using System;
using System.Collections.Generic;
using System.Drawing;
using System.Net;
using System.Threading;
using System.Windows.Forms;

namespace SHARP_CLAS_UI
{
    public partial class Form_Vision_Test : Form
    {
        #region Filed
        delegate void UI_Update_Delegate();
        Thread UI_Update_Th;
        Form_Frame _Parent;
        
        Vision_Control vision_control;
        Form_Vision_Status_Viewer vision_status_viewer;
        bool update_check;
        #endregion

        #region Construct
        public Form_Vision_Test(Form_Frame _Parent)
        {
            InitializeComponent();

            this._Parent = _Parent;

            vision_control = new Vision_Control();
            cbb_Align_SeqType.SelectedIndex = 0;
            cbb_Align_Recipe_Mode.SelectedIndex = 0;

            cbb_AOI_SeqType.SelectedIndex = 0;
            cbb_AOI_Recipe_Mode.SelectedIndex = 0;

            UI_Update_Th = new Thread(UI_Update_Th_Set);
            UI_Update_Th.Start();

            vision_status_viewer = new Form_Vision_Status_Viewer(_Parent);
        }
        #endregion

        #region Form Function
        // Align PC Send
        private void btn_Recipe_Change_Req_Click(object sender, EventArgs e)
        {
            int Recipe_Mode = cbb_Align_Recipe_Mode.SelectedIndex + 1;
            string Recipe_Name = tb_Align_Recipe_Name.Text;

            _Parent.sm.Set_Bit(Vision_Address.Align_PC_Recipe_Change_Ack, false);
            _Parent._equip.Align_vision.SendData(vision_control.Send_Recipe_Change_Req(Recipe_Mode, Recipe_Name));
        }

        private void btn_Grab_Ready_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_Align_SeqType.SelectedIndex;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Grab_Dir = rb_Align_Short.Checked ? 0 : 1;
            int Pnl_Dir = rb_Align_Short.Checked ? 0 : 1;
            int Stage_No;
            int.TryParse(tb_Align_Stage_No.Text, out Stage_No);
            int Slot_No;
            int.TryParse(tb_Align_Slot_No.Text, out Slot_No);
            int Pnl_Idx;
            int.TryParse(tb_Align_Pnl_Idx.Text, out Pnl_Idx);
            string Panel_Id = tb_Align_Panel_Id.Text;

            if (Seq_Type == 0)
            {
                if(Module_Idx == 0)
                    _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Left_Ack, false);
                else
                    _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Right_Ack, false);

                _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Grab_Ready_Ack, false);
            }
            else if (Seq_Type == 1)
            {
                if (Module_Idx == 0)
                    _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Left_Ack, false);
                else
                    _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Right_Ack, false);

                _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Grab_Ready_Ack, false);
            }
            else if (Seq_Type == 2)
            {
                if (Module_Idx == 0)
                    _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Left_Ack, false);
                else
                    _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Right_Ack, false);

                _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Grab_Ready_Ack, false);
            }

            _Parent._equip.Align_vision.SendData(vision_control.Send_Grab_Ready_Req(Seq_Type, Module_Idx, Grab_Dir, Pnl_Dir, Stage_No, Slot_No, Pnl_Idx, Panel_Id));
        }

        private void btn_Grab_Start_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_Align_SeqType.SelectedIndex;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Mark_Idx = rb_Align_Mark_1.Checked ? 0 : 1;
            double Motor_Offset_X;
            double.TryParse(tb_Align_Motor_Offset_X.Text, out Motor_Offset_X);
            double Motor_Offset_Y;
            double.TryParse(tb_Align_Motor_Offset_Y.Text, out Motor_Offset_Y);

            if (Module_Idx == 0)
            {
                if (Seq_Type == 0)
                    _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Grab_Start_Left_Ack, false);
                else if (Seq_Type == 1)
                    _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Grab_Start_Left_Ack, false);
                else if (Seq_Type == 2)
                    _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Grab_Start_Left_Ack, false);
            }
            else
            {
                if (Seq_Type == 0)
                    _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Grab_Start_Right_Ack, false);
                else if (Seq_Type == 1)
                    _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Grab_Start_Right_Ack, false);
                else if (Seq_Type == 2)
                    _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Grab_Start_Right_Ack, false);
            }

            _Parent._equip.Align_vision.SendData(vision_control.Send_Grab_Start_Req(Seq_Type, Module_Idx, Mark_Idx, Motor_Offset_X, Motor_Offset_Y));
        }
        
        private void btn_Motor_Pos_Move_Ack_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_Align_SeqType.SelectedIndex;

            if (Seq_Type == 0)
                _Parent.sm.Set_Bit(Vision_Address.Film_Judge_Motor_Pos_Ack, false);
            else if (Seq_Type == 1)
                _Parent.sm.Set_Bit(Vision_Address.Pre_Align_Motor_Pos_Ack, false);
            else if (Seq_Type == 2)
                _Parent.sm.Set_Bit(Vision_Address.Fine_Align_Motor_Pos_Ack, false);

            _Parent._equip.Align_vision.SendData(vision_control.Send_Motor_Pos_Move_Ack(0));
        }

        private void btn_User_Command_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_Align_SeqType.SelectedIndex;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Pnl_Idx;
            int.TryParse(tb_Align_Pnl_Idx.Text, out Pnl_Idx);
            string Panel_Id = tb_Align_Panel_Id.Text;
            int Slot_No;
            int.TryParse(tb_Align_Slot_No.Text, out Slot_No);

            if (Seq_Type == 0)
                _Parent.sm.Set_Bit(Vision_Address.Film_Judge_User_Command_Ack, false);
            else if (Seq_Type == 1)
                _Parent.sm.Set_Bit(Vision_Address.Pre_Align_User_Command_Ack, false);
            else if (Seq_Type == 2)
                _Parent.sm.Set_Bit(Vision_Address.Fine_Align_User_Command_Ack, false);

            _Parent._equip.Align_vision.SendData(vision_control.Send_Command_Req(4, Seq_Type, Module_Idx, Slot_No, Pnl_Idx, Panel_Id));
        }

        private void btn_System_Time_Sync_Req_Click(object sender, EventArgs e)
        {
            _Parent.sm.Set_Bit(Vision_Address.Align_PC_System_Time_Sync_Ack, false);
            _Parent._equip.Align_vision.SendData(vision_control.Send_System_Time_Sync_Req());
        }

        // Align PC Recv
        private void btn_Recipe_Change_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)210));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }
        
        private void btn_Grab_Ready_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = cbb_Align_SeqType.SelectedIndex;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)220));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Grab_Start_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = cbb_Align_SeqType.SelectedIndex;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Module_Idx));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)230));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Film_Judge_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = 0;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Return = 1; // -1 : 진행중, 0 : Film 無(Fail), 1 : Film 有(Success)

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Module_Idx));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));

            if (Module_Idx == 0)
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)241));//Left
            else
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)242));//Right

            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Align_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = cbb_Align_SeqType.SelectedIndex;
            int Module_Idx = rb_Align_Left.Checked ? 0 : 1;
            int Return = 1; // -1 : 진행중, 0 : Align Fail, 1 : Align Success
            double dAlignX = 0.001;     //Align Offset X
            double dAlignY = 0.002;     //Align Offset Y
            double dAlign_Angle = 0.003;//Align Angle
            int nCenterAxis = 1;        //제품 중심 좌표 (예비)

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Module_Idx));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));
            body.InsertRange(body.Count, BitConverter.GetBytes(dAlignX));
            body.InsertRange(body.Count, BitConverter.GetBytes(dAlignY));
            body.InsertRange(body.Count, BitConverter.GetBytes(dAlign_Angle));
            body.InsertRange(body.Count, BitConverter.GetBytes(nCenterAxis));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));

            if (Module_Idx == 0)
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)251));//Left
            else
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)252));//Right

            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Motor_Pos_Move_Req_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = cbb_Align_SeqType.SelectedIndex;
            int ModuleIdx = rb_Align_Left.Checked ? 0 : 1;
            int GrabIdx = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(ModuleIdx));
            body.InsertRange(body.Count, BitConverter.GetBytes(GrabIdx));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)281));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Align_User_Command_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = cbb_Align_SeqType.SelectedIndex;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)291));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_System_Time_Sync_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)292));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_Vision_Alive_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Controller = 1;
            int HearBeat = lb_Align_Heart_Beat.Text == "1" ? 0 : 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Controller));
            body.InsertRange(body.Count, BitConverter.GetBytes(HearBeat));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)100));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Align_vision.commandlist.Enqueue(senddata.ToArray());
        }

        // AOI PC Send
        private void btn_AOI_Recipe_Change_Req_Click(object sender, EventArgs e)
        {
            int Recipe_Mode = cbb_AOI_Recipe_Mode.SelectedIndex + 1;
            string Recipe_Name = tb_AOI_Recipe_Name.Text;

            _Parent.sm.Set_Bit(Vision_Address.AOI_PC_Recipe_Change_Ack, false);
            _Parent._equip.Aoi_vision.SendData(vision_control.Send_Recipe_Change_Req(Recipe_Mode, Recipe_Name));
        }

        private void btn_AOI_Grab_Ready_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_AOI_SeqType.SelectedIndex == 0 ? 3 : 4;
            int Module_Idx = rb_AOI_Left.Checked ? 0 : 1;
            int Grab_Dir = 1;
            int Pnl_Dir = rb_AOI_Short.Checked ? 0 : 1;
            int Stage_No;
            int.TryParse(tb_AOI_Stage_No.Text, out Stage_No);
            int Slot_No;
            int.TryParse(tb_AOI_Slot_No.Text, out Slot_No);
            int Pnl_Idx;
            int.TryParse(tb_AOI_Pnl_Idx.Text, out Pnl_Idx);
            string Panel_Id = tb_AOI_Panel_Id.Text;

            _Parent.sm.Set_Bit(Vision_Address.Measurement_Grab_Ready_Ack, false);

            if (Module_Idx == 0)
                _Parent.sm.Set_Bit(Vision_Address.Measurement_Left_Ack, false);
            else
                _Parent.sm.Set_Bit(Vision_Address.Measurement_Right_Ack, false);
            
            _Parent._equip.Aoi_vision.SendData(vision_control.Send_Grab_Ready_Req(Seq_Type, Module_Idx, Grab_Dir, Pnl_Dir, Stage_No, Slot_No, Pnl_Idx, Panel_Id));
        }

        private void btn_AOI_Grab_Start_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = cbb_AOI_SeqType.SelectedIndex == 0 ? 3 : 4;
            int Module_Idx = rb_AOI_Left.Checked ? 0 : 1;
            int Mark_Idx = rb_AOI_Mark_1.Checked ? 0 : 1;
            double Motor_Offset_X;
            double.TryParse(tb_AOI_Motor_Offset_X.Text, out Motor_Offset_X);
            double Motor_Offset_Y;
            double.TryParse(tb_AOI_Motor_Offset_Y.Text, out Motor_Offset_Y);

            if(Module_Idx == 0)
                _Parent.sm.Set_Bit(Vision_Address.Measurement_Grab_Start_Left_Ack, false);
            else
                _Parent.sm.Set_Bit(Vision_Address.Measurement_Grab_Start_Right_Ack, false);

            _Parent._equip.Aoi_vision.SendData(vision_control.Send_Grab_Start_Req(Seq_Type, Module_Idx, Mark_Idx, Motor_Offset_X, Motor_Offset_Y));
        }

        private void btn_AOI_Measurement_Req_Click(object sender, EventArgs e)
        {

        }

        private void btn_AOI_Motor_Pos_Move_Ack_Click(object sender, EventArgs e)
        {
            _Parent.sm.Set_Bit(Vision_Address.Measurement_Motor_Pos_Ack, false);
            _Parent._equip.Aoi_vision.SendData(vision_control.Send_Motor_Pos_Move_Ack(0));
        }

        private void btn_AOI_User_Command_Req_Click(object sender, EventArgs e)
        {
            int Seq_Type = 3;
            int Module_Idx = rb_AOI_Left.Checked ? 0 : 1;
            int Pnl_Idx;
            int.TryParse(tb_AOI_Pnl_Idx.Text, out Pnl_Idx);
            string Panel_Id = tb_AOI_Panel_Id.Text;
            int Slot_No;
            int.TryParse(tb_AOI_Slot_No.Text, out Slot_No);

            _Parent.sm.Set_Bit(Vision_Address.Measurement_User_Command_Ack, false);
            _Parent._equip.Aoi_vision.SendData(vision_control.Send_Command_Req(4, Seq_Type, Module_Idx, Slot_No, Pnl_Idx, Panel_Id));
        }

        private void btn_AOI_System_Time_Sync_Req_Click(object sender, EventArgs e)
        {
            _Parent.sm.Set_Bit(Vision_Address.AOI_PC_System_Time_Sync_Ack, false);
            _Parent._equip.Aoi_vision.SendData(vision_control.Send_System_Time_Sync_Req());
        }

        // AOI PC Recv
        private void btn_AOI_Recipe_Change_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)210));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_Grab_Ready_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = 3;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)220));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_Grab_Start_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = 3;
            int Module_Idx = rb_AOI_Left.Checked ? 0 : 1;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Module_Idx));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)230));
            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_Measurement_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Module_Idx = rb_AOI_Left.Checked ? 0 : 1;
            int nMeasureResult = 1; // -1 : 진행중, 0 : Fail, 1 : Success
            double dMark1_Point1 = 0.001;//Mark1의 #1(1/4 Point) to 레이저 가공부 상부 Edge 거리
            double dMark1_Point2 = 0.002;//Mark1의 #2(2/4 Point) to 레이저 가공부 하부 Edge 거리
            double dMark2_Point1 = 0.003;//Mark2의 #1(3/4 Point) to 레이저 가공부 상부 Edge 거리
            double dMark2_Point2 = 0.004;//Mark2의 #2(4/4 Point) to 레이저 가공부 하부 Edge 거리
            double dMark_Distance = 0.005;//Mark1과 Mark2의 거리
            int nAlign_Result = 1;//-1 : 진행중, 0 : Align Fail, 1 : Align Success

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Module_Idx));
            body.InsertRange(body.Count, BitConverter.GetBytes(nMeasureResult));
            body.InsertRange(body.Count, BitConverter.GetBytes(dMark1_Point1));
            body.InsertRange(body.Count, BitConverter.GetBytes(dMark1_Point2));
            body.InsertRange(body.Count, BitConverter.GetBytes(dMark2_Point1));
            body.InsertRange(body.Count, BitConverter.GetBytes(dMark2_Point2));
            body.InsertRange(body.Count, BitConverter.GetBytes(dMark_Distance));
            body.InsertRange(body.Count, BitConverter.GetBytes(nAlign_Result));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));

            if (Module_Idx == 0)
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)261));//Left
            else
                senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)262));//Right

            senddata.InsertRange(senddata.Count, body.ToArray());
            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_Motor_Pos_Move_Req_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = 3;
            int ModuleIdx = 0;
            int GrabIdx = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(ModuleIdx));
            body.InsertRange(body.Count, BitConverter.GetBytes(GrabIdx));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)281));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_User_Command_Com_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int SeqType = 3;
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)291));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_System_Time_Sync_Ack_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Return = 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Return));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)292));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }

        private void btn_AOI_Vision_Alive_Click(object sender, EventArgs e)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            DateTime dt = DateTime.Now;
            int MsgIndex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");
            int Controller = 2;
            int HearBeat = lb_AOI_Heart_Beat.Text == "1" ? 0 : 1;

            body.InsertRange(body.Count, BitConverter.GetBytes(MsgIndex));
            body.InsertRange(body.Count, BitConverter.GetBytes(Controller));
            body.InsertRange(body.Count, BitConverter.GetBytes(HearBeat));

            senddata.InsertRange(senddata.Count, BitConverter.GetBytes(body.Count));
            senddata.InsertRange(senddata.Count, BitConverter.GetBytes((short)100));
            senddata.InsertRange(senddata.Count, body.ToArray());

            _Parent._equip.Aoi_vision.commandlist.Enqueue(senddata.ToArray());
        }
        #endregion

        #region Function

        public void MessageBoxShow(string msg)
        {
            MessageBox.Show(msg);
        }

        private void UI_Update_Th_Set()
        {
            while (!_Parent.IsDisposed)
            {
                Thread.Sleep(50);
                if (!update_check)
                {
                    update_check = true;
                    UI_Update();
                }
            }
        }

        private void UI_Update()
        {
            if (InvokeRequired)
            {
                BeginInvoke(new UI_Update_Delegate(UI_Update));
                return;
            }
            else
            {
                try
                {
                    DateTime dt = DateTime.Now;

                    lb_Time.Text = $"{dt.Hour:d2}:{dt.Minute:d2}:{dt.Second:d2}.{dt.Millisecond:d3}";

                    Align_PC_UI_Update();

                    AOI_PC_UI_Update();
                    
                    TimeSpan ts = DateTime.Now - dt;
                }
                catch (Exception ex)
                {

                }
                finally
                {
                    update_check = false;
                }
            }
        }

        private void Align_PC_UI_Update()
        {
            object value;
            if (_Parent._equip.Align_vision != null)
            {
                mtb_Align_Ip_Address.Text = _Parent._equip.Align_vision.Ip;
                mtb_Align_Port.Text = _Parent._equip.Align_vision.Port.ToString();

                if (_Parent._equip.Align_vision.isConnected)
                {
                    lb_Align_Connect_Status.Text = "Connect";
                    lb_Align_Connect_Status.BackColor = Color.Lime;
                }
                else
                {
                    lb_Align_Connect_Status.Text = "DisConnect";
                    lb_Align_Connect_Status.BackColor = Color.Green;
                }
            }
            else
            {
                lb_Align_Connect_Status.Text = "DisConnect";
                lb_Align_Connect_Status.BackColor = Color.Green;
            }

            if(_Parent.sm.Get_Value(Vision_Address.Align_PC_Vision_Alive_Heart_Beat, out value))
            {
                lb_Align_Heart_Beat.Text = value.ToString();
            }

        }

        private void AOI_PC_UI_Update()
        {
            object value;
            if (_Parent._equip.Aoi_vision != null)
            {
                mtb_AOI_Ip_Address.Text = _Parent._equip.Aoi_vision.Ip;
                mtb_AOI_Port.Text = _Parent._equip.Aoi_vision.Port.ToString();

                if (_Parent._equip.Aoi_vision.isConnected)
                {
                    lb_AOI_Connect_Status.Text = "Connect";
                    lb_AOI_Connect_Status.BackColor = Color.Lime;
                }
                else
                {
                    lb_AOI_Connect_Status.Text = "DisConnect";
                    lb_AOI_Connect_Status.BackColor = Color.Green;
                }
            }
            else
            {
                lb_AOI_Connect_Status.Text = "DisConnect";
                lb_AOI_Connect_Status.BackColor = Color.Green;
            }


            if (_Parent.sm.Get_Value(Vision_Address.AOI_PC_Vision_Alive_Heart_Beat, out value))
            {
                lb_AOI_Heart_Beat.Text = value.ToString();
            }
        }
        #endregion

        private void btn_Status_Viewer_Show_Click(object sender, EventArgs e)
        {
            vision_status_viewer.Show();
            vision_status_viewer.TopMost = true;
            vision_status_viewer.TopMost = false;
        }

        private void Form_Vision_Test_FormClosing(object sender, FormClosingEventArgs e)
        {
            if (!_Parent.IsDisposed)
            {
                e.Cancel = true;

                this.Hide();
            }
        }
    }
}