using System;
using System.IO;
using System.Linq;
using System.Drawing;
using System.Windows.Forms;
using System.Collections.Generic;
using System.Collections.Concurrent;
using Timer = System.Windows.Forms.Timer;
using weconcnc;

namespace Demo
{
    public partial class Form1 : Form
    {

        private readonly CCommApi m_pComm = null;
        private CProxyEntry m_pEntry = null;
        private CProxyStatus m_pStatus = null;
        private CProxySys m_pSys = null;
        private CProxyMotion m_pMotion = null;
        private CIoControl_C m_pIoCtrl = null;
        private readonly Timer timer = null;
        private readonly List<Dictionary<INI_CONFIG_FIELD, String>> m_listIniConfig = null;
        private readonly List<Dictionary<ABS_CONFIG_FIELD, String>> m_listAbsConfig = null;

        public Form1()
        {
            InitializeComponent();
            m_pComm = new CCommApi();
            timer = new Timer();
            timer.Interval = 100;
            timer.Tick += updateStatus;
            m_listIniConfig = new List<Dictionary<INI_CONFIG_FIELD, String>>();
            m_listAbsConfig = new List<Dictionary<ABS_CONFIG_FIELD, String>>();
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows[0].HeaderCell.Value = "1/脉冲当量";
            gvAbsConfig.Rows[1].HeaderCell.Value = "导程（螺距）";
            gvAbsConfig.Rows[2].HeaderCell.Value = "减速比分母";
            gvAbsConfig.Rows[3].HeaderCell.Value = "减速比分子";
            gvAbsConfig.Rows[4].HeaderCell.Value = "方向";

            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows[0].HeaderCell.Value = "最大速度(mm/s)";
            gvIniConfig.Rows[1].HeaderCell.Value = "最大加速度(mm/s^2)";
            gvIniConfig.Rows[2].HeaderCell.Value = "正限位";
            gvIniConfig.Rows[3].HeaderCell.Value = "负限位";
            gvIniConfig.Rows[4].HeaderCell.Value = "跟随误差";
            gvIniConfig.Rows[5].HeaderCell.Value = "最小跟随误差";
            gvIniConfig.Rows[6].HeaderCell.Value = "间隙";
            richTextBoxGCode.MouseWheel += richTextBoxGCode_MouseWheel;
        }

        private void richTextBoxGCode_MouseWheel(object sender, MouseEventArgs e)
        {
            // 检查是否按下了Ctrl键
            if (ModifierKeys == Keys.Control) {
                // 标记事件为已处理，阻止缩放效果
                ((HandledMouseEventArgs)e).Handled = true;
            }
        }

        void updateStatus(object sender, EventArgs e)
        {

            if (null == m_pStatus) {
                Console.WriteLine("pStatus is null");
                return;
            }

            MACHINE_STATE_E eState = new MACHINE_STATE_E();

            var ret = m_pStatus.getMotionState(ref eState);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                return;
            }


            switch (eState) {
                case MACHINE_STATE_E.STATE_ESTOP:
                {
                    lEstopState.Text = "STATE_ESTOP";
                }
                    break;
                case MACHINE_STATE_E.STATE_ESTOP_RESET:
                {
                    lEstopState.Text = "STATE_ESTOP_RESET";
                }
                    break;
                case MACHINE_STATE_E.STATE_ON:
                {
                    lEstopState.Text = "STATE_ON";
                }
                    break;
                default:
                {
                    lEstopState.Text = "STATE_ESTOP";
                }
                    break;
            }

            COORDINATE_T stCoord = new COORDINATE_T();
            ret = m_pStatus.getCoord(ref stCoord);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                return;
            }

            leXPos.Text = stCoord.getX().ToString("0.######");
            leYPos.Text = stCoord.getY().ToString("0.######");
            leZPos.Text = stCoord.getZ().ToString("0.######");
            leAPos.Text = stCoord.getA().ToString("0.######");
            leCPos.Text = stCoord.getC().ToString("0.######");

            var queErr = new ConcurrentQueue<String>();
            ret = m_pStatus.getError(ref queErr);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                return;
            }

            while (!queErr.IsEmpty) {
                leErrInfo.Text = queErr.First();
                queErr.TryDequeue(out _);
            }

            int nLine = 0;
            ret = m_pStatus.getLine(ref nLine);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                return;
            }

            leLine.Text = nLine.ToString();

            double dVel = 0.0;
            ret = m_pStatus.getVelocity(ref dVel);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                return;
            }

            dVel *= 60;
            leCurrentVel.Text = dVel.ToString("0.######");

        }

        private void btnRun_Click(object sender, EventArgs e)
        {
            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            WECONCNC_ERROR_E ret;
            ret = m_pMotion.setFeedOverride(100);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("set feed override failed!");
                return;
            }
            else {
                Console.WriteLine(ret);
            }

            ret = m_pMotion.runProgram(0);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("run program failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnEstop_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.setEstop(true);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("set estop failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnEstopReset_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.setEstop(false);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("set estop failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnPause_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.pauseProgram();
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("pause program failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnStop_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.stopProgram();
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("stop program failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnResume_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.resumeProgram();
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("resume program failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnEnable_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.setEnable(true);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("set enable failed!");
            }
            else {
                Console.WriteLine(ret);
            }

        }

        private void btnStep_Click(object sender, EventArgs e)
        {
            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }


            var ret = m_pMotion.stepProgram();
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("step program failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }


        private void btnDisable_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.setEnable(false);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("set enable failed!");
            }
            else {
                Console.WriteLine(ret);
            }

        }

        private void btnRunMDI_Click(object sender, EventArgs e)
        {
            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var ret = m_pMotion.execMDI(textMDI.Text);

            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("run mdi failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnLink_Click(object sender, EventArgs e)
        {
            if (0 == leIp.Text.Length || 0 == lePort.Text.Length) {
                return;
            }

            String IP = leIp.Text;
            ushort Port = Convert.ToUInt16(lePort.Text);
            var eRtn = m_pComm.connect(ref IP, Port);
            if (eRtn != WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS) {
                Console.WriteLine("cnc link failed");
                return;
            }

            m_pEntry = new CProxyEntry(m_pComm);
            m_pSys = m_pEntry.getProxySys();
            m_pMotion = m_pEntry.getProxyMotion();
            m_pStatus = m_pEntry.getProxyStatus();
            timer.Start();

            m_pIoCtrl = new CIoControl_C();
            var ret = m_pIoCtrl.init(leIp.Text, Convert.ToInt32(leIoCtrlPort.Text));

            if (ret != 0) {
                Console.WriteLine("io ctrl link failed");
            }
            else {
                Console.WriteLine(eRtn);
            }
        }

        private void btnDisconnect_Click(object sender, EventArgs e)
        {
            if (null == m_pComm) {
                Console.WriteLine("pComm is null");
                return;
            }

            timer.Stop();
            var ret = m_pComm.disconnect();
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("disconnect failed!");
            }
            else {
                Console.WriteLine(ret);
            }

        }

        private void btnIniConfGet_Click(object sender, EventArgs e)
        {

            if (null == m_pSys) {
                Console.WriteLine("pSys is null");
                return;
            }

            m_listIniConfig.Clear();
            gvIniConfig.Rows.Clear();
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows.Add(new DataGridViewRow());
            gvIniConfig.Rows[0].HeaderCell.Value = "最大速度(mm/s)";
            gvIniConfig.Rows[1].HeaderCell.Value = "最大加速度(mm/s^2)";
            gvIniConfig.Rows[2].HeaderCell.Value = "正限位";
            gvIniConfig.Rows[3].HeaderCell.Value = "负限位";
            gvIniConfig.Rows[4].HeaderCell.Value = "跟随误差";
            gvIniConfig.Rows[5].HeaderCell.Value = "最小跟随误差";
            gvIniConfig.Rows[6].HeaderCell.Value = "间隙";
            CNC_INI_CONFIG_T stIniConfig = new CNC_INI_CONFIG_T();
            for (int i = 0; i < 9; i++) {
                var ret = m_pSys.getIniConfig(i, ref stIniConfig);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("get ini config failed!");
                    return;
                }
                else {
                    Console.WriteLine(ret);
                }

                gvIniConfig.Rows[0].Cells[i].Value = stIniConfig.dMaxVel.ToString("0.######");
                gvIniConfig.Rows[1].Cells[i].Value = stIniConfig.dMaxAcc.ToString("0.######");
                gvIniConfig.Rows[2].Cells[i].Value = stIniConfig.dMaxLimit.ToString("0.######");
                gvIniConfig.Rows[3].Cells[i].Value = stIniConfig.dMinLimit.ToString("0.######");
                gvIniConfig.Rows[4].Cells[i].Value = stIniConfig.dFError.ToString("0.######");
                gvIniConfig.Rows[5].Cells[i].Value = stIniConfig.dMinFError.ToString("0.######");
                gvIniConfig.Rows[6].Cells[i].Value = stIniConfig.dBacklash.ToString("0.######");

                // update buffer
                Dictionary<INI_CONFIG_FIELD, String> IniConfigDict = new Dictionary<INI_CONFIG_FIELD, String>
                {
                    { (INI_CONFIG_FIELD)0, stIniConfig.dMaxVel.ToString("0.######") },
                    { (INI_CONFIG_FIELD)1, stIniConfig.dMaxAcc.ToString("0.######") },
                    { (INI_CONFIG_FIELD)2, stIniConfig.dMaxLimit.ToString("0.######") },
                    { (INI_CONFIG_FIELD)3, stIniConfig.dMinLimit.ToString("0.######") },
                    { (INI_CONFIG_FIELD)4, stIniConfig.dFError.ToString("0.######") },
                    { (INI_CONFIG_FIELD)5, stIniConfig.dMinFError.ToString("0.######") },
                    { (INI_CONFIG_FIELD)6, stIniConfig.dBacklash.ToString("0.######") }
                };
                m_listIniConfig.Add(IniConfigDict);
            }
        }

        private void btnReadAbsConfig_Click(object sender, EventArgs e)
        {
            if (null == m_pSys) {
                Console.WriteLine("pSys is null");
                return;
            }

            m_listAbsConfig.Clear();
            gvAbsConfig.Rows.Clear();
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows.Add(new DataGridViewRow());
            gvAbsConfig.Rows[0].HeaderCell.Value = "1/脉冲当量";
            gvAbsConfig.Rows[1].HeaderCell.Value = "导程（螺距）";
            gvAbsConfig.Rows[2].HeaderCell.Value = "减速比分母";
            gvAbsConfig.Rows[3].HeaderCell.Value = "减速比分子";
            gvAbsConfig.Rows[4].HeaderCell.Value = "方向";
            CNC_ABS_CONFIG_T stAbsConfig = new CNC_ABS_CONFIG_T();
            for (int i = 0; i < 6; i++) {
                var ret = m_pSys.getAbsConfig(i, ref stAbsConfig);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("get abs config failed!");
                    return;
                }
                else {
                    Console.WriteLine(ret);
                }

                // update display
                gvAbsConfig.Rows[0].Cells[i].Value = stAbsConfig.dScale.ToString("0.######");
                gvAbsConfig.Rows[1].Cells[i].Value = stAbsConfig.dLead.ToString("0.######");
                gvAbsConfig.Rows[2].Cells[i].Value = stAbsConfig.dRRDen.ToString("0.######");
                gvAbsConfig.Rows[3].Cells[i].Value = stAbsConfig.dRRNum.ToString("0.######");
                gvAbsConfig.Rows[4].Cells[i].Value = stAbsConfig.bCw.ToString();

                // update buffer
                Dictionary<ABS_CONFIG_FIELD, String> AbsConfigDict = new Dictionary<ABS_CONFIG_FIELD, String>
                {
                    { (ABS_CONFIG_FIELD)0, stAbsConfig.dScale.ToString("0.######") },
                    { (ABS_CONFIG_FIELD)1, stAbsConfig.dLead.ToString("0.######") },
                    { (ABS_CONFIG_FIELD)2, stAbsConfig.dRRDen.ToString("0.######") },
                    { (ABS_CONFIG_FIELD)3, stAbsConfig.dRRNum.ToString("0.######") },
                    { (ABS_CONFIG_FIELD)4, stAbsConfig.bCw.ToString() }
                };
                m_listAbsConfig.Add(AbsConfigDict);
            }
        }

        private void btnIniConfSet_Click(object sender, EventArgs e)
        {

            if (null == m_pSys) {
                Console.WriteLine("pSys is null");
                return;
            }

            for (int i = 0; i < 9; i++) {
                List<KeyValuePair<INI_CONFIG_FIELD, String>> listIniConfig =
                    new List<KeyValuePair<INI_CONFIG_FIELD, string>>();
                for (int j = 0; j < 7; j++) {
                    INI_CONFIG_FIELD iniFiled = (INI_CONFIG_FIELD)j;

                    if (null == gvIniConfig.Rows[j].Cells[i] || null == gvIniConfig.Rows[j].Cells[i].Value) {
                        m_listIniConfig[i][iniFiled] = "";
                    }
                    else {
                        if (gvIniConfig.Rows[j].Cells[i].Value.ToString() != m_listIniConfig[i][iniFiled]) {
                            listIniConfig.Add(new KeyValuePair<INI_CONFIG_FIELD, string>(iniFiled,
                                gvIniConfig.Rows[j].Cells[i].Value.ToString()));
                        }

                        m_listIniConfig[i][iniFiled] = gvIniConfig.Rows[j].Cells[i].Value.ToString();
                    }
                }

                foreach (var config in listIniConfig) {
                    Console.WriteLine($"{config.Key}: {config.Value}");
                }

                if (listIniConfig.Count > 0) {
                    var ret = m_pSys.setIniConfig(i, ref listIniConfig);
                    if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                        Console.WriteLine("set ini config failed!");
                        return;
                    }
                    else {
                        Console.WriteLine(ret);
                    }
                }

            }

        }

        private void btnWriteAbsConfig_Click(object sender, EventArgs e)
        {

            if (null == m_pSys) {
                Console.WriteLine("pSys is null");
                return;
            }

            for (int i = 0; i < 6; i++) {
                List<KeyValuePair<ABS_CONFIG_FIELD, String>> listAbsConfig =
                    new List<KeyValuePair<ABS_CONFIG_FIELD, string>>();

                for (int j = 0; j < 5; j++) {
                    ABS_CONFIG_FIELD absFiled = (ABS_CONFIG_FIELD)j;

                    if (null == gvAbsConfig.Rows[j].Cells[i] || null == gvAbsConfig.Rows[j].Cells[i].Value) {
                        m_listAbsConfig[i][absFiled] = "";
                    }
                    else {
                        if (gvAbsConfig.Rows[j].Cells[i].Value.ToString() != m_listAbsConfig[i][absFiled]) {
                            listAbsConfig.Add(new KeyValuePair<ABS_CONFIG_FIELD, string>(absFiled,
                                gvAbsConfig.Rows[j].Cells[i].Value.ToString()));
                        }

                        m_listAbsConfig[i][absFiled] = gvAbsConfig.Rows[j].Cells[i].Value.ToString();
                    }
                }

                foreach (var config in listAbsConfig) {
                    Console.WriteLine($"{config.Key}: {config.Value}");
                }

                var ret = m_pSys.setAbsConfig(i, ref listAbsConfig);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("set abs config failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
        }

        private void on_btnAdd_pressed(object sender, MouseEventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            int nAxis = 0;

            if (((Button)sender).Text.Contains("X")) {
                nAxis = 0;
            }
            else if (((Button)sender).Text.Contains("Y")) {
                nAxis = 1;
            }
            else if (((Button)sender).Text.Contains("Z")) {
                nAxis = 2;
            }
            else if (((Button)sender).Text.Contains("A")) {
                nAxis = 3;
            }
            else if (((Button)sender).Text.Contains("C")) {
                nAxis = 5;
            }

            double dVel = Convert.ToDouble(leVel.Text);
            double dDistance = Convert.ToDouble(leDistance.Text);

            Console.WriteLine($"{((Button)sender).Text} : {dVel} {dDistance}");

            if (radioCont.Checked) {
                var ret = m_pMotion.continuousJog(nAxis, dVel);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("continuous jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
            else {
                var ret = m_pMotion.incrementJog(nAxis, dVel, dDistance);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("increment jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
        }

        private void on_btnAdd_released(object sender, MouseEventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            int nAxis = 0;

            if (((Button)sender).Text.Contains("X")) {
                nAxis = 0;
            }
            else if (((Button)sender).Text.Contains("Y")) {
                nAxis = 1;
            }
            else if (((Button)sender).Text.Contains("Z")) {
                nAxis = 2;
            }
            else if (((Button)sender).Text.Contains("A")) {
                nAxis = 3;
            }
            else if (((Button)sender).Text.Contains("C")) {
                nAxis = 5;
            }

            if (radioCont.Checked) {
                var ret = m_pMotion.stopJog(nAxis);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("stop jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
        }

        private void on_btnSub_pressed(object sender, MouseEventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            int nAxis = 0;

            if (((Button)sender).Text.Contains("X")) {
                nAxis = 0;
            }
            else if (((Button)sender).Text.Contains("Y")) {
                nAxis = 1;
            }
            else if (((Button)sender).Text.Contains("Z")) {
                nAxis = 2;
            }
            else if (((Button)sender).Text.Contains("A")) {
                nAxis = 3;
            }
            else if (((Button)sender).Text.Contains("C")) {
                nAxis = 5;
            }

            double dVel = Convert.ToDouble(leVel.Text) * (-1);
            double dDistance = Convert.ToDouble(leDistance.Text);


            if (radioCont.Checked) {

                var ret = m_pMotion.continuousJog(nAxis, dVel);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("continuous jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
            else {
                var ret = m_pMotion.incrementJog(nAxis, dVel, dDistance);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("increment jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }

        }

        private void on_btnSub_released(object sender, MouseEventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            int nAxis = 0;

            if (((Button)sender).Text.Contains("X")) {
                nAxis = 0;
            }
            else if (((Button)sender).Text.Contains("Y")) {
                nAxis = 1;
            }
            else if (((Button)sender).Text.Contains("Z")) {
                nAxis = 2;
            }
            else if (((Button)sender).Text.Contains("A")) {
                nAxis = 3;
            }
            else if (((Button)sender).Text.Contains("C")) {
                nAxis = 5;
            }

            if (radioCont.Checked) {
                var ret = m_pMotion.stopJog(nAxis);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("stop jog failed!");
                }
                else {
                    Console.WriteLine(ret);
                }
            }
        }

        private void btnHome_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            int nAxis = 0;

            if (((Button)sender).Text.Contains("X")) {
                nAxis = 'X';
            }
            else if (((Button)sender).Text.Contains("Y")) {
                nAxis = 'Y';
            }
            else if (((Button)sender).Text.Contains("Z")) {
                nAxis = 'Z';
            }
            else if (((Button)sender).Text.Contains("A")) {
                nAxis = 'A';
            }
            else if (((Button)sender).Text.Contains("C")) {
                nAxis = 'C';
            }

            var ret = m_pMotion.home(nAxis);
            if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                Console.WriteLine("home failed!");
            }
            else {
                Console.WriteLine(ret);
            }
        }

        private void btnGetAllIoName_Click(object sender, EventArgs e)
        {

            if (null == m_pIoCtrl) {
                Console.WriteLine("pIoCtrl is null");
                return;
            }

            List<String> listPinName = new List<String>();
            List<String> listPinValue = new List<String>();
            var ret = m_pIoCtrl.getSupportio(ref listPinName);
            Console.WriteLine(ret < 0 ? "get support io failed!" : "get support io succeed!");
            if (ret < 0) {
                return;
            }

            ret = m_pIoCtrl.getIoValue(listPinName, ref listPinValue);
            Console.WriteLine(ret < 0 ? "get io value failed!" : "get io value succeed!");
            if (ret < 0) {
                return;
            }

            int nSize = listPinName.Count;
            Console.WriteLine($"nSize: {listPinName.Count}");

            gvIoList.Invoke((Action)(() => {
                gvIoList.Rows.Clear();

                // 暂停 DataGridView 的绘制，防止闪烁
                gvIoList.SuspendLayout();

                // 创建行集合
                List<DataGridViewRow> rows = new List<DataGridViewRow>();
                for (int i = 0; i < nSize; i++) {
                    DataGridViewRow row = new DataGridViewRow();
                    row.HeaderCell.Value = (i + 1).ToString();
                    row.Cells.Add(new DataGridViewTextBoxCell { Value = listPinName[i] });
                    row.Cells.Add(new DataGridViewTextBoxCell { Value = listPinValue[i] });
                    rows.Add(row);
                }

                // 批量添加行
                gvIoList.Rows.AddRange(rows.ToArray());

                // 恢复 DataGridView 的绘制
                gvIoList.ResumeLayout();
            }));
        }

        private void btnGetIo_Click(object sender, EventArgs e)
        {

            if (null == m_pIoCtrl) {
                Console.WriteLine("pIoCtrl is null");
                return;
            }

            String sValue = "";
            int ret = m_pIoCtrl.getIoValue(leIOname.Text, ref sValue);
            leIOvalue.Text = sValue.ToString();
            Console.WriteLine(ret < 0 ? "get io value failed!" : "get io value succeed!");
            if (ret < 0) {
                return;
            }

            Console.WriteLine($"sValue:{sValue}");
        }

        private void btnSetIo_Click(object sender, EventArgs e)
        {

            if (null == m_pIoCtrl) {
                Console.WriteLine("pIoCtrl is null");
                return;
            }

            Console.WriteLine($"Name : {leIOname.Text} Value : {leIOvalue.Text}");
            var ret = m_pIoCtrl.setIoValue(leIOname.Text, leIOvalue.Text);
            Console.WriteLine(ret < 0 ? "set io value failed!" : "set io value succeed!");
        }

        private void btnOpenFile_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            OpenFileDialog openFileDialog = new OpenFileDialog();

            openFileDialog.Title = "选择文件";

            // 设置对话框的初始目录
            openFileDialog.InitialDirectory = Environment.GetFolderPath(Environment.SpecialFolder.Desktop);

            // 设置对话框中允许选择的文件类型
            openFileDialog.Filter = "文本文件 (*.txt)|*.txt|所有文件 (*.*)|*.*";

            // 设置是否允许选择多个文件
            openFileDialog.Multiselect = false;

            // 如果用户点击了"打开"按钮
            if (openFileDialog.ShowDialog() == DialogResult.OK) {
                // 获取用户选择的文件名
                String sfilePath = openFileDialog.FileName;
                Console.WriteLine(sfilePath);
                try {
                    // 使用StreamReader读取文件内容
                    using (StreamReader sr = new StreamReader(sfilePath)) {
                        // 读取文件内容并将其写入RichTextBox
                        String sfileContent = sr.ReadToEnd();
                        richTextBoxGCode.Text = sfileContent;
                    }

                    var ret = m_pMotion.downloadGcode(ref sfilePath);

                    if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                        Console.WriteLine("download gcode failed!");
                    }
                    else {
                        Console.WriteLine(ret);
                    }

                    ret = m_pMotion.openProgram(Path.GetFileName(sfilePath));
                    if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                        Console.WriteLine("open program failed!");
                    }
                    else {
                        Console.WriteLine(ret);
                    }
                }
                catch (Exception ex) {
                    MessageBox.Show("文件读取失败: " + ex.Message);
                }
            }
        }

        private void showLineNo()
        {

            // 获得当前坐标信息
            Point p = this.richTextBoxGCode.Location;
            int crntFirstIndex = this.richTextBoxGCode.GetCharIndexFromPosition(p); // 获取RichTextBox中当前位置的字符索引
            int crntFirstLine = this.richTextBoxGCode.GetLineFromCharIndex(crntFirstIndex); // 获取当前位置所在的行号

            Point crntFirstPos = this.richTextBoxGCode.GetPositionFromCharIndex(crntFirstIndex); // 获取当前位置的坐标信息

            p.Y += this.richTextBoxGCode.Height;

            int crntLastIndex = this.richTextBoxGCode.GetCharIndexFromPosition(p); // 获取RichTextBox中底部位置的字符索引
            int crntLastLine = this.richTextBoxGCode.GetLineFromCharIndex(crntLastIndex); // 获取底部位置所在的行号
            Point crntLastPos = this.richTextBoxGCode.GetPositionFromCharIndex(crntLastIndex); // 获取底部位置的坐标信息

            // 准备画图
            Graphics g = this.pnl_ShowLine.CreateGraphics();
            float zoomFactor = this.richTextBoxGCode.ZoomFactor; // 获取RichTextBox的缩放比例
            Font font = new Font(this.richTextBoxGCode.Font.FontFamily,
                (this.richTextBoxGCode.Font.Size - 3) * zoomFactor, this.richTextBoxGCode.Font.Style); // 根据缩放比例调整字体大小
            SolidBrush brush = new SolidBrush(Color.Green);

            // 刷新画布
            Rectangle rect = this.pnl_ShowLine.ClientRectangle;
            brush.Color = this.pnl_ShowLine.BackColor;
            g.FillRectangle(brush, 0, 0, rect.Width, rect.Height); // 用背景色填充画布
            brush.Color = Color.Black; // 重置画笔颜色，更改行号颜色

            // 绘制行号
            int lineSpace;
            if (crntFirstLine != crntLastLine) {
                lineSpace = (crntLastPos.Y - crntFirstPos.Y) / (crntLastLine - crntFirstLine);
            }
            else {
                lineSpace = Convert.ToInt32(font.Size);
            }

            int brushX = this.pnl_ShowLine.ClientRectangle.Width - Convert.ToInt32(font.Size * 1.5); // 更改为行号靠右显示
            //int brushX = this.pnl_ShowLine.ClientRectangle.Width - Convert.ToInt32(font.Size * 3); // 更改为行号靠左显示
            int brushY = crntLastPos.Y + Convert.ToInt32(font.Size * 0.35f); // 计算行号绘制的垂直位置（稍微向上偏移一点）
            for (int i = crntLastLine; i >= crntFirstLine; i--) {
                string lineNumber = (i + 1).ToString();
                SizeF size = g.MeasureString(lineNumber, font); // 测量行号文本的大小
                g.DrawString(lineNumber, font, brush, brushX - size.Width, brushY); // 靠右显示行号
                //g.DrawString((i + 1).ToString(), font, brush, brushX, brushY);// 靠左显示行号
                brushY -= lineSpace; // 更新垂直位置，准备绘制下一行的行号
            }

            g.Dispose();
            font.Dispose();
            brush.Dispose();
        }

        private void richTextBoxGCode_TextChanged(object sender, EventArgs e)
        {

            showLineNo();
        }

        //控件滚动事件，当算出的行数大于本控件长度
        private void richTextBoxGCode_VScroll(object sender, EventArgs e)
        {

            showLineNo();
        }

        private void richTextBoxGCode_ContentsResized(object sender, ContentsResizedEventArgs e)
        {

            showLineNo();
        }

        private void btnHomeAll_Click(object sender, EventArgs e)
        {

            if (null == m_pMotion) {
                Console.WriteLine("pMotion is null");
                return;
            }

            var nAxis = new int[] { 'X', 'Y', 'Z', 'A', 'C' };

            for (int i = 0; i < nAxis.Length; ++i) {
                var ret = m_pMotion.home(i);
                if (WECONCNC_ERROR_E.WECONCNC_ERROR_SUCCESS != ret) {
                    Console.WriteLine("home failed!");
                    return;
                }
                else {
                    Console.WriteLine(ret);
                }
            }
        }
    }
}