using System;

namespace M423project
{
    #region OPC参数
    public struct opcConfig
    {
        public string serverName;
        public string serverIP;
        public int itmHandleClient;
        public GroupProperty groupProperty;
    }
    public struct GroupProperty
    {
        public bool defaultGroupIsActive;
        public int defaultGroupDeadband;
        public int updateRate;
        public bool isActive;
        public bool isSubscribed; 
    }
    #endregion
    #region 机械手网口通讯参数
    public struct RobotConfig
    {
        public string localIpAddress; 
        public int port;

        public int listenPort;//
        public string localIp;//
        public int clientPort;//
        public string remoteIp;//
    }
    #endregion
    #region 信息登记
    public struct InfoMember
    {
        public string Zhanbie;
        public string Line;
        public string MachineID;
        public string Class;
        public string LiaoNum;
        public string GongNum;
    }
    #endregion
    #region 上下限值
    public struct LimitRange
    {
        public double Min;
        public double Max;
    }
    #endregion
    #region 上料初始位置设定
    public struct DeltaPosition
    {
        public double x;
        public double y;
        public double angle;
    }
    #endregion
    #region 厚度测量根据盘位对每工位补偿
    public struct CompensationZ
    {
        public double station1;
        public double station2;
        public double station3;
        public double station4;
        public double station5;
    }
    #endregion
    #region 图像坐标与机械手坐标变换矩阵
    public struct ImageToRobotHomat2d
    {
        public double t1;
        public double t2;
        public double t3;
        public double t4;
        public double t5;
        public double t6;
    }
    #endregion
    public struct CalibTable
    {
        public ImageToRobotHomat2d one;
        public ImageToRobotHomat2d two;
        public ImageToRobotHomat2d three;
        public ImageToRobotHomat2d four;
        public ImageToRobotHomat2d five;
        public ImageToRobotHomat2d six;
        public ImageToRobotHomat2d seven;
        public ImageToRobotHomat2d eight;
        public ImageToRobotHomat2d nine;
        public ImageToRobotHomat2d ten;
    }
    #region 机械手末端执行器上吸盘类别
    public struct SuckerHomat2d
    {
        public CalibTable left;
        public CalibTable right;
    }
    #endregion
    [Serializable]
    public struct ConfigStruct
    {
        public opcConfig opcConfig;
        public string configPassword;
        public string imagePassword;
        public string datacodeStr;

        public RobotConfig loadRobotConfig;
        public RobotConfig unloadRobotConfig;

        public SuckerHomat2d loadRobotHomat2d;
        public SuckerHomat2d unloadRobotHomat2d;

        public DeltaPosition loadPosition11;
        public DeltaPosition loadPosition12;
        public DeltaPosition loadPosition21;
        public DeltaPosition loadPosition22;
        public DeltaPosition loadPosition31;
        public DeltaPosition loadPosition32;
        public DeltaPosition loadPosition41;
        public DeltaPosition loadPosition42;
        public DeltaPosition loadPosition51;
        public DeltaPosition loadPosition52;
        public DeltaPosition loadPosition61;
        public DeltaPosition loadPosition62;
        public DeltaPosition loadPosition71;
        public DeltaPosition loadPosition72;
        public DeltaPosition loadPosition81;
        public DeltaPosition loadPosition82;
        public DeltaPosition loadPosition91;
        public DeltaPosition loadPosition92;
        public DeltaPosition loadPosition101;
        public DeltaPosition loadPosition102;

        public LimitRange batteryLengthLimit;
        public LimitRange batteryWidthLimit;
        public LimitRange batteryHeightLimit;
        public LimitRange batteryATLHeightLimit;
        public LimitRange batteryLSNHeightLimit;
        public LimitRange batteryBMULimit;

        public double calibrateHeight;
        public CompensationZ compensationZ;
        public CompensationZ compensationW;
        public double loadRbtSpeed; 
        public double unloadRbtSpeed;

        public double Exposure;
        public int Threshold;

        public double LoadCameraScale;
        public double DataCodeCameraScale;
        public double XyCameraScale;
        public double UnloadCameraScale;

        public double X1axisHandSpeed;
        public double X1axisLocationPos;
        public double X1AxisSpeed ;
        public double X1LocationSpeed;
        public double X1ScanBackPosition;
        public double X1ScanOKPosition;
        public double X1Y1AxisAcceleration;
        public double X1Y1AxisDeceleration;
        public double X2axisHandSpeed;
        public double X2axisLocationPos;
        public double X2AxisSpeed ;
        public double X2axisWaitPos;
        public double X2LocationSpeed;
        public double X2Y2AxisAcceleration;
        public double X2Y2AxisDeceleration;
        public double Y1axisHandSpeed;
        public double Y1axisLocationPos;
        public double Y1AxisSpeed;
        public double Y1LocationSpeed;
        public double Y1ScanBackPosition;
        public double Y1ScanOKPosition;
        public double Y2axisHandSpeed;
        public double Y2axisLocationPos;
        public double Y2AxisSpeed;
        public double Y2axisWaitPos ;
        public double Y2LocationSpeed;

        public double batteryWidthOffset;
        public double batteryLengthOffset;
        public double batteryHeightOffset;

        public bool isSaveTst;
        public bool isSaveExcel;
        public bool isSaveUpload;
        public string textTstPath;
        public string textExcelPath;
        public string textUploadPath;
        public string textLine;
        public string textStation;

        public CompensationZ compensationL;
        public InfoMember infoMember;

        //标准块配置参数
        public LimitRange standardLengthLimit;
        public LimitRange standardWidthLimit;
        public LimitRange standardHeightLimit;
        public CompensationZ standardCompensationZ;
        public CompensationZ standardCompensationL;
        public CompensationZ standardCompensationW;

        #region add by Patrick
        public bool IsSaveSizeOKImage;
        public float MaxLength;
        public float MaxWidth;
        public float MinLength;
        public float MinWidth;
        #endregion

    }

}