using System;
using System.Collections.Generic;
using System.Text;

namespace SHARP_CLAS_UI
{
    public class Vision_Control
    {
        #region Property

        // =========================== 제어 -> Align ===============================
        readonly byte[] RecipeChangeReq = BitConverter.GetBytes((short)110);

        readonly byte[] GrabReadyReq = BitConverter.GetBytes((short)120);

        readonly byte[] GrabStartReq = BitConverter.GetBytes((short)130);

        readonly byte[] MotorPosMoveAck = BitConverter.GetBytes((short)181);

        readonly byte[] UserCommandReq = BitConverter.GetBytes((short)191);

        readonly byte[] SystemTimeSyncReq = BitConverter.GetBytes((short)192);

        // ============================ Align -> 제어 =================================
        readonly byte[] RecipeChangeAck = BitConverter.GetBytes((short)210);

        readonly byte[] GrabReadyAck = BitConverter.GetBytes((short)220);

        readonly byte[] GrabStartAck = BitConverter.GetBytes((short)230);

        readonly byte[] FilmJudgeResult1 = BitConverter.GetBytes((short)241);

        readonly byte[] FilmJudgeResult2 = BitConverter.GetBytes((short)242);

        readonly byte[] AlignResult1 = BitConverter.GetBytes((short)251);

        readonly byte[] AlignResult2 = BitConverter.GetBytes((short)252);

        readonly byte[] MeasurementResult1 = BitConverter.GetBytes((short)261);

        readonly byte[] MeasurementResult2 = BitConverter.GetBytes((short)262);
        
        readonly byte[] MotorPosMoveReq = BitConverter.GetBytes((short)281);

        readonly byte[] UserCommandCom = BitConverter.GetBytes((short)291);

        readonly byte[] SystemTimeSyncAck = BitConverter.GetBytes((short)292);

        readonly byte[] VisionAlive = BitConverter.GetBytes((short)100);
        #endregion

        #region Construct
        public Vision_Control()
        {

        }
        #endregion

        #region Function
        // =========================== 제어 -> Align ===============================
        /// <summary>
        /// Send Recipe Change Req
        /// </summary>
        /// <param name="RecipeMode">Recipe Move, 1 : 추가 , 2 : 변경(default), 3 : 삭제 => 현재 변경 고정 사용</param>
        /// <param name="RecipeName">제품 구분 정보(레시피 명)</param>
        public byte[] Send_Recipe_Change_Req(int RecipeMode, string RecipeName)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();
            byte[] send_recipe_name = new byte[20];
            byte[] recipe_name = Encoding.ASCII.GetBytes(RecipeName);
            Array.Copy(recipe_name, send_recipe_name, recipe_name.Length);
            DateTime dt = DateTime.Now;
            int msgindex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");

            body.InsertRange(body.Count, BitConverter.GetBytes(msgindex));
            body.InsertRange(body.Count, BitConverter.GetBytes(RecipeMode));
            body.InsertRange(body.Count, send_recipe_name);

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

            return senddata.ToArray();
        }

        /// <summary>
        ///  Send Grab Ready Req
        /// </summary>
        /// <param name="SeqType">물류 Sequence Type</param>
        /// <param name="ModuleIdx">카메라 Module Idx (0: Left, 1: Right)</param>
        /// <param name="GrabDir">단축 Grab(Default), 1: 단축 Grab</param>
        /// <param name="PnlDir">0: 단면 물류 흐름 방향, 1: 장면 물류 흐름 방향</param>
        /// <param name="StageNo">현재 검사를 위한 Panel이 로딩된 Stage 번호</param>
        /// <param name="SlotNo">Tray Slot 번호</param>
        /// <param name="PnlIdx">Tray 내 Panel이 위치한 Idx 번호</param>
        /// <param name="PanelID">Panel을 식별하기위한 ID (*없는 경우 NULL)</param>
        public byte[] Send_Grab_Ready_Req(int SeqType, int ModuleIdx, int GrabDir, int PnlDir, int StageNo, int SlotNo, int PnlIdx, string PanelID)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();

            byte[] send_panel_id = new byte[20];
            byte[] panel_id = Encoding.ASCII.GetBytes(PanelID);
            Array.Copy(panel_id, send_panel_id, panel_id.Length);

            DateTime dt = DateTime.Now;
            int msgindex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");

            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(GrabDir));
            body.InsertRange(body.Count, BitConverter.GetBytes(PnlDir));
            body.InsertRange(body.Count, BitConverter.GetBytes(StageNo));
            body.InsertRange(body.Count, BitConverter.GetBytes(SlotNo));
            body.InsertRange(body.Count, BitConverter.GetBytes(PnlIdx));
            body.InsertRange(body.Count, send_panel_id);

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

            return senddata.ToArray();
        }

        /// <summary>
        /// Send Grab Start Req
        /// </summary>
        /// <param name="SeqType">물류 Sequence Type</param>
        /// <param name="ModelIndx">카메라 Module Idx (0: Left, 1: Right)</param>
        /// <param name="MotorOffsetX">현재 Motor Position X</param>
        /// <param name="MotorOffsetY">현재 Motor Position Y</param>
        public byte[] Send_Grab_Start_Req(int SeqType, int ModelIndx, int MarkIdx, double MotorOffsetX, double MotorOffsetY)
        {
            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}");

            body.InsertRange(body.Count, BitConverter.GetBytes(msgindex));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(ModelIndx));
            body.InsertRange(body.Count, BitConverter.GetBytes(MarkIdx));
            body.InsertRange(body.Count, BitConverter.GetBytes(MotorOffsetX));
            body.InsertRange(body.Count, BitConverter.GetBytes(MotorOffsetY));

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

            return senddata.ToArray();
        }

        /// <summary>
        /// Send Motor Pos Move Ack
        /// </summary>
        /// <param name="Return"> 0 : 위치 이동 완료 (Success), n : 기타 에러(Fail) 제어 정의.</param>
        public byte[] Send_Motor_Pos_Move_Ack(int Return)
        {
            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}");

            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, MotorPosMoveAck);
            senddata.InsertRange(senddata.Count, body);

            return senddata.ToArray();
        }

        /// <summary>
        /// Send Command Req
        /// </summary>
        /// <param name="CmdType">0: Scrap(제거, 1: Retry(재시도), 3: Skip(NG), 4: Pass(OK), 5: User(수동선택)</param>
        /// <param name="SeqType">물류 Sequence Type</param>
        /// <param name="ModuleIdx">카메라 Module Idx (0: Left, 1: Right)</param>
        /// <param name="PnlIdx">Tray 내 Panel이 위치한 Idx 번호</param>
        /// <param name="PanelID">Panel을 식별하기위한 ID (*없는 경우 NULL)</param>
        public byte[] Send_Command_Req(int CmdType, int SeqType, int ModuleIdx, int SlotNo, int PnlIdx, string PanelID)
        {
            List<byte> senddata = new List<byte>();
            List<byte> body = new List<byte>();

            byte[] send_panel_id = new byte[20];
            byte[] panel_id = Encoding.ASCII.GetBytes(PanelID);
            Array.Copy(panel_id, send_panel_id, panel_id.Length);

            DateTime dt = DateTime.Now;
            int msgindex = int.Parse($"{dt.Hour:d2}{dt.Minute:d2}{dt.Second:d2}{dt.Millisecond:d3}");

            body.InsertRange(body.Count, BitConverter.GetBytes(msgindex));
            body.InsertRange(body.Count, BitConverter.GetBytes(CmdType));
            body.InsertRange(body.Count, BitConverter.GetBytes(SeqType));
            body.InsertRange(body.Count, BitConverter.GetBytes(ModuleIdx));
            body.InsertRange(body.Count, BitConverter.GetBytes(SlotNo));
            body.InsertRange(body.Count, BitConverter.GetBytes(PnlIdx));
            body.InsertRange(body.Count, send_panel_id);

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

            return senddata.ToArray();
        }

        /// <summary>
        /// Send System Time Sync Req
        /// </summary>
        public byte[] Send_System_Time_Sync_Req()
        {
            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 year = dt.Year;
            int month = dt.Month;
            int day = dt.Day;
            int hour = dt.Hour;
            int minutes = dt.Minute;
            int second = dt.Second;

            body.InsertRange(body.Count, BitConverter.GetBytes(msgindex));
            body.InsertRange(body.Count, BitConverter.GetBytes(year));
            body.InsertRange(body.Count, BitConverter.GetBytes(month));
            body.InsertRange(body.Count, BitConverter.GetBytes(day));
            body.InsertRange(body.Count, BitConverter.GetBytes(hour));
            body.InsertRange(body.Count, BitConverter.GetBytes(minutes));
            body.InsertRange(body.Count, BitConverter.GetBytes(second));

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

            return senddata.ToArray();
        }

        // ============================ Align -> 제어 =================================
        /// <summary>
        /// Recv Recipe Change Ack
        /// </summary>
        /// <param name="Recvdata"></param>
        public void Recv_Recipe_Change_Ack(byte[] Recvdata, out RecipeChangeAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] Return = new byte[4]; //0 : Fail , 1: Success

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, Return, 0, Return.Length);
            copylength += Return.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_Return = BitConverter.ToInt32(Return, 0);

            Ack = new RecipeChangeAck(Result_MsgIndex, Result_Return);
        }

        public void Recv_Grab_Read_Ack(byte[] Recvdata, out GrabReadyAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] Return = new byte[4]; //0 : Fail, 1 : Success

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, Return, 0, Return.Length);
            copylength += Return.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_Return = BitConverter.ToInt32(Return, 0);

            Ack = new GrabReadyAck(Result_MsgIndex, Result_SeqType, Result_Return);
        }

        public void Recv_Grab_Start_Ack(byte[] Recvdata, out GrabStartAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] Return = new byte[4]; //0 : Fail, 1 : Success

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, Return, 0, Return.Length);
            copylength += Return.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_Return = BitConverter.ToInt32(Return, 0);

            Ack = new GrabStartAck(Result_MsgIndex, Result_SeqType, Result_ModuleIdx, Result_Return);
        }

        public void Recv_Film_Judge_Result(byte[] Recvdata, out FilmJudgeResultAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] FilmResult = new byte[4]; //0 : Film 無(Fail), 1 : Film 有(Success)

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, FilmResult, 0, FilmResult.Length);
            copylength += FilmResult.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Reuslt_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_FilmResult = BitConverter.ToInt32(FilmResult, 0);

            Ack = new FilmJudgeResultAck(Result_MsgIndex, Reuslt_SeqType, Result_ModuleIdx, Result_FilmResult);
        }

        public void Recv_Align_Result(byte[] Recvdata, out AlignResultAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] AlignResult = new byte[4]; //0 : Align Fail, 1 : Align Success
            byte[] AlignX = new byte[8]; //Align Offset X
            byte[] AlignY = new byte[8]; //Align Offset Y
            byte[] AlignAngle = new byte[8]; //Align Angle
            byte[] CenterAxis = new byte[4]; //제품 중심 좌표 (예비)

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, AlignResult, 0, AlignResult.Length);
            copylength += AlignResult.Length;
            Array.Copy(Recvdata, copylength, AlignX, 0, AlignX.Length);
            copylength += AlignX.Length;
            Array.Copy(Recvdata, copylength, AlignY, 0, AlignY.Length);
            copylength += AlignY.Length;
            Array.Copy(Recvdata, copylength, AlignAngle, 0, AlignAngle.Length);
            copylength += AlignAngle.Length;
            Array.Copy(Recvdata, copylength, CenterAxis, 0, CenterAxis.Length);
            copylength += CenterAxis.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_AlignResult = BitConverter.ToInt32(AlignResult, 0);
            double Result_AlignX = BitConverter.ToDouble(AlignX, 0);
            double Result_AlignY = BitConverter.ToDouble(AlignY, 0);
            double Result_AlignAngle = BitConverter.ToDouble(AlignAngle, 0);
            int Result_CenterAxis = BitConverter.ToInt32(CenterAxis, 0);

            Ack = new AlignResultAck(Result_MsgIndex, Result_SeqType, Result_ModuleIdx, Result_AlignResult, Result_AlignX, Result_AlignY, Result_AlignAngle, Result_CenterAxis);
        }

        public void Recv_Measurement_Result(byte[] Recvdata, out MeasurementResultAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] MeasureResult = new byte[4]; //0 : Fail, 1 : Success
            byte[] Mark1Point1 = new byte[8]; //Mark1의 #1(1/4 Point) to 레이저 가공부 상부 Edge 거리
            byte[] Mark1Point2 = new byte[8]; //Mark1의 #2(2/4 Point) to 레이저 가공부 하부 Edge 거리
            byte[] Mark2Point1 = new byte[8]; //Mark2의 #1(3/4 Point) to 레이저 가공부 상부 Edge 거리
            byte[] Mark2Point2 = new byte[8]; //Mark2의 #2(4/4 Point) to 레이저 가공부 하부 Edge 거리
            byte[] Mark3Point1 = new byte[8]; //Mark3의 #1(3/4 Point) to 레이저 가공부 상부 Edge 거리
            byte[] Mark3Point2 = new byte[8]; //Mark3의 #2(4/4 Point) to 레이저 가공부 하부 Edge 거리
            byte[] Mark4Point1 = new byte[8]; //Mark4의 #1(3/4 Point) to 레이저 가공부 상부 Edge 거리
            byte[] Mark4Point2 = new byte[8]; //Mark4의 #2(4/4 Point) to 레이저 가공부 하부 Edge 거리
            byte[] MarkDistance = new byte[8]; //Mark1과 Mark2의 거리
            byte[] AlignResult = new byte[4]; //0 : Align Fail, 1 : Align Success

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, MeasureResult, 0, MeasureResult.Length);
            copylength += MeasureResult.Length;
            Array.Copy(Recvdata, copylength, Mark1Point1, 0, Mark1Point1.Length);
            copylength += Mark1Point1.Length;
            Array.Copy(Recvdata, copylength, Mark1Point2, 0, Mark1Point2.Length);
            copylength += Mark1Point2.Length;
            Array.Copy(Recvdata, copylength, Mark2Point1, 0, Mark2Point1.Length);
            copylength += Mark2Point1.Length;
            Array.Copy(Recvdata, copylength, Mark2Point2, 0, Mark2Point2.Length);
            copylength += Mark2Point2.Length;
            Array.Copy(Recvdata, copylength, Mark3Point1, 0, Mark3Point1.Length);
            copylength += Mark3Point1.Length;
            Array.Copy(Recvdata, copylength, Mark3Point2, 0, Mark3Point2.Length);
            copylength += Mark3Point2.Length;
            Array.Copy(Recvdata, copylength, Mark4Point1, 0, Mark4Point1.Length);
            copylength += Mark4Point1.Length;
            Array.Copy(Recvdata, copylength, Mark4Point2, 0, Mark4Point2.Length);
            copylength += Mark4Point2.Length;
            Array.Copy(Recvdata, copylength, MarkDistance, 0, MarkDistance.Length);
            copylength += MarkDistance.Length;
            Array.Copy(Recvdata, copylength, AlignResult, 0, AlignResult.Length);
            copylength += AlignResult.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_MeasureResult = BitConverter.ToInt32(MeasureResult, 0);
            double Result_Mark1Point1 = BitConverter.ToDouble(Mark1Point1, 0);
            double Result_Mark1Point2 = BitConverter.ToDouble(Mark1Point2, 0);
            double Result_Mark2Point1 = BitConverter.ToDouble(Mark2Point1, 0);
            double Result_Mark2Point2 = BitConverter.ToDouble(Mark2Point2, 0);
            double Result_Mark3Point1 = BitConverter.ToDouble(Mark3Point1, 0);
            double Result_Mark3Point2 = BitConverter.ToDouble(Mark3Point2, 0);
            double Result_Mark4Point1 = BitConverter.ToDouble(Mark4Point1, 0);
            double Result_Mark4Point2 = BitConverter.ToDouble(Mark4Point2, 0);
            double Result_MarkDistance = BitConverter.ToDouble(MarkDistance, 0);
            int Result_AlignResult = BitConverter.ToInt32(AlignResult, 0);

            Ack = new MeasurementResultAck(Result_MsgIndex, Result_ModuleIdx, Result_MeasureResult, Result_Mark1Point1, Result_Mark1Point2, Result_Mark2Point1, Result_Mark2Point2, Result_Mark3Point1, Result_Mark3Point2, Result_Mark4Point1, Result_Mark4Point2, Result_MarkDistance, Result_AlignResult);
        }

        public void Recv_WidthMeasurement_Result(byte[] Recvdata, out WidthMeasurementResultAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] MeasureResult = new byte[4]; //0 : Fail, 1 : Success
            byte[] Mark1Width = new byte[8]; //Mark1의 넓이
            byte[] Mark2Width = new byte[8]; //Mark2의 넓이

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, MeasureResult, 0, MeasureResult.Length);
            copylength += MeasureResult.Length;
            Array.Copy(Recvdata, copylength, Mark1Width, 0, Mark1Width.Length);
            copylength += Mark1Width.Length;
            Array.Copy(Recvdata, copylength, Mark2Width, 0, Mark2Width.Length);
            copylength += Mark2Width.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_MeasureResult = BitConverter.ToInt32(MeasureResult, 0);
            double Result_Mark1Width = BitConverter.ToDouble(Mark1Width, 0);
            double Result_Mark2Width = BitConverter.ToDouble(Mark2Width, 0);

            Ack = new WidthMeasurementResultAck(Result_MsgIndex, Result_ModuleIdx, Result_MeasureResult, Result_Mark1Width, Result_Mark2Width);
        }

        public void Recv_Fine_Align_Result(byte[] Recvdata, out FineAlignResultAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] AlignResult = new byte[4]; //0 : Align Fail, 1 : Align Success
            byte[] AlignX = new byte[8]; //Align Offset X
            byte[] AlignY = new byte[8]; //Align Offset Y
            byte[] AlignAngle = new byte[8]; //Align Angle
            byte[] CenterAxis = new byte[4]; //제품 중심 좌표 (예비)
            byte[] Mark_Distance = new byte[8]; //Mark간 거리

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, AlignResult, 0, AlignResult.Length);
            copylength += AlignResult.Length;
            Array.Copy(Recvdata, copylength, AlignX, 0, AlignX.Length);
            copylength += AlignX.Length;
            Array.Copy(Recvdata, copylength, AlignY, 0, AlignY.Length);
            copylength += AlignY.Length;
            Array.Copy(Recvdata, copylength, AlignAngle, 0, AlignAngle.Length);
            copylength += AlignAngle.Length;
            Array.Copy(Recvdata, copylength, CenterAxis, 0, CenterAxis.Length);
            copylength += CenterAxis.Length;
            Array.Copy(Recvdata, copylength, Mark_Distance, 0, Mark_Distance.Length);
            copylength += Mark_Distance.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_AlignResult = BitConverter.ToInt32(AlignResult, 0);
            double Result_AlignX = BitConverter.ToDouble(AlignX, 0);
            double Result_AlignY = BitConverter.ToDouble(AlignY, 0);
            double Result_AlignAngle = BitConverter.ToDouble(AlignAngle, 0);
            int Result_CenterAxis = BitConverter.ToInt32(CenterAxis, 0);
            double Result_Mark_Distance = BitConverter.ToDouble(Mark_Distance, 0);

            Ack = new FineAlignResultAck(Result_MsgIndex, Result_SeqType, Result_ModuleIdx, Result_AlignResult, Result_AlignX, Result_AlignY, Result_AlignAngle, Result_CenterAxis, Result_Mark_Distance);
        }
        public void Recv_Motor_Pos_Move_Req(byte[] Recvdata, out MotorPosMoveReq Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] SeqType = new byte[4]; //물류 Sequence Type
            byte[] ModuleIdx = new byte[4]; //카메라 Module Idx (0: Left, 1: Right)
            byte[] GrabIdx = new byte[4]; //영상 취득 Idx (0: Mark1, 1: Mark2)

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, SeqType, 0, SeqType.Length);
            copylength += SeqType.Length;
            Array.Copy(Recvdata, copylength, ModuleIdx, 0, ModuleIdx.Length);
            copylength += ModuleIdx.Length;
            Array.Copy(Recvdata, copylength, GrabIdx, 0, GrabIdx.Length);
            copylength += GrabIdx.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Reuslt_SeqType = BitConverter.ToInt32(SeqType, 0);
            int Result_ModuleIdx = BitConverter.ToInt32(ModuleIdx, 0);
            int Result_GrabIdx = BitConverter.ToInt32(GrabIdx, 0);

            Ack = new MotorPosMoveReq(Result_MsgIndex, Reuslt_SeqType, Result_ModuleIdx, Result_GrabIdx);
        }
        
        public void Recv_User_Command_Ack(byte[] Recvdata, out UserCommandAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] Return = new byte[4]; //0: 실패, 1: 성공

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, Return, 0, Return.Length);
            copylength += Return.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_Return = BitConverter.ToInt32(Return, 0);

            Ack = new UserCommandAck(Result_MsgIndex, Result_Return);
        }

        public void Recv_System_Time_Sync_Ack(byte[] Recvdata, out SystemTimeSyncAck Ack)
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] Return = new byte[4]; //0: 실패, 1: 성공

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, Return, 0, Return.Length);
            copylength += Return.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_Return = BitConverter.ToInt32(Return, 0);

            Ack = new SystemTimeSyncAck(Result_MsgIndex, Result_Return);
        }

        public void Recv_Vision_Alive(byte[] Recvdata, out VisionAliveAck Ack )
        {
            byte[] size = new byte[4];
            byte[] command = new byte[2];
            byte[] MsgIndex = new byte[4]; //TimeStamp (HHMMSSmsmsms)
            byte[] Controller = new byte[4]; //PC구분 ( 1: Align, 2: AOI )
            byte[] HeartBeat = new byte[4]; //Toggle ( 0 -> 1 -> 0 …)

            int copylength = 0;
            Array.Copy(Recvdata, size, size.Length);
            copylength += size.Length;
            Array.Copy(Recvdata, copylength, command, 0, command.Length);
            copylength += command.Length;
            Array.Copy(Recvdata, copylength, MsgIndex, 0, MsgIndex.Length);
            copylength += MsgIndex.Length;
            Array.Copy(Recvdata, copylength, Controller, 0, Controller.Length);
            copylength += Controller.Length;
            Array.Copy(Recvdata, copylength, HeartBeat, 0, HeartBeat.Length);
            copylength += HeartBeat.Length;

            int Result_MsgIndex = BitConverter.ToInt32(MsgIndex, 0);
            int Result_Controller = BitConverter.ToInt32(Controller, 0);
            int Result_HeartBeat = BitConverter.ToInt32(HeartBeat, 0);

            Ack = new VisionAliveAck(Result_MsgIndex, Result_Controller, Result_HeartBeat);
        }
        #endregion
    }
}