus.continueCapture)
                                {
                                    #region 保存图片
                                    string FolderPath = "D:\\Image\\" + DateTime.Now.ToString("yyyyMMdd") + "-left";
                                    string fileName = txtSN.Text.Trim() + "-" + DateTime.Now.ToString("HHmmssffff");

                                    if (!Directory.Exists(FolderPath)) Directory.CreateDirectory(FolderPath);
                                    cam_left.SaveImage(FolderPath, fileName);
                                    #endregion
                                }

                                ht_left.JobImage.Dispose();

                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess getimage info");
                                ht_left.JobImage = recImage.CopyImage();
                                HOperatorSet.GetImageSize(ht_left.JobImage, out ImageWidth, out ImageHeight);
                                ht_left.JobResults.Clear();

                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess run JobLLMF");
                                ht_left.Run("JobLLMF");

                                Log.WriteLog("cam_left_GrabImageDone GrabSuccess end");
                                break;

                            case "GrabFail":
                                Log.WriteLog("cam_left_GrabImageDone GrabFail");
                                break;
                        }

                        recImage.Dispose();

                        Log.WriteLog("cam_left_GrabImageDone ui thread proccess end");
                    }));

                GC.Collect();
            }

            Log.WriteLog("cam_left_GrabImageDone Leave");
        }

        void resultCreater_ListenEvent(object sender, HalconTools.ListenEventArgs e)
        {
            Log.WriteLog("resultCreater_ListenEvent Enter");

            this.BeginInvoke(new MethodInvoker(delegate
                {
                    Log.WriteLog("resultCreater_ListenEvent UI, data:" + e.IData.Data.ToString()+ ", runStatus:" + runStatus);

                    string s = e.IData.Data.ToString();
                    if (!s.Equals("JobLLMF_Done"))
                    {
                        if (runStatus == RunStatus.firstCapture || runStatus == RunStatus.adjustMent)
                        {
                            Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.CaptureFail_Right true begin");

                            opc.Write(OutputTag.CaptureFail_Right, true);

                            Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.CaptureFail_Right true end");
                            return;
                        }
                    }

                    Log.WriteLog("resultCreater_ListenEvent UI, jobresults count: " + ht.JobResults.Count.ToString());

                    JobResult r = new JobResult();

                    if (ht.JobResults.Count > 0)
                    {
                        r = ht.JobResults[0].results[0];

                        string logstr = (null == r.fitLineResult) ? "null" : "exists";
                        Log.WriteLog("resultCreater_ListenEvent UI, jobresults count r.fitLineResult:" + logstr);
                        if (r.fitLineResult == null)
                        {
                            ShowDisplayAngle("-");
                            return;
                        }
                    }
                    else
                    {
                        ShowDisplayAngle("-");
                        return;
                    }

                    Log.WriteLog("resultCreater_ListenEvent UI, DrawLine");

                    DrawLine(viewPort, r.fitLineResult);

                    double tmpAngle = 180 - ht.AngleLine2HorizontialAxis(r.fitLineResult) + config.angleOffset;

                    Log.WriteLog("resultCreater_ListenEvent UI, ShowDisplayAngle angle: " + tmpAngle.ToString());

                    ShowDisplayAngle(tmpAngle.ToString("0.00"));
                    if(booltemAngle==true)
                    {
                        Log.WriteLog("Camera Get The Alignment tmpAangle"+tmpAngle.ToString());
                    
                    }
                    

                    if (runStatus == RunStatus.calibration)                                     //标定
                    {
                        this.btnCalibration.Enabled = true;
                        return;
                    }

                    if (runStatus == RunStatus.continueCapture)                                 //连续拍照
                    {
                        return;
                    }

                    if (runStatus == RunStatus.firstCapture || runStatus == RunStatus.adjustMent)
                    {
                        if (runStatus == RunStatus.firstCapture)
                        {
                            initAngle = tmpAngle;               //记录初始角度


                            //Janhans 增加界面角度log记载的Flage 变量 booltemAngle
                            booltemAngle = true;
                            Log.WriteLog("Camera Get The InitAngle "+initAngle.ToString());
                        }
                        if (tmpAngle >= config.minAngle && tmpAngle <= config.maxAngle)
                        {
                            string str;

                            finalAngle = tmpAngle;
                            sw.Stop();
                            Log.WriteLog("Camera Get The FinalAngle" + finalAngle);

                            str=sw.ElapsedMilliseconds.ToString();
                            Log.WriteLog("Aangle_Alignment_Time"+str+"ms");
                            sw.Restart();
                            Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move_OK true begin");
                            opc.Write(OutputTag.Move_OK, true);
                            Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move_OK true end");
                           
                            Log.WriteLog("-------角度调整完成，继电器上电， PC给出信号至Macmin-----");
                            Log.WriteLog("--------Relay turn on------");
                            isRealyOK = true;
                            Log.WriteLog("RunEnd Enter");
                            txtResultInitAngle.Text = initAngle.ToString("0.00");
                            txtResultFinalAngle.Text = finalAngle.ToString("0.00");
                            booltemAngle = false;//界面角度log记载的Flage 变量 booltemAngle
                            

                            //RunEnd();
                            //Log.WriteLog("resultCreater_ListenEvent UI, RunEnd");

                            return;
                        }

                        //告诉PLC走多少
                        int tmpDis = (int)(((config.maxAngle + config.minAngle) / 2 - tmpAngle) * config.pulsePerDegree);

                        Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move_Distance: " + tmpDis.ToString());

                        opc.Write(OutputTag.Move_Distance, tmpDis);

                        Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move begin");

                        Thread.Sleep(100);
                        opc.Write(OutputTag.Move, true);

                        Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move end");
                    }
                }));

            Log.WriteLog("resultCreater_ListenEvent Leave");
        }

        void resultCreater_left_ListenEvent(object sender, HalconTools.ListenEventArgs e)
        {
            Log.WriteLog("resultCreater_left_ListenEvent Enter");

            this.BeginInvoke(new MethodInvoker(delegate
                {
                    Log.WriteLog("resultCreater_left_ListenEvent UI, data:"+ e.IData.Data.ToString() + " runStatus: " + runStatus);

                    string s = e.IData.Data.ToString();
                    if (!s.Equals("JobLLMF_Done"))
                    {
                        if (runStatus_left == RunStatus.firstCapture || runStatus_left == RunStatus.adjustMent)
                        {
                            Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.CaptureFail_left true begin");

                            opc.Write(OutputTag.CaptureFail_left, true);

                            Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.CaptureFail_left true end");
                            return;
                        }
                    }

                    JobResult r = new JobResult();

                    Log.WriteLog("resultCreater_left_ListenEvent UI, jobresults count:" + ht_left.JobResults.Count.ToString());

                    if (ht_left.JobResults.Count > 0)
                    {
                        r = ht_left.JobResults[0].results[0];
                        string logstr = (null == r.fitLineResult) ? "null" : "exists";

                        Log.WriteLog("resultCreater_left_ListenEvent UI, jobresults count r.fitLineResult: " + logstr);
                        if (r.fitLineResult == null)
                        {
                            ShowDisplayAngle_left("-");
                            return;
                        }
                    }
                    else
                    {
                        ShowDisplayAngle_left("-");
                        return;
                    }

                    Log.WriteLog("resultCreater_left_ListenEvent UI, DrawLine");

                    DrawLine(viewPort_left, r.fitLineResult);

                    double tmpAngle = 180 - ht_left.AngleLine2HorizontialAxis(r.fitLineResult) + config.angleOffset_Left;

                    Log.WriteLog("resultCreater_left_ListenEvent UI, ShowDisplayAngle angle: " + tmpAngle.ToString());

                    ShowDisplayAngle_left(tmpAngle.ToString("0.00"));

                    if (runStatus_left == RunStatus.calibration)                                     //标定
                    {
                        this.btnCalibration_left.Enabled = true;
                        return;
                    }

                    if (runStatus_left == RunStatus.continueCapture)                                 //连续拍照
                    {
                        return;
                    }

                    if (runStatus_left == RunStatus.firstCapture || runStatus_left == RunStatus.adjustMent)
                    {
                        if (runStatus_left == RunStatus.firstCapture)
                        {
                            initAngle_left = tmpAngle;               //记录初始角度
                        }
                        if (tmpAngle >= config.minAngle && tmpAngle <= config.maxAngle)
                        {

                            finalAngle_left = tmpAngle;

                            Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.Move_OK_left true begin");

                            opc.Write(OutputTag.Move_OK_left, true);
                            Log.WriteLog("-------角度调整完成，PC给出继电器信号至Macmin-----");
                            Log.WriteLog("--------Relay turn on------");

                            Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.Move_OK_left true end");

                            RunEnd_Left();

                            Log.WriteLog("resultCreater_left_ListenEvent UI, RunEnd_Left");

                            return;
                        }

                        //告诉PLC走多少
                        int tmpDis = (int)(((config.maxAngle + config.minAngle) / 2 - tmpAngle) * config.pulsePerDegree_Left);

                        Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.Move_Distance_left:" + tmpDis.ToString());

                        opc.Write(OutputTag.Move_Distance_left, tmpDis);

                        Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.Move_Distance_left begin");

                        Thread.Sleep(100);
                        opc.Write(OutputTag.Move_left, true);

                        Log.WriteLog("resultCreater_left_ListenEvent UI, opc write OutputTag.Move_left end");
                    }
                }));

            Log.WriteLog("resultCreater_left_ListenEvent Leave");
        }

        void listenEventCreater_ListenEvent(object sender, EventTool.ListenEventArgs e)
        {
           // Log.WriteLog("listenEventCreater_ListenEvent Enter");

            this.BeginInvoke(new MethodInvoker(delegate
                {
                    OPC.Item item = (OPC.Item)e.IData.Data;

                    string logstr = (null == item.value) ? "null" : item.value.ToString();
                    Log.WriteLog("listenEventCreater_ListenEvent item.name:" + item.name + " item.value: " + logstr);

                    switch (item.name)
                    {
                        case InputTag.Capture:
                            if ((bool)item.value)
                            {
                                if (!Effective())
                                {
                                    break;
                                }
                                if (runStatus == RunStatus.Normal)
                                {
                                    runStatus = RunStatus.firstCapture;
                                }
                                else if (runStatus == RunStatus.firstCapture)
                                {
                                    runStatus = RunStatus.adjustMent;
                                }

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Capture cam.GrabImage begin");
                                cam.GrabImage("");
                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Capture cam.GrabImage end");
                            }
                            break;

                        case InputTag.Position:
                            Log.WriteLog("listenEventCreater_ListenEvent InputTag.Position");

                            tsslPosition.Text = ((int)item.value).ToString();
                            break;

                        case InputTag.Start:
                            if ((bool)item.value)
                            {
                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start StopRightCamera begin");
                                Log.WriteLog("------双手启动完成，产品送料开始，相机准备拍照----");
                                //双手启动，产品送料开始
                                sw.Start();
                 
                                StopRightCamera();

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start opc write OutputTag.Start");

                                opc.Write(OutputTag.Start, false);

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start initTest");

                                initTest();

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start ShowDisplay");

                                ShowDisplay("开始检测", Color.Blue, Color.Lime);
                            }
                            break;

                        case InputTag.Capture_left:
                            if ((bool)item.value)
                            {
                                if (!Effective())
                                {
                                    break;
                                }
                                if (runStatus_left == RunStatus.Normal)
                                {
                                    runStatus_left = RunStatus.firstCapture;
                                }
                                else if (runStatus_left == RunStatus.firstCapture)
                                {
                                    runStatus_left = RunStatus.adjustMent;
                                }

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Capture_left cam_left.GrabImage begin");

                                cam_left.GrabImage("");

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Capture_left cam_left.GrabImage end");
                            }
                            break;

                        case InputTag.Position_left:
                            Log.WriteLog("listenEventCreater_ListenEvent InputTag.Position_left");
                            tsslPosition_left.Text = ((int)item.value).ToString();
                            break;

                        case InputTag.Start_left:
                            if ((bool)item.value)
                            {
                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start_left StopLeftCamera begin");
                                Log.WriteLog("------双手启动完成，产品送料开始，相机准备拍照----");
                                StopLeftCamera();

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start_left opc write OutputTag.Start_left");

                                opc.Write(OutputTag.Start_left, false);

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start_left initTest_Left");

                                initTest_Left();

                                Log.WriteLog("listenEventCreater_ListenEvent InputTag.Start_left ShowDisplay_left");

                                ShowDisplay_left("开始检测", Color.Blue, Color.Lime);
                            }
                            break;

                        case InputTag.Alarm:
                            Log.WriteLog("listenEventCreater_ListenEvent InputTag.Alarm");
                            AlarmDisplay((int)item.value, this.tsslAlarm);
                            break;

                        case InputTag.Alarm_left:
                            Log.WriteLog("listenEventCreater_ListenEvent InputTag.Alarm_left");
                            AlarmDisplay((int)item.value, this.tsslAlarm_Left);
                            break;

                    }
                }));

           // Log.WriteLog("listenEventCreater_ListenEvent Leave");
        }
        void listenOutTageEventCreater_ListenEvent(object sender, EventTool.ListenEventArgs e)
        {
            // Log.WriteLog("listenEventCreater_ListenEvent Enter");

            this.BeginInvoke(new MethodInvoker(delegate
            {
                OPC.Item item = (OPC.Item)e.IData.Data;

                string logstr = (null == item.value) ? "null" : item.value.ToString();
                Log.WriteLog("listenEventCreater_ListenEvent item.name:" + item.name + " item.value: " + logstr);

                switch (item.name)
                {
                    case OutputTag.ForApple:
                        if (config.rightUsed == true)
                        {
                            btnDisplay.Text = (bool)item.value ? "继电器上电并保持" : "继电器断电";


                        }
                        else
                        {
                            btnDisplay_left.Text = (bool)item.value ? "继电器上电并保持" : "继电器断电";
                                                   

                        }

                        if ((bool)item.value && isRealyOK)
                        {
                            //Log.WriteLog("--------角度调整完成，继电器上电------");
                        

                        }
                         else if (!((bool)item.value) && isRealyOK)
                        {
                            Log.WriteLog("--------产品检测完成,OP复位操作，继电器断电------");
                            Log.WriteLog("--------Relay turn off------");
                            isRealyOK = false;
                            Log.WriteLog("--------产品检测结束------");
                            Thread.Sleep(3000);
                            Log.WriteLog("resultCreater_ListenEvent UI, opc write OutputTag.Move_OK true end");
                            RunEnd();
                            Log.WriteLog("resultCreater_ListenEvent UI, RunEnd");
                        }
                       
                        break;  

                }
            }));

            // Log.WriteLog("listenEventCreater_ListenEvent Leave");
        }

        #endregion

        #region OPC操作

        /// <summary>
        /// 连接到OPC Server
        /// 保持此前的手动/自动模式
        /// </summary>
        private void ConnectToOpc()
        {
            Log.WriteLog("ConnectToOpc Enter");

            opc = new OPC(config.opcConfig);
            if (opc.Connect())
            {
                Log.WriteLog("ConnectToOpc connect succeed");

                tsslOPC.Text = "OPC Connection Succeed !";
                // 进行如下操作
                opc.CreateGroup(); // 创建Group
                //PlcRunMode(RunMode.Manual);
            }
            else
            {
                Log.WriteLog("ConnectToOpc connect fail");

                tsslOPC.Text = "OPC Connection Failed !";

                /* 连接不上时的异常处理 */
            }

            Log.WriteLog("ConnectToOpc Leave");
        }

        /// <summary>
        /// 遍历OPC所有点位，得到值
        /// </summary>
        private void UpdateOPC()
        {
            Log.WriteLog("UpdateOPC Enter");
            Thread.Sleep(5000);

            foreach (KeyValuePair<string, OPC.Item> item in opc.itemReadDict)
            {
                object status = new Object();
                opc.ReadOneItem_Wrapper(item.Key, ref status);
                string logstr = (null == item.Value) ? "null" : item.Value.ToString();
                Log.WriteLog("UpdateOPC itemReadDict key: " + item.Key + " value:" + logstr);
                
                switch (item.Key)
                {
                    case InputTag.Capture :
                        break;

                    case InputTag.Position:
                        tsslPosition.Text = ((int)item.Value.value).ToString();
                        break;

                    case InputTag.Position_left:
                        tsslPosition_left.Text = ((int)item.Value.value).ToString();
                        break;

                    case InputTag.Alarm:
                        //AlarmDisplay((int)item.Value.value);
                        AlarmDisplay((int)item.Value.value, this.tsslAlarm);
                        break;
                    case InputTag.Alarm_left:
                        AlarmDisplay((int)item.Value.value, this.tsslAlarm_Left);
                        break;
                }
            }

            foreach (KeyValuePair<string, OPC.Item> item in opc.itemWriteDict)
            {
                object status = new Object();
                opc.ReadOneItem_Wrapper(item.Key, ref status);
                string logstr =(null == item.Value) ? "null" : item.Value.ToString();
                Log.WriteLog("UpdateOPC itemWriteDict key: " + item.Key + " value:" + logstr);
                switch (item.Key)
                {
                    case OutputTag.Move:
                        break;

                    case OutputTag.CameraLight:
                        ckbCameraLight.Checked = (bool)item.Value.value;
                        ckbCameraLight.Text = ckbCameraLight.Checked ? "光源关" : "光源开";
                        break;

                    case OutputTag.CameraLight_left:
                        ckbCameraLight_left.Checked = (bool)item.Value.value;
                        ckbCameraLight_left.Text = ckbCameraLight_left.Checked ? "光源关" : "光源开";
                        break;

                    //case OutputTag.ForApple:
                    //    if (config.rightUsed == true )
                    //    {
                    //        btnDisplay.Text = (bool)item.Value.value ? "继电器上电" : "继电器断电";
                                                      
                            
                    //    }
                    //    else
                    //    {
                    //        btnDisplay_left.Text = (bool)item.Value.value ? "继电器上电" : "继电器断电";
                           
                    //    }

                    //     if ((bool)item.Value.value && isRealyOK)
                    //        {
                    //         Log.WriteLog("--------角度调整完成，继电器上电------");
                    //        }
                    //        if (!((bool)item.Value.value) && isRealyOK)
                    //        {
                    //            Log.WriteLog("--------产品检测完成,OP复位操作，继电器断电------");
                    //        }
                    //        isRealyOK = false;     
                    //    break;
                }
            }

            Log.WriteLog("UpdateOPC Leave");
        }

        #endregion

        #region 各种方法

        /// <summary>
        /// 初始化新的检测
        /// </summary>
        private void initTest()
        {
            runStatus = RunStatus.Normal;

            txtResultInitAngle.Text = "";
            txtResultFinalAngle.Text = "";
        }

        /// <summary>
        /// 左初始化新的检测
        /// </summary>
        private void initTest_Left()
        {
            runStatus_left = RunStatus.Normal;

            txtResultInitAngle.Text = "";
            txtResultFinalAngle.Text = "";
        }

        /// <summary>
        /// 报警信息
        /// </summary>
        /// <param name="k">编号</param>
        private void AlarmDisplay(int k)
        {
            tsslAlarm.ForeColor = (k == 0) ? Color.Black : Color.Red;

            switch (k)
            {
                case 0:
                    tsslAlarm.Text = "无报警！";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 1:
                    tsslAlarm.Text = "调整伺服电机驱动器报警";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 3:
                    tsslAlarm.Text = "调整伺服脉冲异常";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 5:
                    tsslAlarm.Text = "相机抓取角度失败";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 11:
                    tsslAlarm.Text = "送料伺服电机驱动器报警";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 12:
                    tsslAlarm.Text = "门伺服电机驱动器报警";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 13:
                    tsslAlarm.Text = "送料伺服脉冲异常";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 14:
                    tsslAlarm.Text = "门伺服脉冲异常";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 20:
                    tsslAlarm.Text = "产品初始角度未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 21:
                    tsslAlarm.Text = "侧边气缸夹紧未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 22:
                    tsslAlarm.Text = "正边气缸夹紧未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 23:
                    tsslAlarm.Text = "无杆气缸推送未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 24:
                    tsslAlarm.Text = "滑台气缸退位未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 26:
                    tsslAlarm.Text = "无杆气缸回初始位未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 27:
                    tsslAlarm.Text = "侧边气缸回初始位未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 28:
                    tsslAlarm.Text = "正边气缸回初始位未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 29:
                    tsslAlarm.Text = "滑台气缸回初始位未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 30:
                    tsslAlarm.Text = "光幕触发报警，请确认无异常状态并复位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 31:
                    tsslAlarm.Text = "无杆气缸回原点未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 32:
                    tsslAlarm.Text = "侧边气缸回原点未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 33:
                    tsslAlarm.Text = "正边气缸回原点未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 34:
                    tsslAlarm.Text = "滑台气缸回原点未到位";
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 35:
                    tsslAlarm.Text = "调整伺服触发极限位，请检查产品打开的初始角度";
                    sw.Stop();
                    sw.Reset();
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 36:
                    tsslAlarm.Text = "定位相机光源未打开，请检查相机光源状态并急停复位";
                    sw.Stop();
                    sw.Reset();
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 37:
                    tsslAlarm.Text = "相机未拍照，请重启程序或检查PLC状态";
                    sw.Stop();
                    sw.Reset();
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;

                case 38:
                    tsslAlarm.Text = "初始化未完成，请急停复位并检查程序工作状态";
                    sw.Reset();
                    Log.WriteLog(tsslAlarm.Text.ToString());
                    break;
            }
        }

        /// <summary>
        /// 报警信息
        /// </summary>
        /// <param name="k">编号</param>
        private void AlarmDisplay(int k, ToolStripStatusLabel alarm)
        {
            alarm.ForeColor = (k == 0) ? Color.Black : Color.Red;

            switch (k)
            {
                case 0:
                    alarm.Text = "无报警！";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 1:
                    alarm.Text = "调整伺服电机驱动器报警";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 3:
                    alarm.Text = "调整伺服脉冲异常";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 5:
                    alarm.Text = "相机抓取角度失败，请检查产品LCD边框是否贴有异物";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 7:
                    alarm.Text = "产品初始角度过大，请急停复位后重新打开产品再次测量";
                    Log.WriteLog(alarm.Text.ToString());
                    if (alarm.Name.Contains("_Left"))
                    {
                        SaveinitAngle_Left();
                    }
                    else
                    {
                        SaveinitAngle_Right();
                    }
                    break;

                case 10:
                    alarm.Text = "急停中,请复位！";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 11:
                    alarm.Text = "送料伺服电机驱动器报警";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 12:
                    alarm.Text = "门伺服电机驱动器报警";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 13:
                    alarm.Text = "送料伺服脉冲异常";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 14:
                    alarm.Text = "门伺服脉冲异常";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 20:
                    alarm.Text = "产品初始角度未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 21:
                    alarm.Text = "侧边气缸夹紧未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 22:
                    alarm.Text = "正边气缸夹紧未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 23:
                    alarm.Text = "无杆气缸推送未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 24:
                    alarm.Text = "滑台气缸退位未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 26:
                    alarm.Text = "无杆气缸回初始位未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 27:
                    alarm.Text = "侧边气缸回初始位未到位";
                    break;

                case 28:
                    alarm.Text = "正边气缸回初始位未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 29:
                    alarm.Text = "滑台气缸回初始位未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 30:
                    alarm.Text = "光幕触发报警，请确认无异常状态并复位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 31:
                    alarm.Text = "无杆气缸回原点未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 32:
                    alarm.Text = "侧边气缸回原点未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 33:
                    alarm.Text = "正边气缸回原点未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 34:
                    alarm.Text = "滑台气缸回原点未到位";
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 35:
                    alarm.Text = "调整伺服触发极限位，请检查产品打开的初始角度";
                     sw.Stop();
                    sw.Reset();
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 36:
                    alarm.Text = "定位相机光源未打开，请检查相机光源状态并急停复位";
                     sw.Stop();
                    sw.Reset();
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 37:
                    alarm.Text = "相机未拍照，请重启程序或检查PLC状态";
                     sw.Stop();
                    sw.Reset();
                    Log.WriteLog(alarm.Text.ToString());
                    break;

                case 38:
                    alarm.Text = "初始化未完成，请急停复位并检查程序工作状态";
                    sw.Stop();
                    sw.Reset();
                    Log.WriteLog(alarm.Text.ToString());
                    break;
            }
        }


        /// <summary>
        /// 按钮显示
        /// </summary>
        /// <param name="s">内容</param>
        /// <param name="foreColor">文字颜色</param>
        /// <param name="backgroudColor">背景色</param>
        private void ShowDisplay(string s, Color foreColor, Color backColor)
        {
            btnDisplay.Text = s;
            btnDisplay.ForeColor = foreColor;
            btnDisplay.BackColor = backColor;
        }

        /// <summary>
        /// 左按钮显示
        /// </summary>
        /// <param name="s">内容</param>
        /// <param name="foreColor">文字颜色</param>
        /// <param name="backgroudColor">背景色</param>
        private void ShowDisplay_left(string s, Color foreColor, Color backColor)
        {
            btnDisplay_left.Text = s;
            btnDisplay_left.ForeColor = foreColor;
            btnDisplay_left.BackColor = backColor;
        }

        /// <summary>
        /// 再控件上画直线
        /// </summary>
        /// <param name="viewport"></param>
        /// <param name="line"></param>
        private void DrawLine(HWindowControl viewport, FitLineResult line)
        {
            HOperatorSet.SetColor(viewport.HalconWindow, "green");
            HOperatorSet.SetLineWidth(viewport.HalconWindow, 2);
            HOperatorSet.SetPart(viewport.HalconWindow, 0, 0, ImageHeight - 1, ImageWidth - 1);
            HOperatorSet.DispLine(viewport.HalconWindow, line.mRowStart, line.mColumnStart, line.mRowEnd, line.mColumnEnd);
        }

        /// <summary>
        /// 保存数据
        /// </summary>
        private void SaveResult()
        {
            Log.WriteLog("SaveResult Enter");

            string filePath = "D:\\Data\\" + DateTime.Now.ToString("yyyyMMdd");
            if (!Directory.Exists(filePath)) Directory.CreateDirectory(filePath);

            filePath += "\\result.csv";
            string tmpS = "";
            if (!File.Exists(filePath))
            {
                tmpS = "SN,time,initAngle,finalAngle,\r\n";
                File.AppendAllText(filePath, tmpS);
            }

            tmpS = txtSN.Text.Trim() + "," + DateTime.Now.ToString("HH:mm:ss") + "," + initAngle.ToString() + "," + finalAngle.ToString() + ",\r\n";
            File.AppendAllText(filePath, tmpS);

            Log.WriteLog("SaveResult Leave");
        }

        /// <summary>
        /// 右初始角度保存数据
        /// </summary>
        private void SaveinitAngle_Right()
        {
            Log.WriteLog("SaveinitAngle_Right Enter");

            string filePath = "D:\\Data\\" + DateTime.Now.ToString("yyyyMMdd");
            if (!Directory.Exists(filePath)) Directory.CreateDirectory(filePath);

            filePath += "\\result.csv";
            string tmpS = "";
            if (!File.Exists(filePath))
            {
                tmpS = "SN,time,initAngle,finalAngle,\r\n";
                File.AppendAllText(filePath, tmpS);
            }

            tmpS = txtSN.Text.Trim() + "," + DateTime.Now.ToString("HH:mm:ss") + "," + initAngle.ToString() + "," + "" + ",\r\n";
            File.AppendAllText(filePath, tmpS);

            Log.WriteLog("SaveinitAngle_Right Leave");
        }


        /// <summary>
        /// 左保存数据
        /// </summary>
        private void SaveResult_Left()
        {
            Log.WriteLog("SaveResult_Left Enter");

            string filePath = "D:\\Data\\" + DateTime.Now.ToString("yyyyMMdd") + "-Left";
            if (!Directory.Exists(filePath)) Directory.CreateDirectory(filePath);

            filePath += "\\result.csv";
            string tmpS = "";
            if (!File.Exists(filePath))
            {
                tmpS = "SN,time,initAngle,finalAngle,\r\n";
                File.AppendAllText(filePath, tmpS);
            }

            tmpS = txtSN.Text.Trim() + "," + DateTime.Now.ToString("HH:mm:ss") + "," + initAngle_left.ToString() + "," + finalAngle_left.ToString() + ",\r\n";
            File.AppendAllText(filePath, tmpS);

            Log.WriteLog("SaveResult_Left Leave");
        }

        /// <summary>
        /// 左初始角度保存数据
        /// </summary>
        private void SaveinitAngle_Left()
        {
            Log.WriteLog("SaveinitAngle_Left Enter");

            string filePath = "D:\\Data\\" + DateTime.Now.ToString("yyyyMMdd") + "-Left";
            if (!Directory.Exists(filePath)) Directory.CreateDirectory(filePath);

            filePath += "\\result.csv";
            string tmpS = "";
            if (!File.Exists(filePath))
            {
                tmpS = "SN,time,initAngle,finalAngle,\r\n";
                File.AppendAllText(filePath, tmpS);
            }

            tmpS = txtSN.Text.Trim() + "," + DateTime.Now.ToString("HH:mm:ss") + "," + initAngle_left.ToString() + "," + "" + ",\r\n";
            File.AppendAllText(filePath, tmpS);

            Log.WriteLog("SaveinitAngle_Left Leave");
        }

        /// <summary>
        /// 运算结束操作
        /// </summary>
        private void RunEnd()
        {
            Log.WriteLog("RunEnd Enter");

            runStatus = RunStatus.Normal;
            SaveResult();
            txtResultInitAngle.Text = initAngle.ToString("0.00");
            txtResultFinalAngle.Text = finalAngle.ToString("0.00");
            ShowDisplay("视觉检测完成", Color.Blue, Color.Lime);

            Log.WriteLog("RunEnd Leave");
        }

        /// <summary>
        /// 左运算结束操作
        /// </summary>
        private void RunEnd_Left()
        {
            Log.WriteLog("RunEnd_Left Enter");

            runStatus_left = RunStatus.Normal;
            SaveResult_Left();
            txtResultInitAngle.Text = initAngle_left.ToString("0.00");
            txtResultFinalAngle.Text = finalAngle_left.ToString("0.00");
            ShowDisplay("视觉检测完成", Color.Blue, Color.Lime);

            Log.WriteLog("RunEnd_Left Leave");
        }

        /// <summary>
        /// 显示角度
        /// </summary>
        /// <param name="s">角度</param>
        private void ShowDisplayAngle(string s)
        {
            this.lblAngleDisplay.Text = s;
        }

        /// <summary>
        /// 显示左角度
        /// </summary>
        /// <param name="s">角度</param>
        private void ShowDisplayAngle_left(string s)
        {
            this.lblAngleDisplay_left.Text = s;
        }

        #endregion

        #region 控件事件

        private void btnHalconTool_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnHalconTool_Click Enter");

            frmPassword frmp = new frmPassword(config.password);
            frmp.ShowDialog();

            if (frmp.isOK)
            {
                HalconTools.frmMain main = new HalconTools.frmMain();
                main.ShowDialog();

                if (config.rightUsed) ht.LoadJobs();
                if (config.leftUsed) ht_left.LoadJobs();
            }

            Log.WriteLog("btnHalconTool_Click Leave");
        }

        private void btnHalconTool_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnHalconTool_left_Click Enter");

            frmPassword frmp = new frmPassword(config.password);
            frmp.ShowDialog();

            if (frmp.isOK)
            {
                HalconTools.frmMain main = new HalconTools.frmMain();
                main.ShowDialog();

                if (config.rightUsed) ht.LoadJobs();
                if (config.leftUsed) ht_left.LoadJobs();
            }

            Log.WriteLog("btnHalconTool_left_Click Leave");
        }

        private void btnCapture_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnCapture_Click Enter");

            runStatus = RunStatus.calibration;

            cam.GrabImage("");

            Log.WriteLog("btnCapture_Click Leave");
        }

        private void btnCapture_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnCapture_left_Click Enter");

            runStatus_left = RunStatus.calibration;

            cam_left.GrabImage("");

            Log.WriteLog("btnCapture_left_Click Leave");
        }

        private void btnCalibration_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnCalibration_Click Enter");

            double calAngle, nowAngle;

            try
            {
                calAngle = Convert.ToDouble(txtCalAngle.Text);
                nowAngle = Convert.ToDouble(lblAngleDisplay.Text);
            }
            catch (Exception ex)
            {
                Log.WriteLog("btnCalibration_Click Exception Leave");

                MessageBox.Show("角度检测错误或标定角度输入错误！");
                return;
            }

            config.angleOffset = calAngle - (nowAngle - config.angleOffset);
            sft.SetConfig(configPath, config);
            MessageBox.Show("标定成功");

            runStatus = RunStatus.Normal;
            btnCalibration.Enabled = false;
            gbxCalibration.Enabled = false;


            Log.WriteLog("btnCalibration_Click Leave");
        }

        private void btnCalibration_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("Error: btnCalibration_left_Click Enter");

            double calAngle, nowAngle;

            try
            {
                calAngle = Convert.ToDouble(txtCalAngle_left.Text);
                nowAngle = Convert.ToDouble(lblAngleDisplay_left.Text);
            }
            catch (Exception ex)
            {
                Log.WriteLog("Error: btnCalibration_left_Click Exception Leave");

                MessageBox.Show("角度检测错误或标定角度输入错误！");
                return;
            }

            config.angleOffset_Left = calAngle - (nowAngle - config.angleOffset_Left);
            sft.SetConfig(configPath, config);
            MessageBox.Show("标定成功");

            runStatus_left = RunStatus.Normal;
            btnCalibration_left.Enabled = false;
            gbxCalibration_left.Enabled = false;

            Log.WriteLog("btnCalibration_left_Click Leave");
        }

        private void btnCanCalibration_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnCanCalibration_Click Enter");

            if (gbxCalibration.Enabled == false)
            {
                frmPassword frmp = new frmPassword(config.password);
                frmp.ShowDialog();

                if (frmp.isOK) gbxCalibration.Enabled = true;
            }
            else
            {
                gbxCalibration.Enabled = false;
            }

            Log.WriteLog("btnCanCalibration_Click Leave");
        }

        private void btnCanCalibration_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnCanCalibration_left_Click Enter");

            if (gbxCalibration_left.Enabled == false)
            {
                frmPassword frmp = new frmPassword(config.password);
                frmp.ShowDialog();

                if (frmp.isOK) gbxCalibration_left.Enabled = true;
            }
            else
            {
                gbxCalibration_left.Enabled = false;
            }

            Log.WriteLog("btnCanCalibration_left_Click Leave");
        }

        private void tVideo_Tick(object sender, EventArgs e)
        {
            Log.WriteLog("tVideo_Tick Enter");

            cam.GrabImage("");

            Log.WriteLog("tVideo_Tick Leave");
        }

        private void tVideo_left_Tick(object sender, EventArgs e)
        {
            Log.WriteLog("tVideo_left_Tick Enter");

            cam_left.GrabImage("");           

            Log.WriteLog("tVideo_left_Tick Leave");
        }

        private void btnContinueCapture_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnContinueCapture_Click Enter");

            runStatus = RunStatus.continueCapture;
            tVideo.Enabled = true;
            this.btnContinueCapture.Enabled = false;
            this.btnStopCapture.Enabled = true;

            Log.WriteLog("btnContinueCapture_Click Leave");
        }

        private void btnContinueCapture_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnContinueCapture_left_Click Enter");

            runStatus_left = RunStatus.continueCapture;
            tVideo_left.Enabled = true;
            this.btnContinueCapture_left.Enabled = false;
            this.btnStopCapture_left.Enabled = true;

            Log.WriteLog("btnContinueCapture_left_Click Leave");
        }

        private void btnStopCapture_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnStopCapture_Click Enter");

            StopRightCamera();

            Log.WriteLog("btnStopCapture_Click Leave");
        }

        private void StopRightCamera()
        {
            Log.WriteLog("StopRightCamera Enter");

            tVideo.Enabled = false;
            runStatus = RunStatus.Normal;
            this.btnContinueCapture.Enabled = true;
            this.btnStopCapture.Enabled = false;

            Log.WriteLog("StopRightCamera Leave");
        }

        private void btnStopCapture_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnStopCapture_left_Click Enter");

            StopLeftCamera();

            Log.WriteLog("btnStopCapture_left_Click Leave");
        }

        private void StopLeftCamera()
        {
            Log.WriteLog("StopLeftCamera Enter");

            tVideo_left.Enabled = false;
            runStatus_left = RunStatus.Normal;
            this.btnContinueCapture_left.Enabled = true;
            this.btnStopCapture_left.Enabled = false;

            Log.WriteLog("StopLeftCamera Leave");
        }

        private void btnTestMove_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnTestMove_Click Enter");

            int tmpD = Convert.ToInt32(txtTestPulse.Text);
            opc.Write(OutputTag.Move_Distance, tmpD);
            Thread.Sleep(100);
            opc.Write(OutputTag.Move_Test, true);

            Log.WriteLog("btnTestMove_Click Leave");
        }

        private void btnTestMove_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnTestMove_left_Click Enter");

            int tmpD = Convert.ToInt32(txtTestPulse_left.Text);
            opc.Write(OutputTag.Move_Distance_left, tmpD);
            Thread.Sleep(100);
            opc.Write(OutputTag.Move_Test_left, true);

            Log.WriteLog("btnTestMove_left_Click Leave");
        }

        private void cbxTest_CheckedChanged(object sender, EventArgs e)
        {
            Log.WriteLog("cbxTest_CheckedChanged Enter");

            if (cbxTest.Checked)
            {
                Log.WriteLog("cbxTest_CheckedChanged cbxTest.Checked = true");

                frmPassword frmp = new frmPassword(config.password);
                frmp.ShowDialog();

                if (frmp.isOK)
                {
                    gbxTest.Enabled = cbxTest.Checked;
                    runStatus = RunStatus.testMent;
                }
            }
            else
            {
                Log.WriteLog("cbxTest_CheckedChanged cbxTest.Checked = false");

                gbxTest.Enabled = cbxTest.Checked;
                tVideo.Enabled = false;
                runStatus = RunStatus.Normal;
            }

            Log.WriteLog("cbxTest_CheckedChanged Leave");
        }

        private void cbxTest_left_CheckedChanged(object sender, EventArgs e)
        {
            Log.WriteLog("cbxTest_left_CheckedChanged Enter");

            if (cbxTest_left.Checked)
            {
                Log.WriteLog("cbxTest_CheckedChanged cbxTest_left.Checked = true");

                frmPassword frmp = new frmPassword(config.password);
                frmp.ShowDialog();

                if (frmp.isOK)
                {
                    gbxTest_left.Enabled = cbxTest_left.Checked;
                    runStatus_left = RunStatus.testMent;
                }
            }
            else
            {
                Log.WriteLog("cbxTest_left_CheckedChanged cbxTest_left.Checked = false");

                gbxTest_left.Enabled = cbxTest_left.Checked;
                tVideo_left.Enabled = false;
                runStatus_left = RunStatus.Normal;
            }

            Log.WriteLog("cbxTest_left_CheckedChanged Leave");
        }

        private void btnConfig_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnConfig_Click Enter");

            frmPassword frmp = new frmPassword(config.password);
            frmp.ShowDialog();

            if (frmp.isOK)
            {
                frmConfig tmpCon = new frmConfig(opc, config,"Right");
                tmpCon.ShowDialog();
            }

            Log.WriteLog("btnConfig_Click Leave");
        }

        private void btnConfig_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnConfig_left_Click Enter");

            frmPassword frmp = new frmPassword(config.password);
            frmp.ShowDialog();

            if (frmp.isOK)
            {
                frmConfig tmpCon = new frmConfig(opc, config,"Left");
                tmpCon.ShowDialog();
            }

            Log.WriteLog("btnConfig_left_Click Leave");
        }

        private void ckbCameraLight_CheckedChanged(object sender, EventArgs e)
        {
            Log.WriteLog("ckbCameraLight_CheckedChanged Enter");

            opc.Write(OutputTag.CameraLight, ckbCameraLight.Checked);
            ckbCameraLight.Text = ckbCameraLight.Checked ? "光源关" : "光源开";

            Log.WriteLog("ckbCameraLight_CheckedChanged Leave");
        }

        private void ckbCameraLight_left_CheckedChanged(object sender, EventArgs e)
        {
            Log.WriteLog("ckbCameraLight_left_CheckedChanged Enter");

            opc.Write(OutputTag.CameraLight_left, ckbCameraLight_left.Checked);
            ckbCameraLight_left.Text = ckbCameraLight_left.Checked ? "光源关" : "光源开";

            Log.WriteLog("ckbCameraLight_left_CheckedChanged Leave");
        }

        private void btnORI_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnORI_Click Enter");
            opc.Write(OutputTag.ORI, true);
            Log.WriteLog("btnORI_Click Leave");
        }

        private void btnORI_left_Click(object sender, EventArgs e)
        {
            Log.WriteLog("btnORI_left_Click Enter");

            opc.Write(OutputTag.ORI_left, true);

            Log.WriteLog("btnORI_left_Click Leave");
        }

        #endregion

        private static System.Threading.Mutex _mutex_Right;

        private System.Threading.Mutex GetMutexLock_Right()
        {
            System.Threading.Interlocked.CompareExchange(ref _mutex_Right, new System.Threading.Mutex(), null);
            return _mutex_Right;
        }

        private static System.Threading.Mutex _mutex_Left;

        private System.Threading.Mutex GetMutexLock_Left()
        {
            System.Threading.Interlocked.CompareExchange(ref _mutex_Left, new System.Threading.Mutex(), null);
            return _mutex_Left;
        }

        #region 左

        private void button2_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.Manual_left, true);
        }

        private void button4_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.qigangjiajin_left, true);
        }

        private void button5_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.qigangsongkai_left, true);
        }

        private void btnCloseDor_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.guanmen_left, true);
        }

        private void btnOpenDor_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.kaimen_left, true);
        }

        private void button1_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.huataiqigang_left, true);
        }

        private void button3_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.songliao_left, true);
        }

        private void btnOut_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.chuliao_left, true);
        }

        private void button6_Click(object sender, EventArgs e)
        {
            if (runStatus_left == RunStatus.Normal)
            {
                if (MessageBox.Show("确定进行手动定位？", "系统提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    opc.Write(OutputTag.shoudongdingwei_left, true);
                }
            }
            else
            {
                MessageBox.Show("测试状态下无法手动定位！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }

        private void checkBox1_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox1.Checked)
            {
                if ((runStatus_left == RunStatus.Normal))
                {
                    button6.Enabled = true;
                }
                else
                {
                    checkBox1.Checked = false;
                    button6.Enabled = false;
                    MessageBox.Show("测试状态下无法手动定位！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                }
            }
            else
            {
                button6.Enabled = false;
            }
        }

        #endregion

        #region 右

        private void button10_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.Manual, true);
        }

        private void button8_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.qigangjiajin, true);
        }

        private void button7_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.qigangsongkai, true);
        }

        private void button13_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.guanmen, true);
            //if (isUUTOut == false)
            //{
            //    opc.Write(OutputTag.guanmen, true);
            //    isDoorOpen = false;
            //}
            //else
            //{
            //    MessageBox.Show("请先送料！");
            //}
        }

        private void button14_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.kaimen, true);
            //isDoorOpen = true;
        }

        private void button11_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.huataiqigang, true);
        }

        private void button9_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.songliao, true);
            //if (isDoorOpen == true)
            //{
            //    opc.Write(OutputTag.songliao, true);
            //    isUUTOut = false;
            //}
            //else
            //{
            //    MessageBox.Show("请先开门！");
            //}
        }

        private void button12_Click(object sender, EventArgs e)
        {
            opc.Write(OutputTag.chuliao, true);
            //isUUTOut = true;
        }

        private void button15_Click(object sender, EventArgs e)
        {
            if (runStatus == RunStatus.Normal)
            {
                if (MessageBox.Show("确定进行手动定位？", "系统提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    opc.Write(OutputTag.shoudongdingwei, true);
                }
            }
            else
            {
                MessageBox.Show("测试状态下无法手动定位！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
            }
        }

        private void checkBox2_CheckedChanged(object sender, EventArgs e)
        {
            if (checkBox2.Checked)
            {
                if ((runStatus == RunStatus.Normal))
                {
                    button15.Enabled = true;
                }
                else
                {
                    checkBox2.Checked = false;
                    button15.Enabled = false;
                    MessageBox.Show("测试状态下无法手动定位！", "系统提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                }
            }
            else
            {
                button15.Enabled = false;
            }
        }

        #endregion

        private void frmMain_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (MessageBox.Show("确定退出程序？", "系统提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                e.Cancel = false;

                if (isRightCameraOpen == true)
                {
                    cam.CloseCamera();
                }

                if (isLeftCameraOpen == true)
                {
                    cam_left.CloseCamera();
                }
            }
            else
            {
                e.Cancel = true;
            }
        }

        #region 左相机相关
        /// <summary>
        /// 加载左相机
        /// </summary>
        private void initCam_Left()
        {
            Log.WriteLog("initCam_Left Enter");

            cam_left = new PointGreyAndHalcon.PointGreyAndHalcon();
            isLeftCameraOpen = cam_left.OpenCamera(config.cams.SerialNumber[0]);
            cam_left.GrabImageDone += new GrabImageDoneDelegate(cam_left_GrabImageDone);

            Log.WriteLog("initCam_Left Leave");
        }

        /// <summary>
        /// 加载HalconTool_Left
        /// </summary>
        private void initHalconTool_Left()
        {
            Log.WriteLog("initHalconTool_Left Enter");

            ht_left.LoadJobs();
            ht_left.resultCreater.ListenEvent += new EventHandler<HalconTools.ListenEventArgs>(resultCreater_left_ListenEvent);

            Log.WriteLog("initHalconTool_Left Leave");
        }
        #endregion

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

        private void ckbSaveImage_CheckedChanged(object sender, EventArgs e)
        {
           
            if (ckbSaveImage.Checked)
            {
                config.saveImage=true;
                sft.SetConfig(configPath, config);

            }
            else
            {
                config.saveImage = false;
                sft.SetConfig(configPath, config);
            }
        }

        public bool Effective()
        {
            string defaultScope = "<dogscope />";
            DogFeature feature = new DogFeature(1);
            using (var dog = new Dog(feature))
            {
                string vendorcodes = "tn+2bpxTE0MhQDarbNvbJEPpez6LfT6oB2DjZLKQMs0H2ap3YfmDIzYaLqDsZliOKL677L28ZbDhxwdP3Mq2xIbi/5zkXQ7ybvG9HLKaYXN3ql8yY5XJ1WHn7ISI+m7M9t1SzzQaUwnW/NV2VUslx/PdI5hZ1VVwsIaus042E5u8QGCSPJcDOXBeGIJeJSezvM+scip87hDujXsrubV0n+xCAdrTAs/WU5O1JwpgYNArqrFCpYSV4nO5ZveQRcPchUuED+gaNpHfsKZYAtW/43ud3IYcnTg6HuQPo+9fRu8iDpi18+j8USasj6M8EY9g7x3YjwO1DHCPpNEWB3IrHA0rhWG+c2emcCc3q8r8Qx8yHBCAUdZV7F8CTar/co5NbVv3FNObKULZxqrESWkPhoIKBtuCutspoGkTBHger+2A5qtfEMy6ZHt6MRvmgmiIO23AQGQ3yXKHXkq6HsDtrl1P+8coQTFnqopDOGaPi6C+Pb7qIqCJx+IBnWnjuZEfawKMcR+1hB9m1rSfhY+UQ0crh8jYr5a+tOAbSU9tPw3ZmKLQYbm6m8gLAHIv+EOq1rRfH5XxhUUbL4Lv4mrTFcmWl1Ibnaiz7140PqVqaquI8h8Mj4tL/5u/f1iJTKvnUywmPUDZXAecu6FmwDeQpvGJwa+q1Fgn3WXqBitT/lnEox7pp8deMpT/ol0wpcmlU40Cq5XsvnLmbGdK/qcXYBa+ZYhLYnXpzTe4XUDbatIFKfNVwZsSgXaMPpRLghEMQupv/H9uJ2vtlRYjt0ysoFDgzb3W0qr3bK7T55a8bhiptfh/dq7Q5hHZUolRprjXTbcUlmyhjzrH+bAz+BdmwiHJInx/najqyflknUUuOdO8IrMFAh0zWiICkijghbvWUwjg/DTpLKRO2e6hTaWtvCHTBHfBRV0/0EVW0kMmdx/huL1k1BBo11Fv/X7feCskl0m5rot1ubw/T/shAAvVBg==";
                var status = dog.Login(vendorcodes, defaultScope);
                if (status != DogStatus.StatusOk)
                {
                    if (status == DogStatus.TimeError)
                    {
                        if (config.leftUsed)
                        {
                            btnDisplay_left.Text = "禁止篡改时间";
                        }
                        else
                        {
                            btnDisplay.Text = "禁止篡改时间";
                        }
                        return false;
                    }
                    else
                    {
                        if (config.leftUsed)
                        {
                            btnDisplay_left.Text = "请插入有效的加密狗";
                        }
                        else
                        {
                            btnDisplay.Text = "请插入有效的加密狗";
                        }
                        return false;
                    }
                }
            }
            return true;
        }

        private void cboSize_Left_SelectionChangeCommitted(object sender, EventArgs e)
        {
            config.selectedSizeIndex = cboSize_Left.SelectedIndex;
            sft.SetConfig(configPath, config);
            long value = config.inch13;
            if (cboSize_Left.SelectedValue.ToString() == "inch15")
            {
                value = config.inch15;
            }
            if (cboSize_Left.SelectedValue.ToString() == "inch16")
            {
                value = config.inch16;
            }
            opc.Write(OutputTag.X_Work, value);
        }

        private void cboSize_SelectionChangeCommitted(object sender, EventArgs e)
        {
            config.selectedSizeIndex = cboSize.SelectedIndex;
            sft.SetConfig(configPath, config);
            long value = config.inch13;
            if (cboSize.SelectedValue.ToString() == "inch15")
            {
                value = config.inch15;
            }
            if (cboSize.SelectedValue.ToString() == "inch16")
            {
                value = config.inch16;
            }
            opc.Write(OutputTag.X_Work, value);
        }
    }
}