using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Linq;
using System.Text;
using System.Windows.Forms;
using System.Net.NetworkInformation;
using System.Threading;
using System.Collections;
using System.Runtime.InteropServices;
using System.Globalization;
using AGVSystem.Cls;
using Automation.BDaq;
using AGVSystem.A17168;
using HxBusiness;

namespace AGVSystem
{
    public partial class Frm_A17168 : Form
    {

        public static int iJsState = 0;

        public static ClsDBConn_sql newdb = new ClsDBConn_sql();
        public static Cls_A17168 Agvcontrol = new Cls_A17168();
        public static Frm_A17168 frm;
        public static DataSet ds_Station_Info = new DataSet();
        public static DataSet ds_Agv_Info_Interface = new DataSet();
        public static ClsDBConn_sql db_station = new ClsDBConn_sql();
        public static ClsDBConn_sql db_Agv_Info = new ClsDBConn_sql();
        public static BusinessManage businessCtrl;
        /// <summary>
        /// 第三方交管自动归还秒数
        /// </summary>
        public static int TraffAutoTimet = 0;
        /// <summary>
        /// 第三方交管路口占用列表
        /// </summary>
        public static List<TrafficModel> autoLeavedDic = new List<TrafficModel>();
        public static Dictionary<int, int> leavedDic = new Dictionary<int, int>();
        /// <summary>
        /// Array_Station_Info [17,12]
        /// 17行 12列   数据库中去除前两列的数据
        /// </summary>
        public static int[,] Array_Station_Info = new int[17, 17];
        /// <summary>
        /// Btn_Filter [17,2]
        /// 17条线   集配与线边的按钮
        /// </summary>
        public static int[,] Btn_Filter = new int[17, 3];
        /// <summary>
        /// 存储线边按钮放行信号
        /// 为实现线边按钮放行后，集配区放行
        /// </summary>
        public static int[,] btn_line = new int[17, 2];

        //保存机械手读取信息
        public static int[,] Array_Robot_Status = new int[4, 8];

        //保存机械手将要写入的信息
        public static byte[,] Array_Robot_Set = new byte[4, 8];
        public static byte[,] Array_Robot_Set_temp = new byte[4, 8];

        /// <summary>
        /// 线边AGV数量
        /// </summary>
        public static int[] nLine_Point_AGV_Num = new int[17];
        //private LineShape lp = new LineShape();
        /// <summary>
        /// PB[17, 6]
        /// </summary>
        public static PictureBox[,] PB = new PictureBox[17, 9];


        [DllImport("kernel32")]
        public static extern uint GetTickCount();
        public static Panel P1;
        public static Panel P2;
        public static Panel P3;
        public static Panel P4;
        public static Panel P5;
        public static Panel P6;
        public static Panel P7;
        public static Panel P8;
        public static Panel P9;
        public static Panel P10;
        public static Panel P11;

        private PictureBox[] led = new PictureBox[16];

        private Panel[] pnl = { P1, P2, P3, P4, P5, P6, P7, P8, P9, P10, P11 };


        /// <summary>
        /// AGV智能管理启动状态
        /// </summary>
        public static bool AGV_Running = true;


        /// <summary>
        /// 保存所有AGV Socket客户端
        /// </summary>
        public static ArrayList al_AGVClientCls = new ArrayList();

        private DataSet agv_list = new DataSet();

        public Frm_A17168()
        {
            //byte[] a = new byte[8];
            //a[6] = 99;
            //int[,] n = new int[4, 8];
            //n=Cls_Method.Array_Robot_Info(a);
            //Cls_Method.HEX_To_BIN(34);
            InitializeComponent();
            frm = this;
            mainfrm.Map1 = panel3;
            mainfrm.Map2 = panel2;
            mainfrm.Map3 = panel1;
            businessCtrl = new BusinessManage();
            //初始化第三方交管路口占用列表
            if (businessCtrl != null && businessCtrl.apiModel != null)
            {
                TraffAutoTimet = businessCtrl.apiModel.AutoTime;
                if (!string.IsNullOrEmpty(businessCtrl.apiModel.waitRfidList))
                {
                    autoLeavedDic = new List<TrafficModel>();
                    foreach (string areaCode in businessCtrl.apiModel.waitRfidList.Split(','))
                    {
                        autoLeavedDic.Add(new TrafficModel
                        {
                            areaCode = areaCode
                        });
                    }
                }
            }
            this.ControlBox = false;
            this.Width = mainfrm.newmainfrm.ClientSize.Width - 5;
            this.Height = mainfrm.newmainfrm.ClientSize.Height - 29 - 74 - 22 - 5;


            Func.db_conn = new ClsDBConn_sql();
            if (Cls.Param.Card1_Interval > 0)
            {
                try
                {
                    instantDiCtrl1.SelectedDevice = mainfrm.myDevice_DI0;
                    instantDoCtrl1.SelectedDevice = mainfrm.myDevice_DO0;
                    tm_card.Interval = Cls.Param.Card1_Interval;
                    tm_card.Enabled = true;
                    instantDiCtrl1.SnapStart();
                }
                catch { }
            }
            if (Cls.Param.Card2_Interval > 0)
            {
                try
                {
                    instantDiCtrl2.SelectedDevice = mainfrm.myDevice_DI1;
                    instantDoCtrl2.SelectedDevice = mainfrm.myDevice_DO1;
                    tm_card.Interval = Cls.Param.Card2_Interval;
                    tm_card.Enabled = true;
                    instantDiCtrl2.SnapStart();
                }
                catch { }
            }
            if (Cls.Param.Card3_Interval > 0)
            {
                try
                {
                    instantDiCtrl3.SelectedDevice = mainfrm.myDevice_DI2;
                    instantDoCtrl3.SelectedDevice = mainfrm.myDevice_DO2;
                    tm_card.Interval = Cls.Param.Card3_Interval;
                    tm_card.Enabled = true;
                    instantDiCtrl3.SnapStart();
                }
                catch { }
            }



            pnl1.Height = Cls.Param.Icon_Size;
            pnl2.Height = Cls.Param.Icon_Size;
            pnl3.Height = Cls.Param.Icon_Size;
            pnl4.Height = Cls.Param.Icon_Size;
            pnl5.Height = Cls.Param.Icon_Size;
            pnl6.Height = Cls.Param.Icon_Size;
            pnl7.Height = Cls.Param.Icon_Size;
            pnl8.Height = Cls.Param.Icon_Size;
            pnl9.Height = Cls.Param.Icon_Size;
            pnl10.Height = Cls.Param.Icon_Size;
            pnl11.Height = Cls.Param.Icon_Size;


            P1 = pnl1;
            P2 = pnl2;
            P3 = pnl3;
            P4 = pnl4;
            P5 = pnl5;
            P6 = pnl6;
            P7 = pnl7;
            P8 = pnl8;
            P9 = pnl9;
            P10 = pnl10;
            P11 = pnl11;

            pnl[0] = P1;
            pnl[1] = P2;
            pnl[2] = P3;
            pnl[3] = P4;
            pnl[4] = P5;
            pnl[5] = P6;
            pnl[6] = P7;
            pnl[7] = P8;
            pnl[8] = P9;
            pnl[9] = P10;
            pnl[10] = P11;
            //led[0] = pictureBox1;
            //led[1] = pictureBox2;
            //led[2] = pictureBox3;
            //led[3] = pictureBox4;
            //led[4] = pictureBox5;
            //led[8] = pictureBox6;
            //led[9] = pictureBox7;
            //led[10] = pictureBox8;
            //led[11] = pictureBox9;
            //led[12] = pictureBox10;
            agvLocation = new agvlocation(AgvLocation);
            //dataset_Set = new dataset_set(Dataset_Set);
            pictureboxSet = new pictureboxset(PictureboxSet);

            string strsql = "";
            Form.CheckForIllegalCrossThreadCalls = false;
            ClsDBConn_sql db = new ClsDBConn_sql();

            strsql = "SELECT [ID] as '设备编号'     ,[Loc_ID] as '设备位置'     ,''  as '状态' , '0' as '复位','' as '在线状态'   FROM [AgvInfo] order by id";
            agv_list = db.connDt(strsql).Copy();
            dataGridView1.DataSource = agv_list.Tables[0];



            //设置AGV列表信息
            strsql = "SELECT Line_name  FROM [Assembly_Line] order by ID";
            mainfrm.ds_ProductLine.Tables.Clear();
            mainfrm.ds_ProductLine = db.connDt(strsql);
            vScrollBar1.Maximum = mainfrm.ds_ProductLine.Tables[0].Rows.Count;
            for (int i = 0; i < mainfrm.ds_ProductLine.Tables[0].Rows.Count; i++)
            {
                if (i == 0)
                {
                    lab1.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl1.Visible = true;

                }
                else if (i == 1)
                {
                    lab2.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl2.Visible = true;
                }
                else if (i == 2)
                {
                    lab3.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl3.Visible = true;
                }
                else if (i == 3)
                {
                    lab4.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl4.Visible = true;
                }
                else if (i == 4)
                {
                    lab5.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl5.Visible = true;
                }
                else if (i == 5)
                {
                    lab6.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl6.Visible = true;
                }
                else if (i == 6)
                {
                    lab7.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl7.Visible = true;
                }
                else if (i == 7)
                {
                    lab8.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl8.Visible = true;
                }
                else if (i == 8)
                {
                    lab9.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl9.Visible = true;
                }
                else if (i == 9)
                {
                    //lab10.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl10.Visible = true;
                }
                else if (i == 10)
                {
                    lab11.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl11.Visible = true;
                }
                else if (i == 12)
                {
                    lab13.Text = mainfrm.ds_ProductLine.Tables[0].Rows[i][0].ToString();
                    pnl10.Visible = true;
                }
            }
            if (mainfrm.ds_ProductLine.Tables[0].Rows.Count <= 3)
            {
                panel8.Height = Cls.Param.Icon_Size * mainfrm.ds_ProductLine.Tables[0].Rows.Count;
                if (mainfrm.ds_ProductLine.Tables[0].Rows.Count == 1)
                {
                    lab1.Text = "设备列表：";
                }
            }
            else
                panel8.Height = Cls.Param.Icon_Size * 3;
            //AGV列表设置结束



            //初始化小车btn 数量
            Func.agvcar = new AgvCar.Agv[Cls.Param.AGV_Qty];
            Thread dbThread = new Thread(UPDateDBList.UpDateDb);
            dbThread.IsBackground = true;
            dbThread.Start();
            //第三方交管自动归还监听线程
            Thread trafficThread = new Thread(TrafficCtrl.Listen);
            trafficThread.IsBackground = true;
            trafficThread.Start();
            //初始化小车控制线程
            Cls.Param.th_GetData = new Thread[Cls.Param.AGV_Qty];

            strsql = "SELECT [ID] ,[LOC_ID] ,[Warn_ID]  FROM [Agv_Info_Interface]";
            //db_Agv_Info = new ClsDBConn_sql();
            ds_Agv_Info_Interface = db_Agv_Info.connDt(strsql);
            int COUNT = ds_Agv_Info_Interface.Tables[0].Rows.Count;

            strsql = "select id , line_name from Assembly_Line";
            mainfrm.ds_ProductLine.Clear();
            mainfrm.ds_ProductLine = db.connDt(strsql).Copy();

            strsql = "SELECT [Warn_ID]   ,[Warn_Info]  ,[Warn_Level]  FROM [Warn_Info] order by Warn_ID";
            ds_warn = db.connDt(strsql).Copy();

            for (int row = 0; row < mainfrm.ds_Agvlist.Tables[0].Rows.Count; row++)
            {
                CreateBtnAgv(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Internal_ID"].ToString(),
                    mainfrm.ds_Agvlist.Tables[0].Rows[row]["Assembly_Line"].ToString(),
                    mainfrm.ds_Agvlist.Tables[0].Rows[row]["ID"].ToString(),
                    mainfrm.ds_Agvlist.Tables[0].Rows[row]["IPAddress"].ToString(),
                    mainfrm.ds_Agvlist.Tables[0].Rows[row]["line_Name"].ToString());
                //string STR = mainfrm.ds_Agvlist.Tables[0].Rows[row]["ID"].ToString();
                //Func.AgvInfo[row] = new Agv_Info.AgvInfo(); ;
                //Func.AgvInfo[row].Agv_ID = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["ID"].ToString());
                //Func.AgvInfo[row].AssemblyLine = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Assembly_Line"].ToString());
                //Func.AgvInfo[row].AssemblyName = mainfrm.ds_Agvlist.Tables[0].Rows[row]["line_Name"].ToString();
                //Func.AgvInfo[row].Enable = Convert.ToBoolean(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Status"].ToString());
                //Func.AgvInfo[row].Internal_ID = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Internal_ID"].ToString());
                //Func.AgvInfo[row].IP = mainfrm.ds_Agvlist.Tables[0].Rows[row]["IPAddress"].ToString();
                //Func.AgvInfo[row].Area = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["area"].ToString());
                //Func.AgvInfo[row].Cross_Location_Go = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["LOC_ID"].ToString());
                //Func.AgvInfo[row].Cross_Path_Id = Convert.ToInt16(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Warn_ID"].ToString());
                //Func.AgvInfo[row].Mileage = Convert.ToDouble(mainfrm.ds_Agvlist.Tables[0].Rows[row]["Mileage"].ToString());
            }

            strsql = "SELECT distinct Loc_ID, Flag_Value, Loc_X, Loc_Y, Binding, Area, Assembly_ID ,Assembly_Line FROM LandMarkInfo order by  Loc_ID";
            DataSet ds_Location = db.connDt(strsql);
            string loc_id = "";
            int nWidth = Screen.PrimaryScreen.Bounds.Width;
            int nHeight = Screen.PrimaryScreen.Bounds.Height;
            foreach (DataRow dr in ds_Location.Tables[0].Rows)
            {
                if (loc_id == "")
                {
                    Func.CreatePanelLocation(dr["Loc_ID"].ToString(),
                            Convert.ToInt16(dr["Binding"]),
                            Convert.ToInt16(dr["Loc_x"]),
                            Convert.ToInt16(dr["loc_y"]),
                            Convert.ToInt16(dr["Area"]), dr["Assembly_ID"].ToString());
                    loc_id = dr["Loc_ID"].ToString();
                }
                else if (dr["Loc_ID"].ToString() != loc_id)
                {
                    Func.CreatePanelLocation(dr["Loc_ID"].ToString(),
                            Convert.ToInt16(dr["Binding"]),
                            Convert.ToInt16(dr["Loc_x"]),
                            Convert.ToInt16(dr["loc_y"]),
                            Convert.ToInt16(dr["Area"]), dr["Assembly_ID"].ToString());
                }
            }
            strsql = "SELECT [Current_Line_ID] ,[Current_Landmark] ,[Reset_Line_ID] ,[Reset_Landmark]  FROM [Reset_Relation]";
            mainfrm.ds_Reset_Relation = newdb.connDt(strsql).Copy();

            strsql = "SELECT [Start_Point] ,[End_Point] ,[Distance] FROM [Mileage]";
            mainfrm.ds_Mileage = newdb.connDt(strsql).Copy();


            agvcontrol_init();
            for (int i = 0; i < Cls.Param.AGV_Qty; i++)
            //for (int i = 0; i < 1; i++)
            {
                //if (Func.AgvInfo[i].Agv_ID == 45)
                Agvcontrol.AGV_start(Func.AgvInfo[i]);
            }
            //Agvcontrol.Function();
            //mainfrm.warnlist1.Show();
        }

        public delegate void pictureboxset(PictureBox pb, string str);
        public pictureboxset pictureboxSet;
        public static void PictureboxSet(PictureBox pb, string str)
        {
            if (str == "hui")
                pb.BackgroundImage = Properties.Resources.hui;
            else if (str == "ledlow")
                pb.BackgroundImage = Properties.Resources.ledLow;
            else if (str == "_0")
                pb.BackgroundImage = Properties.Resources._0;
            else if (str == "_1")
                pb.BackgroundImage = Properties.Resources._1;
        }

        private void agvcontrol_init()
        {
            //Agvcontrol.AgvRecConnCount = new int[Cls.Param.AGV_Qty];
            //Agvcontrol.ds_AGVGo = mainfrm.ds_AGVGo;
            //Agvcontrol.ds_AGVWarn = mainfrm.ds_AgvWarn;
            //Agvcontrol.ds_CrossInfo = mainfrm.ds_CrossInfo;
            //Agvcontrol.ds_Warn = mainfrm.ds_WarnList;
            Agvcontrol.StartFlag = Cls.Param.StartFlag;
            Agvcontrol.th_GetData = Cls.Param.th_GetData;
            Agvcontrol.ConnectStr = Cls.Param.connectStr;
            //Agvcontrol.Agv_Qty = Cls.Param.AGV_Qty;
            //Agvcontrol.ds_Reset_Relation = mainfrm.ds_Reset_Relation;
            Agvcontrol.ds_Mileage = mainfrm.ds_Mileage;
            //Agvcontrol.Plc_Type = Cls.Param.PLC_Type;
            for (byte i = 0; i < 17; i++)
            {
                Btn_Filter[i, 0] = 0;
                Btn_Filter[i, 1] = 0;
            }
            for (byte row = 0; row < Array_Robot_Status.Length / 8; row++)
            {
                for (byte col = 0; col < 8; col++)
                {
                    Array_Robot_Status[row, col] = 0;
                    Array_Robot_Set[row, col] = 0;
                }
            }
        }



        private void Form1_Load(object sender, EventArgs e)
        {
            if (Cls.Param.map1_status)
            {
                panel3.Dock = DockStyle.Fill;
                panel3.BackgroundImage = Image.FromFile(Application.StartupPath + "\\map\\" + Cls.Param.Pro_id + "_1");
            }
            if (Cls.Param.map2_status)
            {
                panel2.Dock = DockStyle.Fill;
                panel2.BackgroundImage = Image.FromFile(Application.StartupPath + "\\map\\" + Cls.Param.Pro_id + "_2");

            }
            if (Cls.Param.map3_status)
            {
                panel1.Dock = DockStyle.Fill;
                panel1.BackgroundImage = Image.FromFile(Application.StartupPath + "\\map\\" + Cls.Param.Pro_id + "_3");
            }
            panel3.Visible = true;
            panel2.Visible = false;
            panel1.Visible = false;
            tm_AgvInfo.Enabled = true;
        }

        public static void label12_DoubleClick(object sender, EventArgs e)
        {
            if (((System.Windows.Forms.Label)sender).Tag.ToString() == "")
                return;
            if (MessageBox.Show("是否复位该路口？", "消息", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == DialogResult.No) return;
            int[] num = new int[2];
            num[0] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[0]);
            num[1] = Convert.ToInt16(((System.Windows.Forms.Label)sender).Tag.ToString().Split('-')[1]);
            for (int i = 0; i < mainfrm.ds_CrossInfo.Tables[0].Rows.Count; i++)
            {
                string s = mainfrm.ds_CrossInfo.Tables[0].Rows[i]["当前地标编号"].ToString();
                string a = mainfrm.ds_CrossInfo.Tables[0].Rows[i]["AGV编号"].ToString();
                if (mainfrm.ds_CrossInfo.Tables[0].Rows[i]["当前产线编号"].ToString() == num[0].ToString() &&
                    mainfrm.ds_CrossInfo.Tables[0].Rows[i]["当前地标编号"].ToString() == num[1].ToString() &&
                    mainfrm.ds_CrossInfo.Tables[0].Rows[i]["AGV编号"].ToString() != "0")
                {
                    MessageBox.Show("AGV-" + mainfrm.ds_CrossInfo.Tables[0].Rows[i]["AGV编号"].ToString() + "占用路口信息被清除！");
                    mainfrm.ds_CrossInfo.Tables[0].Rows[i]["AGV编号"] = 0;
                }
            }
        }








        /// <summary>
        /// 设置Agv的实时位置
        /// </summary>
        /// <param name="ID">地标编号：地标（2位）</param>
        /// <param name="agvnum">agv编号</param>
        public delegate void agvlocation(string LandMarkID, int agvnum, int map_id);
        public agvlocation agvLocation;
        public static void AgvLocation(string LandMarkID, int agvnum, int map_id)
        {
            if (LandMarkID == "0") return;
            Panel pl = new Panel();//xin panel
            Panel pl_parent = new Panel();//jiu panel
            bool flag = false;
            Panel parent_pnl = new Panel();
            if (map_id == 1)
            {
                parent_pnl = mainfrm.Map1;
            }
            else if (map_id == 2)
            {
                parent_pnl = mainfrm.Map2;
            }
            else
            {
                parent_pnl = mainfrm.Map3;
            }
            foreach (System.Windows.Forms.Control ctl in parent_pnl.Controls)
            {
                if (ctl.GetType().Name == "Panel")
                {
                    if (ctl.Tag.ToString().Split('-')[0] == LandMarkID)
                    {
                        pl = (Panel)ctl;
                        if (pl == (Panel)Func.agvcar[agvnum - 1].Parent)
                            flag = false;
                        else
                            flag = true;
                        break;
                    }
                }
            }
            if (!flag) return;

            //以下设置agvbtn
            pl_parent = (Panel)Func.agvcar[agvnum - 1].Parent;
            Func.agvcar[agvnum - 1].Parent = pl;
            if (pl.Tag.ToString().Trim() != "")
            {
                //1.左端(后退) 2.右端(前进) 3.顶部(向上) 4.底部(向下)
                if (pl.Tag.ToString().Split('-')[1] == "1")
                {
                    //Func.agvcar[agvnum - 1].Direction("backward");
                    Func.agvcar[agvnum - 1].Dock = DockStyle.Left;
                    Func.agvcar[agvnum - 1].Width = Func.agvcar[agvnum - 1].Height = 32;
                    Func.agvcar[agvnum - 1].BringToFront();
                    //Func.AgvBtn[agvnum - 1].SendToBack();
                }
                else if (pl.Tag.ToString().Split('-')[1] == "2")
                {
                    //Func.agvcar[agvnum - 1].Direction("forward");
                    Func.agvcar[agvnum - 1].Dock = DockStyle.Left;
                    Func.agvcar[agvnum - 1].Width = Func.agvcar[agvnum - 1].Height = 32;
                    Func.agvcar[agvnum - 1].BringToFront();
                }
                else if (pl.Tag.ToString().Split('-')[1] == "3")
                {
                    //Func.agvcar[agvnum - 1].Direction("upward");
                    Func.agvcar[agvnum - 1].Dock = DockStyle.Top;
                    Func.agvcar[agvnum - 1].Width = Func.agvcar[agvnum - 1].Height = 32;
                    Func.agvcar[agvnum - 1].BringToFront();
                }
                else if (pl.Tag.ToString().Split('-')[1] == "4")
                {
                    //Func.agvcar[agvnum - 1].Direction("down");
                    Func.agvcar[agvnum - 1].Dock = DockStyle.Top;
                    Func.agvcar[agvnum - 1].Width = Func.agvcar[agvnum - 1].Height = 32;
                    Func.agvcar[agvnum - 1].BringToFront();
                    //Func.AgvBtn[agvnum - 1].SendToBack();
                }
            }
            //以下设置新容器大小
            int i = 0;
            foreach (System.Windows.Forms.Control ctl in pl.Controls)
            {
                //1.左端(后退) 2.右端(前进) 3.顶部(向上) 4.底部(向下)
                if (pl.Tag.ToString().Split('-')[1] == "3" || pl.Tag.ToString().Split('-')[1] == "4")
                {
                    i = i + ctl.Height;
                }
                else
                {
                    i = i + ctl.Width;
                }
            }
            if (pl.Tag.ToString().Split('-')[1] == "3" || pl.Tag.ToString().Split('-')[1] == "4")
            {
                pl.Height = i;
            }
            else
            {
                pl.Width = i;
            }

        }



        /// <summary>
        /// 创建代表每个AGV的button
        /// </summary>
        /// <param name="agvID">agv内部编号</param>
        /// <param name="assembly">所属流水线编号</param>
        /// <param name="agvID_tot">agv总编号</param>
        public void CreateBtnAgv(string agvID, string assembly, string agvID_tot, string ip, string linename)
        {
            AgvCar.Agv btn = new AgvCar.Agv();
            //btn.Text = agvID;
            btn.Tag = agvID_tot + "-" + assembly;
            btn.Label = agvID;
            btn.Width = Cls.Param.Icon_Size;
            btn.Height = Cls.Param.Icon_Size;
            //btn.Agv_seq = agvID;
            //btn.Agv_IP = ip;
            //btn.Agv_No = agvID+" / "+ agvID_tot;
            //btn.LineName= linename;
            //btn.SetToolTip();
            btn.Font = new System.Drawing.Font("宋体", 9, FontStyle.Regular);
            btn.ForeColor = Color.Blue;
            if (assembly == "1")
                btn.Parent = pnl1;
            else if (assembly == "2")
                btn.Parent = pnl2;
            else if (assembly == "3")
                btn.Parent = pnl3;
            else if (assembly == "4")
                btn.Parent = pnl4;
            else if (assembly == "5")
                btn.Parent = pnl5;
            else if (assembly == "6")
                btn.Parent = pnl6;
            else if (assembly == "7")
                btn.Parent = pnl7;
            else if (assembly == "8")
                btn.Parent = pnl8;
            btn.Font = new System.Drawing.Font("宋体", 9);
            //btn.MouseEnter += new System.EventHandler(this.button6_MouseEnter);
            //btn.MouseLeave += new System.EventHandler(this.button6_MouseLeave);
            //btn.FlatStyle = FlatStyle.Flat;
            btn.Dock = DockStyle.Left;
            btn.BringToFront();
            Func.agvcar[Convert.ToInt16(agvID_tot) - 1] = btn;
        }





        public static void Map_Display(byte i)
        {
            if (i == 1)
            {
                mainfrm.Map1.Visible = true;
                mainfrm.Map2.Visible = false;
                mainfrm.Map3.Visible = false;
            }
            else if (i == 2)
            {
                mainfrm.Map1.Visible = false;
                mainfrm.Map2.Visible = true;
                mainfrm.Map3.Visible = false;
            }
            else if (i == 3)
            {
                mainfrm.Map1.Visible = false;
                mainfrm.Map2.Visible = false;
                mainfrm.Map3.Visible = true;
            }
        }


        private void button6_MouseEnter(object sender, EventArgs e)
        {
            Label btn;
            btn = (Label)sender;
            btn.Font = new System.Drawing.Font("宋体", 16, FontStyle.Regular);
            btn.TextAlign = ContentAlignment.MiddleCenter;
        }

        private void button6_MouseLeave(object sender, EventArgs e)
        {
            Label btn;
            btn = (Label)sender;
            btn.Font = new System.Drawing.Font("宋体", 9, FontStyle.Regular);
            btn.TextAlign = ContentAlignment.BottomLeft;
        }

        //private void button6_Click(object sender, EventArgs e)
        //{
        //    Form1.frm.Invoke(Form1.frm.btnset, Func.AgvBtn[1], (byte)2);
        //    Form1.frm.Invoke(Form1.frm.btnset, Func.AgvBtn[2], (byte)3);
        //    Form1.frm.Invoke(Form1.frm.btnset, Func.AgvBtn[3], (byte)1);
        //    Form1.frm.Invoke(Form1.frm.agvLocation, "5", 1, 1);
        //    Form1.frm.Invoke(Form1.frm.agvLocation, "6", 2, 1);
        //    Form1.frm.Invoke(Form1.frm.agvLocation, "7", 3, 1);
        //    Form1.frm.Invoke(Form1.frm.agvLocation, "8", 4, 1);
        //}

        private void panel1_MouseMove(object sender, MouseEventArgs e)
        {
            mainfrm.Lab_location.Text = "X： " + e.X.ToString() + " ,Y： " + e.Y.ToString();
            if (e.Y > panel1.Height - 10)
            {
                if (!panel8.Visible)
                {
                    panel8.Visible = true;
                    this.Location = new Point(0, 103);
                }
            }
            else
            {
                if (panel8.Visible)
                {
                    panel8.Visible = false;
                    this.Location = new Point(0, 29);
                }
            }
            if (e.Y < 10)
            {
                if (!mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = true;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 130;
            }
            else
            {
                if (mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = false;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 56;
            }
            //if (e.X > ((Panel)sender).Width - 10)
            //{
            //    if (!panel4.Visible)
            //        panel4.Visible = true;
            //}
            //else
            //{
            //    if (panel4.Visible)
            //        panel4.Visible = false;
            //}
        }

        private void panel2_MouseMove(object sender, MouseEventArgs e)
        {
            mainfrm.Lab_location.Text = "X： " + e.X.ToString() + " ,Y： " + e.Y.ToString();
            if (e.Y > panel2.Height - 10)
            {
                if (!panel8.Visible)
                    panel8.Visible = true;
            }
            else
            {
                if (panel8.Visible)
                    panel8.Visible = false;
            }
            if (e.Y < 10)
            {
                if (!mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = true;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 130;
            }
            else
            {
                if (mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = false;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 56;
            }
            if (e.Y > ((Panel)sender).Width - 10)
            {
                if (!panel4.Visible)
                    panel4.Visible = true;
            }
            else
            {
                if (panel4.Visible)
                    panel4.Visible = false;
            }
            //if (e.X > ((Panel)sender).Width - 10)
            //{
            //    if (!panel4.Visible)
            //        panel4.Visible = true;
            //}
            //else
            //{
            //    if (panel4.Visible)
            //        panel4.Visible = false;
            //}
        }

        private void panel3_MouseMove(object sender, MouseEventArgs e)
        {
            mainfrm.Lab_location.Text = "X： " + e.X.ToString() + " ,Y:  " + e.Y.ToString();
            if (e.Y > panel3.Height - 10)
            {
                if (!panel8.Visible)
                    panel8.Visible = true;
            }
            else
            {
                if (panel8.Visible)
                    panel8.Visible = false;
            }
            if (e.Y < 10)
            {
                if (!mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = true;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 130;
            }
            else
            {
                if (mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = false;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 56;
            }
            if (e.X > ((Panel)sender).Width - 10)
            {
                if (!panel4.Visible)
                    panel4.Visible = true;
            }
            else
            {
                if (panel4.Visible)
                    panel4.Visible = false;
            }
        }

        private bool b = false;
        private void panel3_DoubleClick(object sender, EventArgs e)
        {
            b = !b;
            if (b)
            {
                this.panel3.MouseMove -= new System.Windows.Forms.MouseEventHandler(this.panel3_MouseMove);
                this.panel1.MouseMove -= new System.Windows.Forms.MouseEventHandler(this.panel1_MouseMove);
                this.panel2.MouseMove -= new System.Windows.Forms.MouseEventHandler(this.panel2_MouseMove);
                if (!mainfrm.toolStrip.Visible)
                    mainfrm.toolStrip.Visible = true;
                this.Height = mainfrm.newmainfrm.ClientSize.Height - 130;
                //if (!panel4.Visible)
                //    panel4.Visible = true;
                mainfrm.toolStrip_info.Text = "Locked.";
            }
            else
            {
                this.panel3.MouseMove += new System.Windows.Forms.MouseEventHandler(this.panel3_MouseMove);
                this.panel1.MouseMove += new System.Windows.Forms.MouseEventHandler(this.panel1_MouseMove);
                this.panel2.MouseMove += new System.Windows.Forms.MouseEventHandler(this.panel2_MouseMove);
                mainfrm.toolStrip_info.Text = "";
            }
            mainfrm.Lab_location.Text = "W：" + panel3.Width.ToString() + " , H：" + panel3.Height.ToString();

        }


        private void timer1_Tick(object sender, EventArgs e)
        {
            for (int i = 0; i < Cls.Param.AGV_Qty; i++)
            {
                Func.Agv_Car_Status(Func.AgvInfo[i].Agv_ID,
                    Func.AgvInfo[i].Run_Status == 1 ? true : false,
                    Func.AgvInfo[i].Warn_Level,
                    Func.AgvInfo[i].Location_Display,
                    Func.AgvInfo[i].Area,
                    Func.AgvInfo[i].Run_Direction);
            }
        }

        System.Data.DataSet ds_warn = new System.Data.DataSet(); //报警信息
        byte map_id = 1;
        private void tm_Tick(object sender, EventArgs e)
        {
            if (Cls.Param.Map_ID != map_id)
            {
                map_id = Cls.Param.Map_ID;
                if (map_id == 0)
                {
                    panel3.Visible = true;
                    panel2.Visible = false;
                    panel1.Visible = false;
                }
                else if (map_id == 1)
                {
                    panel2.Visible = true;
                    panel3.Visible = false;
                    panel1.Visible = false;
                }
                else if (map_id == 2)
                {
                    panel1.Visible = true;
                    panel2.Visible = false;
                    panel3.Visible = false;
                }
                //panel4.BringToFront();
                ////panel4.SendToBack();
                //panel4.Visible = true;
                //panel4.Parent = this;
            }
            if (Agvcontrol.StartFlag != Cls.Param.StartFlag)
            {
                if (Cls.Param.Thread_Count == Cls.Param.AGV_Qty)
                {
                    Agvcontrol.ClosedFlag = Cls.Param.AGV_Qty;
                }
                Agvcontrol.StartFlag = Cls.Param.StartFlag;
            }

            if (Cls.Param.StartFlag == true && Cls.Param.Thread_Count == 0)
            {
                for (int i = 0; i < Cls.Param.AGV_Qty; i++)
                {
                    Agvcontrol.AGV_start(Func.AgvInfo[i]);
                }
                Cls.Param.Thread_Count = -1;
            }

            if (Cls.Param.Thread_Count != -1 && Agvcontrol.ClosedFlag != -1 && Cls.Param.Thread_Count != Agvcontrol.ClosedFlag)
            {
                Cls.Param.Thread_Count = Agvcontrol.ClosedFlag;
            }
        }





        private void Form1_FormClosed(object sender, FormClosedEventArgs e)
        {
            Agvcontrol.ClosedFlag = Cls.Param.AGV_Qty;
            int count = 15;
            while (Agvcontrol.ClosedFlag > 0 && count > 0)
            {
                Thread.Sleep(80);
                count--;
            }
            if (!Cls.Param.Load_Path_His)
            {
                //for (byte i = 0; i < mainfrm.ds_CrossInfo.Tables[0].Rows.Count; i++)
                //{
                //mainfrm.ds_CrossInfo.Tables[0].Rows[i][4] = 0;
                //}
            }
            //newdb.dtCommit(mainfrm.ds_CrossInfo);

            for (int i = 0; i < Cls.Param.AGV_Qty; i++)
            {
                newdb.Command("UPDATE [AgvInfo]  SET [Loc_ID] = " + (Cls.Param.Load_Path_His == true ? Func.AgvInfo[i].Cross_Location_Go : 0) + "  ,[Path_ID] = " + (Cls.Param.Load_Path_His == true ? Func.AgvInfo[i].Cross_Path_Id : 0) + ", [Mileage]=" + Func.AgvInfo[i].Mileage + " WHERE  id=" + Func.AgvInfo[i].Agv_ID);

                try
                {
                    Func.AgvInfo[i].Soc.Close();
                    Func.AgvInfo[i].Soc = null;
                }
                catch
                { }
            }
        }

        private void button3_Click(object sender, EventArgs e)
        {
            agv_alarm_insert(0, "NEISHIXIAN", "1", 1, "FZ", 4);
        }

        private static void agv_alarm_insert(int del_agv_no, string Assembly_Name, string Assembly_Id, int AGV_Internal_No, string AlarmInfo, int agv_no)
        {
            if (del_agv_no == 0)
            {
                bool update_flag = false;
                if (mainfrm.ds_AgvWarn.Tables[0].Rows.Count > 0)
                {
                    for (int i = 0; i < mainfrm.ds_AgvWarn.Tables[0].Rows.Count; i++)
                    {
                        string ss = mainfrm.ds_AgvWarn.Tables[0].Rows[i][3].ToString();
                        if (Convert.ToInt16(mainfrm.ds_AgvWarn.Tables[0].Rows[i][3].ToString()) == agv_no)
                        {
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][0] = DateTime.Now.ToString();
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][1] = Assembly_Id;
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][2] = Assembly_Name;
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][3] = agv_no;
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][4] = AGV_Internal_No;
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][5] = AlarmInfo;
                            update_flag = true;
                            break;
                        }
                    }
                }
                if (!update_flag)
                {
                    DataRow dr = mainfrm.ds_AgvWarn.Tables[0].NewRow();
                    dr[0] = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss.fff");// 时间 
                    dr[1] = Assembly_Id;   // 线体编号 
                    dr[2] = Assembly_Name;  // 线体名称 
                    dr[3] = agv_no;  // 设备编号 
                    dr[4] = AGV_Internal_No;  // 内部编号
                    dr[5] = AlarmInfo;  // 报警信息
                    mainfrm.ds_AgvWarn.Tables[0].Rows.Add(dr);
                }
            }
            else
            {
                for (int i = 0; i < mainfrm.ds_AgvWarn.Tables[0].Rows.Count; i++)
                {
                    if (Convert.ToInt16(mainfrm.ds_AgvWarn.Tables[0].Rows[i][3]) == del_agv_no)
                    {
                        newdb.Command("INSERT INTO [Warn_Log] ([Dt] ,[Agv_id] ,[Type] ,[Reset]) VALUES ('" +
                            mainfrm.ds_AgvWarn.Tables[0].Rows[i][0] + "'," + mainfrm.ds_AgvWarn.Tables[0].Rows[i][3] + ",'" + mainfrm.ds_AgvWarn.Tables[0].Rows[i][5] + "','" + DateTime.Now.ToString() + "')");
                        mainfrm.ds_AgvWarn.Tables[0].Rows.RemoveAt(i);
                        i--;
                    }
                }
            }
        }

        private void button4_Click(object sender, EventArgs e)
        {
            agv_alarm_insert(4, "NEISHIXIAN", "1", 1, "FZ", 4);
        }



        private void checkBox1_MouseEnter(object sender, EventArgs e)
        {
            ((CheckBox)sender).ForeColor = Color.Red;
        }

        private void checkBox1_MouseLeave(object sender, EventArgs e)
        {
            ((CheckBox)sender).ForeColor = Color.Black;
        }

        private void vScrollBar1_ValueChanged(object sender, EventArgs e)
        {
            for (byte i = 0; i < vScrollBar1.Maximum; i++)
            {
                if (i < vScrollBar1.Value)
                    pnl[i].Visible = false;
                else
                    pnl[i].Visible = true;
            }
        }

        private void panel3_MouseClick(object sender, MouseEventArgs e)
        {
            if (Cls.Param.UserName_temp == "")
            {
                return;
            }
            if (e.Button == System.Windows.Forms.MouseButtons.Right)
            {
                //Location_Set ls = new Location_Set(Func.loc_flag, e.X, e.Y, Convert.ToInt16(((Panel)sender).Tag));
                //Func.loc_flag = 0;
                //ls.ShowDialog();
                Point_loc_Set loc_set = new Point_loc_Set(e.X, e.Y);
                loc_set.Show();
            }
        }

        private void button5_Click(object sender, EventArgs e)
        {
            Func.AgvInfo[1].Run_Status = 1;
            Func.AgvInfo[1].Warn_Level = 1;
            Func.AgvInfo[1].Location_Display = 1;
            Func.AgvInfo[1].Area = 1;
            Func.AgvInfo[1].Run_Direction = 1;
        }

        private void button6_Click(object sender, EventArgs e)
        {
            Func.AgvInfo[1].Run_Status = 1;
            Func.AgvInfo[1].Warn_Level = 3;
            Func.AgvInfo[1].Location_Display = 1;
            Func.AgvInfo[1].Area = 1;
            Func.AgvInfo[1].Run_Direction = 1;
        }

        private void button7_Click(object sender, EventArgs e)
        {
            Func.AgvInfo[1].Run_Status = 1;
            Func.AgvInfo[1].Warn_Level = 1;
            Func.AgvInfo[1].Location_Display = 2;
            Func.AgvInfo[1].Area = 1;
            Func.AgvInfo[1].Run_Direction = 1;
        }

        private void card1_Tick()
        {
            ErrorCode err = ErrorCode.Success;
            byte out_value = 0;
            for (byte i = 0; i < instantDiCtrl1.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; j++)
                {
                    err = instantDiCtrl1.ReadBit(i, j, out out_value);
                    if (mainfrm.Card_DI1[i, j] == 0 && out_value == 1)
                        mainfrm.Card_DI1[i, j] = count;
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 1);
                        return;
                    }
                }
            }

            for (byte i = 0; i < instantDoCtrl1.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; j++)
                {
                    err = instantDoCtrl1.WriteBit(i, j, mainfrm.Card_DO1[i, j]);
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 1);
                        return;
                    }
                }
            }
        }
        private void HandleError(ErrorCode err, byte card_id)
        {
            if (err != ErrorCode.Success)
            {
                MessageBox.Show("Sorry ! Some errors happened, the error code is: " + err.ToString() + " , this card id = " + card_id.ToString(), "Static DI OR DO");
            }
        }

        private void card2_Tick()
        {
            byte out_value = 0;
            ErrorCode err = ErrorCode.Success;
            for (byte i = 0; i < instantDiCtrl2.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; j++)
                {
                    err = instantDiCtrl2.ReadBit(i, j, out out_value);
                    if (mainfrm.Card_DI2[i, j] == 0 && out_value == 1)
                        mainfrm.Card_DI2[i, j] = count;
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 2);
                        return;
                    }
                }
            }

            for (byte i = 0; i < instantDoCtrl2.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; j++)
                {
                    err = instantDoCtrl2.WriteBit(i, j, mainfrm.Card_DO2[i, j]);
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 2);
                        return;
                    }
                }
            }
        }

        private void card3_Tick()
        {
            byte out_value = 0;
            ErrorCode err = ErrorCode.Success;
            for (byte i = 0; i < instantDiCtrl3.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; ++j)
                {
                    err = instantDiCtrl3.ReadBit(i, j, out out_value);
                    if (mainfrm.Card_DI3[i, j] == 0 && out_value == 1)
                        mainfrm.Card_DI3[i, j] = count;
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 3);
                        return;
                    }
                }
            }

            for (byte i = 0; i < instantDoCtrl3.Features.PortCount; i++)
            {
                for (byte j = 0; j < 8; j++)
                {
                    err = instantDoCtrl3.WriteBit(i, j, mainfrm.Card_DO3[i, j]);
                    if (err != ErrorCode.Success)
                    {
                        tm_card.Enabled = false;
                        HandleError(err, 3);
                        return;
                    }
                }
            }
        }

        private byte count = 10;
        private void tm_card_Tick(object sender, EventArgs e)
        {
            for (byte i = 0; i < 4; ++i)
            {
                for (byte j = 0; j < 8; ++j)
                {
                    mainfrm.Card_DO1[i, j] = 0;
                    mainfrm.Card_DO2[i, j] = 0;
                    mainfrm.Card_DO3[i, j] = 0;
                    if (mainfrm.Card_DI1[i, j] > 1)
                    {
                        mainfrm.Card_DI1[i, j]--;
                    }
                    else
                    {
                        if (mainfrm.ds_Card_DI_Call.Tables[0].Rows.Count > 0)
                        {
                            DataView rowfilter = new DataView(mainfrm.ds_Card_DI_Call.Tables[0]);
                            rowfilter.RowFilter = "Card_ID=1 and Port=" + i + " and bit=  " + j + " and value=1 and class =0";
                            rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                            DataTable dt = rowfilter.ToTable();
                            if (dt.Rows.Count == 1)
                            {

                            }
                            else
                            {
                                mainfrm.Card_DI1[i, j] = 0;
                            }
                        }
                    }
                    if (mainfrm.Card_DI2[i, j] > 1)
                    {
                        mainfrm.Card_DI2[i, j]--;
                    }
                    else
                    {
                        DataView rowfilter = new DataView(mainfrm.ds_Card_DI_Call.Tables[0]);
                        if (mainfrm.ds_Card_DI_Call.Tables[0].Rows.Count > 0)
                        {
                            rowfilter.RowFilter = "Card_ID=2 and Port=" + i + " and bit=  " + j + " and value=1 and class =0";
                            rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                            DataTable dt = rowfilter.ToTable();
                            if (dt.Rows.Count == 1)
                            {

                            }
                            else
                            {
                                mainfrm.Card_DI2[i, j] = 0;
                            }
                        }
                    }
                    if (mainfrm.Card_DI3[i, j] > 1)
                    {
                        mainfrm.Card_DI3[i, j]--;
                    }
                    else
                    {
                        DataView rowfilter = new DataView(mainfrm.ds_Card_DI_Call.Tables[0]);
                        rowfilter.RowFilter = "Card_ID=3 and Port=" + i + " and bit=  " + j + " and value=1 and class =0";
                        rowfilter.RowStateFilter = DataViewRowState.OriginalRows;
                        DataTable dt = rowfilter.ToTable();
                        if (dt.Rows.Count == 1)
                        {

                        }
                        else
                        {
                            mainfrm.Card_DI3[i, j] = 0;
                        }
                    }
                }
            }

            if (mainfrm.ds_Card_DO.Tables[0].Rows.Count > 0)
            {
                int[,] nCount = new int[3, 16];//计算数量--AGV 在红绿灯地标上的数量
                for (int i = 0; i < mainfrm.ds_Card_DO.Tables[0].Rows.Count; i++)
                {
                    for (int j = 0; j < Cls.Param.AGV_Qty; j++)
                    {
                        
                        if (Func.AgvInfo[j].Cross_Location_Go == Func.AgvInfo[j].Location_Display && Func.AgvInfo[j].Cross_Location_Go == Convert.ToInt16(mainfrm.ds_Card_DO.Tables[0].Rows[i]["Loc_ID"].ToString()))
                        {
                            if (mainfrm.ds_Card_DO.Tables[0].Rows[i]["Value"].ToString() == "1")
                            {
                                int nCardNum = Convert.ToInt16(mainfrm.ds_Card_DO.Tables[0].Rows[i]["Card_ID"].ToString());
                                int nBit = Convert.ToInt16(mainfrm.ds_Card_DO.Tables[0].Rows[i]["Bit"].ToString());
                                nCount[nCardNum - 1, nBit - 1]++;
                            }
                        }
                    }
                }
                for (int i = 0; i < 3; i++)
                {
                    int nBit = 0, nPort = 0;
                    for (int j = 0; j < 16; j++)
                    {
                        if (j >= 0 && j < 8)
                        {
                            nPort = 0;
                            nBit = j;
                        }
                        else if (j >= 8 && j < 16)
                        {
                            nPort = 1;
                            nBit = j - 8;
                        }
                        if (nCount[i, j] != 0)
                        {
                            if (i == 0)
                            {
                                mainfrm.Card_DO1[nPort, nBit] = 1;
                            }
                            else if (i == 1)
                            {
                                mainfrm.Card_DO2[nPort, nBit] = 1;
                            }
                            else if (i == 2)
                            {
                                mainfrm.Card_DO3[nPort, nBit] = 1;
                            }
                        }
                        else
                        {
                            if (i == 0)
                            {
                                mainfrm.Card_DO1[nPort, nBit] = 0;
                            }
                            else if (i == 1)
                            {
                                mainfrm.Card_DO2[nPort, nBit] = 0;
                            }
                            else if (i == 2)
                            {
                                mainfrm.Card_DO3[nPort, nBit] = 0;
                            }
                        }
                    }
                }
            }

            if (Cls.Param.Card1_Interval > 0)
            {
                card1_Tick();
            }
            if (Cls.Param.Card2_Interval > 0)
            {
                card2_Tick();
            }
            if (Cls.Param.Card3_Interval > 0)
            {
                card3_Tick();
            }
        }



        private void pictureBox106_Click(object sender, EventArgs e)
        {
            int row = 0, col = 0;
            PictureBox pb = (PictureBox)sender;
            row = Convert.ToInt16(pb.Tag.ToString().Split(',')[0]) - 1;
            col = Convert.ToInt16(pb.Tag.ToString().Split(',')[1]) - 1;
            if ((col >= 0 && col < 4) || col == 6 || col == 7)
            {
                if (col >= 0 && col < 4)
                {
                    if (MessageBox.Show("是否要重置 " + ds_Station_Info.Tables[0].Rows[row][1].ToString().Trim() + " 工位 " + (col + 1).ToString() + " 位置编号： " + ds_Station_Info.Tables[0].Rows[row][2 + col].ToString() + " 的状态？", "信息", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == System.Windows.Forms.DialogResult.Yes)
                    {

                        if (ds_Station_Info.Tables[0].Rows[row][8 + col].ToString() == "0")
                        {
                            Array_Station_Info[row, 6 + col] = 1;
                            ds_Station_Info.Tables[0].Rows[row][8 + col] = 1;
                            PB[row, col].BackgroundImage = Properties.Resources._1;
                        }
                        else
                        {
                            Array_Station_Info[row, 6 + col] = 0;
                            ds_Station_Info.Tables[0].Rows[row][8 + col] = 0;
                            PB[row, col].BackgroundImage = Properties.Resources._0;
                        }
                    }
                }
                else if (col == 6 || col == 7)
                {
                    if (MessageBox.Show("是否要重置 " + ds_Station_Info.Tables[0].Rows[row][1].ToString().Trim() + " 工位 " + (col - 3).ToString() + " 位置编号： " +
                        ds_Station_Info.Tables[0].Rows[row][(col == 6) ? "Station5_LandMark" : "Station6_LandMark"].ToString() + " 的状态？", "信息", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == System.Windows.Forms.DialogResult.Yes)
                    {

                        if (ds_Station_Info.Tables[0].Rows[row][col == 6 ? "station5" : "station6"].ToString() == "0")
                        {
                            Array_Station_Info[row, col + 8] = 1;
                            ds_Station_Info.Tables[0].Rows[row][col == 6 ? "station5" : "station6"] = 1;
                            PB[row, col].BackgroundImage = Properties.Resources._1;
                        }
                        else
                        {
                            Array_Station_Info[row, 8 + col] = 0;
                            ds_Station_Info.Tables[0].Rows[row][col == 6 ? "station5" : "station6"] = 0;
                            PB[row, col].BackgroundImage = Properties.Resources._0;
                        }
                    }
                }
                db_station.dtCommit(ds_Station_Info);
            }
        }

        public const byte Number = 10;
        public static bool maplandmarkisEdit = false;
        private static int Agv_Count_Area(int worktype, int[] landmark)
        {
            int count = 0;
            for (int i = 0; i < Func.AgvInfo.Length; i++)
            {
                if (Func.AgvInfo[i].WorkType == worktype)
                {
                    for (int j = 0; j < landmark.Length; j++)
                    {
                        if (Func.AgvInfo[i].Location_Display == landmark[j])
                            count++;
                    }
                }
            }
            return count;
        }


        private void toolStripMenuItem_Save_Location_X_Y_Click(object sender, EventArgs e)
        {

            if (MessageBox.Show("是否保存坐标数据？", "", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.Yes)
            {
                ClsDBConn_sql sqlconn = new ClsDBConn_sql();
                string sql = "";

                foreach (System.Windows.Forms.Control ctl in panel3.Controls)
                {
                    if (ctl.GetType().Name == "Panel")
                    {
                        if (ctl.Tag != null)
                        {
                            int locx = ctl.Location.X;
                            int locy = ctl.Location.Y;
                            int flag_value = Convert.ToInt16(ctl.Tag.ToString().Split('-')[0]);
                            sql = "update LandMarkInfo set Loc_X=" + locx + ",Loc_Y=" + locy + " where Loc_ID=" + flag_value;
                            if (sqlconn.Command(sql).Length > 6)
                            {
                                WriteTxt.SaveLog1("保存坐标数据失败,地标：" + flag_value.ToString(), "坐标数据保存日志", "Syslog");
                            }
                        }
                    }
                }
            }
            maplandmarkisEdit = false;
        }

        private void toolStripMenuItem_Update_location_X_Y_Click(object sender, EventArgs e)
        {
            if (MessageBox.Show("是否更改坐标数据？", "", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.Yes)
            {
                maplandmarkisEdit = true;
            }
            else
            {
                maplandmarkisEdit = false;
            }
        }


        private void timer3_Tick(object sender, EventArgs e)
        {
            if (dataGridView1.Rows.Count == 0) return;
            for (int i = 0; i < Func.AgvInfo.Length; i++)
            {
                if (dataGridView1.Rows[i].Cells["设备位置"].Value.ToString() != Func.AgvInfo[i].Location_Display.ToString())
                {
                    dataGridView1.Rows[i].Cells["设备位置"].Value = Func.AgvInfo[i].Location_Display;
                }
                if (dataGridView1.Rows[i].Cells["状态"].Value.ToString() != Func.AgvInfo[i].Warn_info)
                {
                    dataGridView1.Rows[i].Cells["状态"].Value = Func.AgvInfo[i].Warn_info;
                }
                if (Func.AgvInfo[i].bPlcLinked)
                {
                    if (dataGridView1.Rows[i].Cells["在线状态"].Value.ToString() != "Onine")
                    {
                        dataGridView1.Rows[i].Cells["在线状态"].Value = "Online";
                    }
                }
                else if (!Func.AgvInfo[i].bPlcLinked)
                {
                    if (dataGridView1.Rows[i].Cells["在线状态"].Value.ToString() != "网络中断")
                    {
                        dataGridView1.Rows[i].Cells["在线状态"].Value = "网络中断";
                    }
                }

            }
        }

        private void dataGridView1_DataError(object sender, DataGridViewDataErrorEventArgs e)
        {

        }
    }
}