using OpenCvSharp;
using OpenCvSharp.Extensions;
using PaintDotNet.Adjust.BaseImage;
using PaintDotNet.Annotation;
using PaintDotNet.Annotation.Enum;
using PaintDotNet.Annotation.ImageCollect;
using PaintDotNet.Annotation.Measure;
using PaintDotNet.Base.SettingModel;
using PaintDotNet.Camera;
using PaintDotNet.CustomControl;
using PaintDotNet.ImageCollect;
using StageController;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.Drawing.Drawing2D;
using System.Drawing.Imaging;
using System.IO;
using System.IO.Ports;
using System.Linq;
using System.Management;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using System.Windows.Interop;



namespace PaintDotNet.Hardware
{
    internal class HardwareBaseDialog : FloatingToolForm, IStageEvent
    {
        protected AppWorkspace m_appWorkspace;

        #region 声明组件
        protected GroupBox gboxXYspeed;
        protected GroupBox gboxZspeed;
        protected DocumentPreview m_documentWorkspace;

        protected Label lblXPosition;
        protected Label lblYPosition;
        protected Label lblZPosition;
        protected Label lblXDistance;
        protected Label lblYDistance;
        protected Label lblLDistance;

        protected Button btnFreeloadstage;
        protected Button btnStoploadstage;
        protected Button btnResetloadstage;
        protected Button btnCenterloadstage;
        protected Button btnInloadstage;
        protected Button btnOutloadstage;

        protected Button btnZStop;
        protected Button btnZFree;

        protected TextBox txtXStep;
        protected TextBox txtYStep;
        protected TextBox txtZStep;

        protected ComboBox cmbXYStepUnit;
        protected ComboBox cmbZStepUnit;

        protected Button btnContinuityLower;
        protected Button btnContinuityUp;
        protected Button btnFixedLower;
        protected Button btnFixedUp;

        protected Button btnCenterDisplay;
        protected Button btnStopall;
        protected Button btnDsRocker;
        protected Button btnSetting;
        #endregion

        #region Axis Fields
        protected AxisController m_Stage;

        protected LoadingStageModel m_loadingStageModel;
        protected List<LoadingStageModel.Item> m_speedLists = new List<LoadingStageModel.Item>();

        /// <summary>
        /// X轴單次长度
        /// </summary>
        protected virtual double StepLenthX
        {
            get
            {
                string text = txtXStep.Text.Trim();
                if (string.IsNullOrEmpty(text))
                {
                    throw new Exception("X" + PdnResources.GetString("Menu.TheXaxismovestepannotbeempty0.Text"));
                }
                var value = double.Parse(text);
                if (cmbXYStepUnit.SelectedItem.ToString().Equals("mm"))
                {
                    value *= 1000;
                }
                return value;
            }
        }

        /// <summary>
        /// Y轴單次进长度
        /// </summary>
        protected virtual double StepLenthY
        {
            get
            {
                string text = txtYStep.Text.Trim();
                if (string.IsNullOrEmpty(text))
                {
                    throw new Exception("Y" + PdnResources.GetString("Menu.TheXaxismovestepannotbeempty0.Text"));
                }
                var value = double.Parse(text);
                if (cmbXYStepUnit.SelectedItem.ToString().Equals("mm"))
                {
                    value *= 1000;
                }
                return value;
            }
        }

        /// <summary>
        /// Z轴步进长度
        /// </summary>
        protected virtual double StepLenthZ
        {
            get
            {
                string text = txtZStep.Text.Trim();
                if (string.IsNullOrEmpty(text))
                {
                    throw new Exception("Z" + PdnResources.GetString("Menu.TheXaxismovestepannotbeempty0.Text"));
                }
                var value = double.Parse(text);
                if (cmbZStepUnit.SelectedItem.ToString().Equals("mm"))
                {
                    value *= 1000;
                }
                return value;
            }
        }

        protected virtual bool IsSpeedHarmonize
        {
            get;
        }

        public static int m_xyspeed = 0;//xy轴运行速度
        public static int m_zspeed = 0; //z轴运行速度

        protected double m_initStepX = 0;  //清零时X轴所在位置
        protected double m_initStepY = 0;  //清零时Y轴所在位置

        protected double m_stageWidth;  // 行程X(操作台高度)
        protected double m_stageHeight; // 行程Y(操作台宽度)
        #endregion Axis Fields

        #region Camera Fields

        /// <summary>
        /// 视场宽度
        /// </summary>
        protected virtual double VisionWidth => m_viewWidth * m_PxLength;

        /// <summary>
        /// 视场高度
        /// </summary>
        protected virtual double VisionHeight => m_viewHeight * m_PxLength;

        protected int m_viewWidth;  // 视场宽(像素)
        protected int m_viewHeight; // 视场高(像素)

        protected int VisionWidthPixel
        {
            get => m_viewWidth;
            set
            {
                if (value == m_viewWidth)
                    return;
                m_documentWorkspace.ViewWidth = value;
                m_viewWidth = value;
            }
        }
        protected int VisionHeightPixel
        {
            get => m_viewHeight;
            set
            {
                if (value == m_viewHeight)
                    return;
                m_documentWorkspace.ViewHeigth = value;
                m_viewHeight = value;
            }
        }

        /// <summary>
        /// 平台是否复位
        /// </summary>
        protected bool m_isReset;

        //标尺比例
        protected double m_PxLength;
        #endregion

        protected string[] m_unit = new string[] { "mm", "um" };

        protected bool m_isShowCenter = false;
        private System.Windows.Forms.Timer timerStageUpdate;
        private IContainer components;

        // 窗口缩小比例
        protected int m_docspaceScale = 1;

        public HardwareBaseDialog()
        {
            InitializeComponent();
        }
        public HardwareBaseDialog(AppWorkspace appWorkspace)
        {
            m_appWorkspace = appWorkspace;
            Startup.instance.rules.TryGetValue(MeasurementUnit.Micron, out m_PxLength);

            InitializeComponent();
            InitializeButtonBackgroundImage();

            m_documentWorkspace = new DocumentPreview();
            m_documentWorkspace.AppWorkspaceTop = appWorkspace;
            m_documentWorkspace.Visible = true;
            m_documentWorkspace.RulersEnabled = true;
            m_documentWorkspace.Units = MeasurementUnit.Micron;

            m_docspaceScale = 10;
            VisionWidthPixel = 2448;
            VisionHeightPixel = 2048;

            Bitmap bitmap = new Bitmap(m_viewWidth, m_viewHeight);
            m_documentWorkspace.Document = Document.FromImage(bitmap);
            m_documentWorkspace.Dock = DockStyle.Fill;
            m_documentWorkspace.ScaleFactor = new ScaleFactor(1, m_docspaceScale);
            m_documentWorkspace.SetViewPoint(0, 0);

            ToolPointer.GetMouseLeftClickPoint += GetMouseLeftClickPoint;

            Load += OnLoad;
            FormClosing += OnFormClosing;
        }

        private void OnFormClosing(object sender, FormClosingEventArgs e)
        {
            UninitCamera();
            UninitStage();
            UninitDocumentWorkspace();
            ToolPointer.GetMouseLeftClickPoint -= GetMouseLeftClickPoint;
            GC.Collect();
            base.Dispose();
        }

        private void OnLoad(object sender, EventArgs e)
        {
            m_loadingStageModel = Startup.instance.loadingStageModel;
            InitializeCamera();
            InitStage();
            ReloadingStageParam(m_loadingStageModel);

            timerStageUpdate.Start();
        }

        private void InitializeComponent()
        {
            this.components = new System.ComponentModel.Container();
            this.gboxXYspeed = new System.Windows.Forms.GroupBox();
            this.gboxZspeed = new System.Windows.Forms.GroupBox();
            this.lblYPosition = new System.Windows.Forms.Label();
            this.lblXPosition = new System.Windows.Forms.Label();
            this.lblZPosition = new System.Windows.Forms.Label();
            this.lblLDistance = new System.Windows.Forms.Label();
            this.lblYDistance = new System.Windows.Forms.Label();
            this.lblXDistance = new System.Windows.Forms.Label();
            this.btnFreeloadstage = new System.Windows.Forms.Button();
            this.btnStoploadstage = new System.Windows.Forms.Button();
            this.btnResetloadstage = new System.Windows.Forms.Button();
            this.btnCenterloadstage = new System.Windows.Forms.Button();
            this.btnInloadstage = new System.Windows.Forms.Button();
            this.btnOutloadstage = new System.Windows.Forms.Button();
            this.btnZFree = new System.Windows.Forms.Button();
            this.btnZStop = new System.Windows.Forms.Button();
            this.btnFixedLower = new System.Windows.Forms.Button();
            this.btnFixedUp = new System.Windows.Forms.Button();
            this.btnContinuityLower = new System.Windows.Forms.Button();
            this.btnContinuityUp = new System.Windows.Forms.Button();
            this.btnCenterDisplay = new System.Windows.Forms.Button();
            this.btnStopall = new System.Windows.Forms.Button();
            this.btnDsRocker = new System.Windows.Forms.Button();
            this.btnSetting = new System.Windows.Forms.Button();
            this.txtXStep = new System.Windows.Forms.TextBox();
            this.txtYStep = new System.Windows.Forms.TextBox();
            this.txtZStep = new System.Windows.Forms.TextBox();
            this.cmbZStepUnit = new System.Windows.Forms.ComboBox();
            this.cmbXYStepUnit = new System.Windows.Forms.ComboBox();
            this.timerStageUpdate = new System.Windows.Forms.Timer(this.components);
            this.SuspendLayout();
            // 
            // gboxXYspeed
            // 
            this.gboxXYspeed.Location = new System.Drawing.Point(0, 0);
            this.gboxXYspeed.Name = "gboxXYspeed";
            this.gboxXYspeed.Size = new System.Drawing.Size(200, 100);
            this.gboxXYspeed.TabIndex = 0;
            this.gboxXYspeed.TabStop = false;
            // 
            // gboxZspeed
            // 
            this.gboxZspeed.Location = new System.Drawing.Point(0, 0);
            this.gboxZspeed.Name = "gboxZspeed";
            this.gboxZspeed.Size = new System.Drawing.Size(200, 100);
            this.gboxZspeed.TabIndex = 0;
            this.gboxZspeed.TabStop = false;
            // 
            // lblYPosition
            // 
            this.lblYPosition.Location = new System.Drawing.Point(0, 0);
            this.lblYPosition.Name = "lblYPosition";
            this.lblYPosition.Size = new System.Drawing.Size(100, 23);
            this.lblYPosition.TabIndex = 0;
            // 
            // lblXPosition
            // 
            this.lblXPosition.Location = new System.Drawing.Point(0, 0);
            this.lblXPosition.Name = "lblXPosition";
            this.lblXPosition.Size = new System.Drawing.Size(100, 23);
            this.lblXPosition.TabIndex = 0;
            // 
            // lblZPosition
            // 
            this.lblZPosition.Location = new System.Drawing.Point(0, 0);
            this.lblZPosition.Name = "lblZPosition";
            this.lblZPosition.Size = new System.Drawing.Size(100, 23);
            this.lblZPosition.TabIndex = 0;
            // 
            // lblLDistance
            // 
            this.lblLDistance.Location = new System.Drawing.Point(0, 0);
            this.lblLDistance.Name = "lblLDistance";
            this.lblLDistance.Size = new System.Drawing.Size(100, 23);
            this.lblLDistance.TabIndex = 0;
            // 
            // lblYDistance
            // 
            this.lblYDistance.Location = new System.Drawing.Point(0, 0);
            this.lblYDistance.Name = "lblYDistance";
            this.lblYDistance.Size = new System.Drawing.Size(100, 23);
            this.lblYDistance.TabIndex = 0;
            // 
            // lblXDistance
            // 
            this.lblXDistance.Location = new System.Drawing.Point(0, 0);
            this.lblXDistance.Name = "lblXDistance";
            this.lblXDistance.Size = new System.Drawing.Size(100, 23);
            this.lblXDistance.TabIndex = 0;
            // 
            // btnFreeloadstage
            // 
            this.btnFreeloadstage.Location = new System.Drawing.Point(0, 0);
            this.btnFreeloadstage.Name = "btnFreeloadstage";
            this.btnFreeloadstage.Size = new System.Drawing.Size(75, 23);
            this.btnFreeloadstage.TabIndex = 0;
            this.btnFreeloadstage.Click += new System.EventHandler(this.btnLockXY_Click);
            // 
            // btnStoploadstage
            // 
            this.btnStoploadstage.Location = new System.Drawing.Point(0, 0);
            this.btnStoploadstage.Name = "btnStoploadstage";
            this.btnStoploadstage.Size = new System.Drawing.Size(75, 23);
            this.btnStoploadstage.TabIndex = 0;
            this.btnStoploadstage.Click += new System.EventHandler(this.btnStopXY_Click);
            // 
            // btnResetloadstage
            // 
            this.btnResetloadstage.Location = new System.Drawing.Point(0, 0);
            this.btnResetloadstage.Name = "btnResetloadstage";
            this.btnResetloadstage.Size = new System.Drawing.Size(75, 23);
            this.btnResetloadstage.TabIndex = 0;
            this.btnResetloadstage.Click += new System.EventHandler(this.btnResetloadstage_Click);
            // 
            // btnCenterloadstage
            // 
            this.btnCenterloadstage.Location = new System.Drawing.Point(0, 0);
            this.btnCenterloadstage.Name = "btnCenterloadstage";
            this.btnCenterloadstage.Size = new System.Drawing.Size(75, 23);
            this.btnCenterloadstage.TabIndex = 0;
            this.btnCenterloadstage.Click += new System.EventHandler(this.btnCenterloadstage_Click);
            // 
            // btnInloadstage
            // 
            this.btnInloadstage.Location = new System.Drawing.Point(0, 0);
            this.btnInloadstage.Name = "btnInloadstage";
            this.btnInloadstage.Size = new System.Drawing.Size(75, 23);
            this.btnInloadstage.TabIndex = 0;
            this.btnInloadstage.Click += new System.EventHandler(this.btnInloadstage_Click);
            // 
            // btnOutloadstage
            // 
            this.btnOutloadstage.Location = new System.Drawing.Point(0, 0);
            this.btnOutloadstage.Name = "btnOutloadstage";
            this.btnOutloadstage.Size = new System.Drawing.Size(75, 23);
            this.btnOutloadstage.TabIndex = 0;
            this.btnOutloadstage.Click += new System.EventHandler(this.btnOutloadstage_Click);
            // 
            // btnZFree
            // 
            this.btnZFree.Location = new System.Drawing.Point(0, 0);
            this.btnZFree.Name = "btnZFree";
            this.btnZFree.Size = new System.Drawing.Size(75, 23);
            this.btnZFree.TabIndex = 0;
            this.btnZFree.Click += new System.EventHandler(this.btnZLock_Click);
            // 
            // btnZStop
            // 
            this.btnZStop.Location = new System.Drawing.Point(0, 0);
            this.btnZStop.Name = "btnZStop";
            this.btnZStop.Size = new System.Drawing.Size(75, 23);
            this.btnZStop.TabIndex = 0;
            this.btnZStop.Click += new System.EventHandler(this.btnZStop_Click);
            // 
            // btnFixedLower
            // 
            this.btnFixedLower.Location = new System.Drawing.Point(0, 0);
            this.btnFixedLower.Name = "btnFixedLower";
            this.btnFixedLower.Size = new System.Drawing.Size(75, 23);
            this.btnFixedLower.TabIndex = 0;
            btnFixedLower.Click += btnFixedLower_Click;
            // 
            // btnFixedUp
            // 
            this.btnFixedUp.Location = new System.Drawing.Point(0, 0);
            this.btnFixedUp.Name = "btnFixedUp";
            this.btnFixedUp.Size = new System.Drawing.Size(75, 23);
            this.btnFixedUp.TabIndex = 0;
            btnFixedUp.Click += btnFixedUp_Click;
            // 
            // btnContinuityLower
            // 
            this.btnContinuityLower.Location = new System.Drawing.Point(0, 0);
            this.btnContinuityLower.Name = "btnContinuityLower";
            this.btnContinuityLower.Size = new System.Drawing.Size(75, 23);
            this.btnContinuityLower.TabIndex = 0;
            btnContinuityLower.MouseDown += btnContinuityLower_Start;
            btnContinuityLower.MouseUp += btnZStop_Click;
            // 
            // btnContinuityUp
            // 
            this.btnContinuityUp.Location = new System.Drawing.Point(0, 0);
            this.btnContinuityUp.Name = "btnContinuityUp";
            this.btnContinuityUp.Size = new System.Drawing.Size(75, 23);
            this.btnContinuityUp.TabIndex = 0;
            btnContinuityUp.MouseDown += btnContinuityUp_Start;
            btnContinuityUp.MouseUp += btnZStop_Click;
            // 
            // btnCenterDisplay
            // 
            this.btnCenterDisplay.Location = new System.Drawing.Point(0, 0);
            this.btnCenterDisplay.Name = "btnCenterDisplay";
            this.btnCenterDisplay.Size = new System.Drawing.Size(75, 23);
            this.btnCenterDisplay.TabIndex = 0;
            this.btnCenterDisplay.Click += new System.EventHandler(this.btnCenteDisplay_Click);
            // 
            // btnStopall
            // 
            this.btnStopall.Location = new System.Drawing.Point(0, 0);
            this.btnStopall.Name = "btnStopall";
            this.btnStopall.Size = new System.Drawing.Size(75, 23);
            this.btnStopall.TabIndex = 0;
            // 
            // btnDsRocker
            // 
            this.btnDsRocker.Location = new System.Drawing.Point(0, 0);
            this.btnDsRocker.Name = "btnDsRocker";
            this.btnDsRocker.Size = new System.Drawing.Size(75, 23);
            this.btnDsRocker.TabIndex = 0;
            // 
            // btnSetting
            // 
            this.btnSetting.Location = new System.Drawing.Point(0, 0);
            this.btnSetting.Name = "btnSetting";
            this.btnSetting.Size = new System.Drawing.Size(75, 23);
            this.btnSetting.TabIndex = 0;
            this.btnSetting.Click += btnSetting_Click;
            // 
            // txtXStep
            // 
            this.txtXStep.Location = new System.Drawing.Point(0, 0);
            this.txtXStep.Name = "txtXStep";
            this.txtXStep.Size = new System.Drawing.Size(100, 21);
            this.txtXStep.TabIndex = 0;
            this.txtXStep.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.CheckInputIsNumeric);
            this.txtXStep.Leave += new System.EventHandler(this.txtStep_Leave);
            // 
            // txtYStep
            // 
            this.txtYStep.Location = new System.Drawing.Point(0, 0);
            this.txtYStep.Name = "txtYStep";
            this.txtYStep.Size = new System.Drawing.Size(100, 21);
            this.txtYStep.TabIndex = 0;
            this.txtYStep.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.CheckInputIsNumeric);
            this.txtYStep.Leave += new System.EventHandler(this.txtStep_Leave);
            // 
            // txtZStep
            // 
            this.txtZStep.Location = new System.Drawing.Point(0, 0);
            this.txtZStep.Name = "txtZStep";
            this.txtZStep.Size = new System.Drawing.Size(100, 21);
            this.txtZStep.TabIndex = 0;
            this.txtZStep.KeyPress += new System.Windows.Forms.KeyPressEventHandler(this.CheckInputIsNumeric);
            this.txtZStep.Leave += new System.EventHandler(this.txtStep_Leave);
            // 
            // cmbZStepUnit
            // 
            this.cmbZStepUnit.Location = new System.Drawing.Point(0, 0);
            this.cmbZStepUnit.Name = "cmbZStepUnit";
            this.cmbZStepUnit.Size = new System.Drawing.Size(121, 20);
            this.cmbZStepUnit.TabIndex = 0;
            // 
            // cmbXYStepUnit
            // 
            this.cmbXYStepUnit.Location = new System.Drawing.Point(0, 0);
            this.cmbXYStepUnit.Name = "cmbXYStepUnit";
            this.cmbXYStepUnit.Size = new System.Drawing.Size(121, 20);
            this.cmbXYStepUnit.TabIndex = 0;
            // 
            // timerStageUpdate
            // 
            this.timerStageUpdate.Interval = 15;
            this.timerStageUpdate.Tick += new System.EventHandler(this.timerStageUpdate_Tick);
            // 
            // HardwareBaseDialog
            // 
            this.AutoScaleDimensions = new System.Drawing.SizeF(96F, 96F);
            this.ClientSize = new System.Drawing.Size(292, 271);
            this.Location = new System.Drawing.Point(0, 0);
            this.Name = "HardwareBaseDialog";
            this.ResumeLayout(false);

        }

        protected void InitializeLanguageText()
        {
            btnFreeloadstage.Text = "自由";// PdnResources.GetString("Menu.freeing.text");
            btnFreeloadstage.Enabled = AxisController.GetInstance().FreeOrLockXYEnabled;
            btnStoploadstage.Text = PdnResources.GetString("Menu.stop.text");
            btnResetloadstage.Text = PdnResources.GetString("Menu.reset.Text");
            btnCenterloadstage.Text = PdnResources.GetString("Menu.center.text");
            btnInloadstage.Text = PdnResources.GetString("Menu.enterfilm.text");
            btnOutloadstage.Text = PdnResources.GetString("Menu.outslice.text");
            btnZFree.Text = "自由";// PdnResources.GetString("Menu.locking.text");
            btnZFree.Enabled = AxisController.GetInstance().FreeOrLockZEnabled;
            btnZStop.Text = PdnResources.GetString("Menu.stop.text");

            btnCenterDisplay.Text = PdnResources.GetString("Menu.Centerdisplay.text");
            btnStopall.Text = PdnResources.GetString("Menu.Stopall.text");
            btnDsRocker.Text = PdnResources.GetString("Menu.Disabletherocker.text");
            btnDsRocker.Enabled = AxisController.GetInstance().FreeOrLockZEnabled;
            btnSetting.Text = PdnResources.GetString("Menu.SerialportSettings.Text");
        }

        private void InitializeButtonBackgroundImage()
        {
            btnContinuityUp.FlatStyle = FlatStyle.Flat;
            btnContinuityUp.FlatAppearance.BorderSize = 0;
            btnContinuityUp.BackgroundImageLayout = ImageLayout.Zoom;
            btnContinuityUp.BackgroundImage = PdnResources.GetImageResource("Images.ButtonUp.png").Reference;

            btnContinuityLower.FlatStyle = FlatStyle.Flat;
            btnContinuityLower.FlatAppearance.BorderSize = 0;
            btnContinuityLower.BackgroundImageLayout = ImageLayout.Zoom;
            btnContinuityLower.BackgroundImage = PdnResources.GetImageResource("Images.ButtonDown.png").Reference;

            btnFixedUp.FlatStyle = FlatStyle.Flat;
            btnFixedUp.FlatAppearance.BorderSize = 0;
            btnFixedUp.BackgroundImageLayout = ImageLayout.Zoom;
            btnFixedUp.BackgroundImage = PdnResources.GetImageResource("Images.ButtonUp.png").Reference;

            btnFixedLower.FlatStyle = FlatStyle.Flat;
            btnFixedLower.FlatAppearance.BorderSize = 0;
            btnFixedLower.BackgroundImageLayout = ImageLayout.Zoom;
            btnFixedLower.BackgroundImage = PdnResources.GetImageResource("Images.ButtonDown.png").Reference;
        }

        public void InitStage()
        {
            m_Stage = AxisController.GetInstance();
            if (!m_Stage.IsOpen)
            {
                MessageBox.Show(PdnResources.GetString("Message.AxisController.NotConnected"));
            }
            m_Stage.AddApp(this);
        }

        #region Dispose
        public void UninitStage()
        {
            m_Stage.RemoveApp(this);
        }

        public void UninitDocumentWorkspace()
        {
            if (m_documentWorkspace != null && !m_documentWorkspace.IsDisposed)
            {
                m_documentWorkspace.Dispose();
            }
        }

        #endregion


        /// <summary>
        /// 视场模式操作台
        /// </summary>
        public CircleControl initViewCircal(int size)
        {
            var circleControl = new CircleControl(size);
            circleControl.mouseDown += new EventHandler(visionClick);
            return circleControl;
        }

        /// <summary>
        /// 运动模式操作台
        /// </summary>
        public CircleControl initSportCircal(int size)
        {
            var circleSportControl = new CircleControl(size);
            circleSportControl.mouseUp += new EventHandler(sportMouseUp);
            circleSportControl.mouseDown += new EventHandler(sportMouseDown);
            return circleSportControl;
        }

        /// <summary>
        /// 初始化设置信息
        /// </summary>
        /// <param name="loadingStageModel"></param>
        public void ReloadingStageParam(LoadingStageModel loadingStageModel)
        {
            m_loadingStageModel = loadingStageModel;
            m_stageWidth = double.Parse(m_loadingStageModel.TripX);
            m_stageHeight = double.Parse(m_loadingStageModel.TripY);

            ReinitSpeedUI();
        }

        #region Speed 
        /// <summary>
        /// gboxzspeed gboxxyspeed初始化
        /// </summary>
        protected virtual void ReinitSpeedUI()
        {
            InitGroupSpeed(gboxXYspeed, XSpeed_CheckedChanged);
            InitGroupSpeed(gboxZspeed, ZSpeed_CheckedChanged);
            if (gboxXYspeed.Controls.Count == 0 || gboxZspeed.Controls.Count == 0) return;

            m_Stage.SetSpeedXY(m_speedLists[0].LSpeed);
            m_Stage.SetSpeedZ(m_speedLists[0].ZSpeed);
        }

        protected virtual void InitGroupSpeed(Control group, Action<object, EventArgs> action)
        {
            m_speedLists = m_loadingStageModel.items;
            int pw = (group.Width - 20) / 3;

            group.Controls.Clear();
            for (int i = 0; i < m_speedLists.Count; ++i)
            {
                if (m_speedLists[i].SChecked == 1)
                {
                    var radioButton = new RadioButton();
                    radioButton.Text = (i + 1).ToString();
                    radioButton.AutoSize = true;
                    radioButton.Checked = i == 0;
                    radioButton.CheckedChanged += new System.EventHandler(action);
                    radioButton.Tag = i;
                    radioButton.Location = new System.Drawing.Point(18 + (i % 3) * pw, 21 + (i / 3) * 25);
                    group.Controls.Add(radioButton);
                }
            }
        }

        // 速度选择按钮
        protected virtual void XSpeed_CheckedChanged(object sender, EventArgs e)
        {
            RadioButton radio = (RadioButton)sender;
            if (radio.Checked)
            {
                int index = (int)radio.Tag;
                m_Stage.SetSpeedXY(m_speedLists[index].LSpeed);

                // 联动调速
                if (IsSpeedHarmonize)
                {
                    int count = gboxZspeed.Controls.Count;
                    for (int i = 0; i < count; ++i)
                    {
                        ((RadioButton)gboxZspeed.Controls[i]).Checked = i == index;
                    }
                }
            }
        }

        protected virtual void ZSpeed_CheckedChanged(object sender, EventArgs e)
        {
            RadioButton radio = (RadioButton)sender;
            if (!radio.Checked) return;

            int index = (int)radio.Tag;
            m_Stage.SetSpeedZ(m_speedLists[index].ZSpeed);

            // 联动调速
            if (IsSpeedHarmonize)
            {
                int count = gboxXYspeed.Controls.Count;
                for (int i = 0; i < count; ++i)
                {
                    ((RadioButton)gboxXYspeed.Controls[i]).Checked = i == index;
                }
            }
        }
        #endregion

        protected int ConvertUMToPX(double length)
        {
            // if (length < 0) length = -length;
            return (int)(length / m_PxLength);
        }

        protected double ConvertPXToUm(double length)
        {
            return length * m_PxLength;
        }

        #region Position Update
        public void OnUpdatePosition()
        {
            try
            {
                SetViewLocation(m_Stage.X, m_Stage.Y, m_Stage.Z); // 移动视图
                ChangeDistanceAndCheckStop(m_Stage.X, m_Stage.Y);

                //if (m_Stage.StateX == 0 || m_Stage.StateY == 0) ; // 平台电机自由后需要重新复位
                //   m_isReset = false;
            }
            catch
            { }
        }

        /// <summary>
        /// 设置视场的位置
        /// </summary>
        /// <param name="position"></param>
        protected virtual void SetViewLocation(double x, double y, double z)
        {
            var b = this.IsDisposed;
            Invoke(new Action(() => UpdatePositionDisplay(x, y, z)));
            x = x < 0 ? 0 : x;
            y = y < 0 ? 0 : y;
            this.BeginInvoke(new Action(() =>
            {
                m_documentWorkspace.SetViewPoint(ConvertUMToPX(x), ConvertUMToPX(y));
            }));
        }

        protected virtual void UpdatePositionDisplay(double x, double y, double z)
        {
            lblXPosition.Text = x.ToString();
            lblYPosition.Text = y.ToString();
            lblZPosition.Text = z.ToString();
        }

        protected virtual void ChangeDistanceAndCheckStop(double x, double y)
        {
            var distanceX = x - m_initStepX;
            var distanceY = y - m_initStepY;
            var distanceL = Math.Sqrt(distanceX * distanceX + distanceY * distanceY);
            Invoke(new Action(() =>
            {
                lblXDistance.Text = "X:" + distanceX.ToString("0");
                lblYDistance.Text = "Y:" + distanceY.ToString("0");
                lblLDistance.Text = "L:" + distanceL.ToString("0");
            }));
        }

        #endregion

        #region 视场圆环
        // 视场圆环按钮被点击
        protected virtual void visionClick(object sender, EventArgs e)
        {
            var circleSportControl = (CircleControl)sender;
            var p = circleSportControl._position;
            if (p < 0 || p > 15) return;
            var map = circleSportControl.positionMap[p % 8];
            if (p < 8)
                m_Stage.Move(VisionWidth * map[0] / 2, VisionHeight * map[1] / 2);
            else
                m_Stage.Move(VisionWidth * map[0], VisionHeight * map[1]);
        }
        #endregion

        #region 运动圆环
        protected virtual void sportMouseDown(object sender, EventArgs e)
        {
            var circleSportControl = (CircleControl)sender;
            if (circleSportControl._position < 8)
            {
                var p = circleSportControl._position;
                if (p < 0 || p > 7)
                    return;
                var map = circleSportControl.positionMap[p];
                m_Stage.Move(StepLenthX * map[0], StepLenthY * map[1]);
            }
            else
            {
                var direction = circleSportControl._position - 8;
                m_Stage.Split(direction);
            }
        }

        protected virtual void sportMouseUp(object sender, EventArgs e)
        {
            var circleSportControl = (CircleControl)sender;
            if (circleSportControl._position > 7)
                btnStopXY_Click(null, null);
        }
        #endregion

        //参数设置按钮点击
        protected virtual void btnSetting_Click(object sender, EventArgs e)
        {
            //参数设置按钮点击弹窗
            using (ParamSetingDialog af = new ParamSetingDialog(this))
            {
                af.Setted += ReloadingStageParam;
                af.ShowDialog();
            }

        }

        #region Z 运动
        /// <summary>
        /// Z轴连续向上移动
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnContinuityUp_Start(object sender, EventArgs e)
        {
            m_Stage.GoTop(true);
        }

        /// <summary>
        /// Z轴连续向下移动
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnContinuityLower_Start(object sender, EventArgs e)
        {
            m_Stage.GoTop(false);
        }

        /// <summary>
        /// Z轴定长向上移动
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnFixedUp_Click(object sender, EventArgs e)
        {
            m_Stage.Up(StepLenthZ);
        }

        /// <summary>
        /// Z轴定长向下移动
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnFixedLower_Click(object sender, EventArgs e)
        {
            m_Stage.Up(-StepLenthZ);
        }
        #endregion

        protected virtual void CheckInputIsNumeric(object sender, KeyPressEventArgs e)
        {
            var text = ((TextBox)sender).Text;
            var key = (int)e.KeyChar;

            if ((key < 48 || key > 57) && key != 8 && key != 46)
                e.Handled = true;

            if (key == 46)   //小数点
            {
                if (text.Length <= 0)
                    e.Handled = true;   //小数点不能在第一位
                else
                {
                    float f, oldf;
                    var b1 = float.TryParse(text, out oldf);
                    var b2 = float.TryParse(text + key.ToString(), out f);
                    if (!b2 && b1)
                        e.Handled = true;
                }
            }
        }


        #region Axis Stop
        /// <summary>
        /// Z轴自由
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnZLock_Click(object sender, EventArgs e)
        {
            m_Stage.FreeZ();
        }

        /// <summary>
        /// Z轴停止
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnZStop_Click(object sender, EventArgs e)
        {
            m_Stage.FreeZ();
        }

        /// <summary>
        /// XY轴自由
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnLockXY_Click(object sender, EventArgs e)
        {
            m_Stage.FreeStage();
        }

        /// <summary>
        /// XY轴停止
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnStopXY_Click(object sender, EventArgs e)
        {
            m_Stage.LockStage();
        }

        /// <summary>
        /// 全部停止
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnStopall_Click(object sender, EventArgs e)
        {
            btnZStop_Click(null, null);
            btnStopXY_Click(null, null);
        }
        #endregion Axis Stop

        /// <summary>
        /// 禁用摇杆
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnDsRocker_Click(object sender, EventArgs e)
        {
            m_Stage.SetRockerEnabel(false);

        }

        protected virtual void GetMouseLeftClickPoint(object sender, EventArgs e)
        {
            if (!m_isReset)
            {
                MessageBox.Show(PdnResources.GetString("Menu.Pleaseresetfirst.Text"));
                return;
            }

            PointF pointF = (PointF)sender;

            List<DrawObject> graphicsList = m_documentWorkspace.GraphicsList.GetDrawClassList(DrawClass.Stitch);
            int count = graphicsList.Count;
            var x = ConvertPXToUm((int)(pointF.X));
            var y = ConvertPXToUm((int)(pointF.Y));
            for (int i = 0; i < count; i++)
            {
                List<Dictionary<int, object>> points = ((DrawStithchingBase)graphicsList[i]).GetViewPoints();
                for (int j = 0; j < points.Count; j++)
                {
                    Dictionary<int, object> point = points[j];

                    RectangleF rectangleF = new RectangleF((PointF)point[0], new SizeF(m_viewWidth, m_viewHeight));
                    if (rectangleF.Contains(pointF))
                    {
                        pointF = (PointF)point[0];
                        x = ConvertPXToUm((int)(pointF.X));
                        y = ConvertPXToUm((int)(pointF.Y));
                        m_Stage.To(x, y); return;
                    }
                }
            }
            m_Stage.To(x, y);
        }

        #region Moveflow
        /// <summary>
        /// 复位
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnResetloadstage_Click(object sender, EventArgs e)
        {
            var dialog = TransferProgressDialog.CreatDialog("平台复位", "复位中...", OnProgressCancel, "Stop");
            m_Stage.ResetStage(
              () =>
              {
                  m_isReset = true;// AxisController.GetInstance().NeedSaveResetStageStatus;
                  this.Invoke(new Action(dialog.Close));
              });
            if (!m_isReset)
                dialog.ShowDialog();
        }

        protected virtual void OnProgressCancel(object sender, EventArgs e)
        {
            btnStopall_Click(null, null);
        }

        /// <summary>
        /// 出片
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnOutloadstage_Click(object sender, EventArgs e)
        {
            m_Stage.Split(1);
        }

        /// <summary>
        /// 进片
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnInloadstage_Click(object sender, EventArgs e)
        {
            m_Stage.Split(3);
        }

        /// <summary>
        /// 中心
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        protected virtual void btnCenterloadstage_Click(object sender, EventArgs e)
        {
            m_Stage.ToCenter();
        }

        /// <summary>
        /// 中心显示
        /// </summary>
        protected virtual void btnCenteDisplay_Click(object sender, EventArgs e)
        {
            m_isShowCenter = !m_isShowCenter;
            m_documentWorkspace.SetCenter(m_isShowCenter);
            if (m_isShowCenter)
            {
                (sender as Control).Text = PdnResources.GetString("Menu.Cancelcenter.text");
            }
            else
            {
                (sender as Control).Text = PdnResources.GetString("Menu.Centerdisplay.text");
            }
        }

        protected virtual void DepthMerge() { }
        #endregion

        protected virtual void txtStep_Leave(object sender, EventArgs e)
        {
            var tbx = sender as TextBox;
            if (string.IsNullOrEmpty(tbx.Text))
            {
                MessageBox.Show(PdnResources.GetString("Menu.Step-sizbeempty.text"));
                tbx.Text = "0";
            }
        }

        public void OnTimeoutConnect()
        {
            MessageBox.Show("平台连接超时");
        }

        public void OnErrorSend()
        {
            MessageBox.Show("平台连接异常");
        }

        #region Camera
        protected ICamera m_camera => CameraManager.CurrentCamera;
        protected CameraParamModel m_cameraParamModel;
        protected CameraConfigs m_cameraConfig;

        /// <summary>
        /// 当前拍摄图片
        /// </summary>
        protected Bitmap m_BitmapCurrent;
        public void UninitCamera()
        {
            CameraManager.FrameCallback += CallbackDraw;
            if (m_BitmapCurrent != null)
            {
                m_BitmapCurrent.Dispose();
            }
        }

        /// <summary>
        /// 窗体打开后初始化相机
        /// </summary>
        protected void InitializeCamera()
        {
            if (m_camera != null)
            {
                m_cameraConfig = CameraConfigs.GetInstance();
                m_cameraParamModel = m_cameraConfig.GetCurrentCameraParamModel();
                //m_cameraConfig.CameraParamInit();
                // 开启预览
            }

            CameraManager.FrameCallback += CallbackDraw;

            Thread.Sleep(100);//相机开启缓冲时间
            initCameraSetting();
        }

        protected virtual void initCameraSetting()
        {
        }

        object _lockobj = new object();
        public void CallbackDraw(Bitmap bitmap)
        {
            lock (_lockobj)
            {
                try
                {
                    if (bitmap == null) return;
                    VisionWidthPixel = bitmap.Width;
                    VisionHeightPixel = bitmap.Height;

                    m_documentWorkspace.CompositionSurface = null;
                    if (bitmap.PixelFormat == PixelFormat.Format8bppIndexed)
                    {
                        var mat = PaintDotNet.Camera.Tools.ToMat(bitmap);

                        m_documentWorkspace.Document = Document.FromMat(mat);
                    }
                    else
                    {
                        m_documentWorkspace.Document = Document.FromByteArr(bitmap.ToByteArray(), bitmap.Width, bitmap.Height);
                    }

                    m_BitmapCurrent = bitmap;
                }
                catch (Exception)
                {
                }
            }
        }

        #endregion

        private void timerStageUpdate_Tick(object sender, EventArgs e)
        {
            var x = Math.Round(m_Stage.X, 2);
            var y = Math.Round(m_Stage.Y, 2);
            var z = Math.Round(m_Stage.Z, 2);

            lblXPosition.Text = x.ToString();
            lblYPosition.Text = y.ToString();
            lblZPosition.Text = z.ToString();

            m_documentWorkspace.SetViewPoint(ConvertUMToPX(x), ConvertUMToPX(y));
            var distanceX = x - m_initStepX;
            var distanceY = y - m_initStepY;
            var distanceL = Math.Sqrt(distanceX * distanceX + distanceY * distanceY);

            lblXDistance.Text = "X:" + distanceX.ToString("0");
            lblYDistance.Text = "Y:" + distanceY.ToString("0");
            lblLDistance.Text = "L:" + distanceL.ToString("0");

        }


    }
}