using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Data;
using System.Drawing;
using System.IO;
using System.Text;
using System.Windows.Forms;
using System.IO.Ports;
using System.Collections;
using System.Threading;

namespace MOTINOVA_Motor_Factory_Set
{
    public partial class ImportForm : Form
    {
        #region 文件路径
        string LogSaveFileName = "";
        string CfgFilePath = "";
        #endregion

        #region 推行测试过程比较值
        ushort MotorRadeSpeed = 1200;
        ushort RateVoltage = 36000;
        ushort No_load_Current = 800;
        ushort RateCadence = 100;

        #endregion

        #region 端口设置界面
        public static PortSettings portsettings_form = new PortSettings();
        #endregion

        #region 串口缓存
        public static List<byte> buffer = new List<byte>(4096);
        private byte[] binary_data_1 = new byte[1024];
        #endregion

        #region MC运行信息超时计数
        bool MC_RunInfo_Refresh = false;
        ushort MC_RunInfo_Refresh_Cnt = 0;

        #endregion

        #region MC故障码超时计数
        bool MC_ErrorCode_Refresh = false;
        ushort MC_ErrorCode_Refresh_Cnt = 0;
        #endregion

        #region 执行步骤
        public enum TestStep_Enum
        { 
            Step_Init = 0,
            Step_SysClear = 1,
            Step_Write = 2,
            Step_Light = 3,
            Step_Walk = 4,
            Step_CheckVer = 5,
            Step_Save = 6
        }
        TestStep_Enum TestStep;
        #endregion

        #region 反馈指令判断计时
        bool Ack_Flag = true;
        ushort Ack_Cnt = 0;
        #endregion

        #region 参数写入步骤
        ushort WriteAckCount = 0;
        ushort WriteCmdNum = 10;
        bool Write_Flag = false;
        ushort Write_DelayTimeCnt = 0;
        #endregion

        public ImportForm()
        {
            InitializeComponent();
        }

        private void ImportForm_Load(object sender, EventArgs e)
        {
            //装载配置文件
            CfgFilePath = System.IO.Directory.GetCurrentDirectory() + "\\cfg\\";
            var files = Directory.GetFiles(CfgFilePath, "*.ttcfg");
            comboBox_File.Items.Clear();
            foreach (var file in files)
            {
                comboBox_File.Items.Add(Path.GetFileName(file));
            }

        }

        private void toolStripMenuIte_PortSet_Click(object sender, EventArgs e)
        {
            portsettings_form.Show();
            if (!portsettings_form.serialPort1.IsOpen)
            {
                groupBox2.Enabled = true;
                button_Start.Enabled = true;
                TestStep = TestStep_Enum.Step_Init;
            }
            else
            {
                groupBox2.Enabled = false;
                button_Start.Enabled = false;
            }
        }

        #region CRC32校验
        static UInt32[] crc32_table = new UInt32[256]
        {
            0x00000000, 0x04C11DB7, 0x09823B6E, 0x0D4326D9, 0x130476DC, 0x17C56B6B,
            0x1A864DB2, 0x1E475005, 0x2608EDB8, 0x22C9F00F, 0x2F8AD6D6, 0x2B4BCB61,
            0x350C9B64, 0x31CD86D3, 0x3C8EA00A, 0x384FBDBD, 0x4C11DB70, 0x48D0C6C7,
            0x4593E01E, 0x4152FDA9, 0x5F15ADAC, 0x5BD4B01B, 0x569796C2, 0x52568B75,
            0x6A1936C8, 0x6ED82B7F, 0x639B0DA6, 0x675A1011, 0x791D4014, 0x7DDC5DA3,
            0x709F7B7A, 0x745E66CD, 0x9823B6E0, 0x9CE2AB57, 0x91A18D8E, 0x95609039,
            0x8B27C03C, 0x8FE6DD8B, 0x82A5FB52, 0x8664E6E5, 0xBE2B5B58, 0xBAEA46EF,
            0xB7A96036, 0xB3687D81, 0xAD2F2D84, 0xA9EE3033, 0xA4AD16EA, 0xA06C0B5D,
            0xD4326D90, 0xD0F37027, 0xDDB056FE, 0xD9714B49, 0xC7361B4C, 0xC3F706FB,
            0xCEB42022, 0xCA753D95, 0xF23A8028, 0xF6FB9D9F, 0xFBB8BB46, 0xFF79A6F1,
            0xE13EF6F4, 0xE5FFEB43, 0xE8BCCD9A, 0xEC7DD02D, 0x34867077, 0x30476DC0,
            0x3D044B19, 0x39C556AE, 0x278206AB, 0x23431B1C, 0x2E003DC5, 0x2AC12072,
            0x128E9DCF, 0x164F8078, 0x1B0CA6A1, 0x1FCDBB16, 0x018AEB13, 0x054BF6A4,
            0x0808D07D, 0x0CC9CDCA, 0x7897AB07, 0x7C56B6B0, 0x71159069, 0x75D48DDE,
            0x6B93DDDB, 0x6F52C06C, 0x6211E6B5, 0x66D0FB02, 0x5E9F46BF, 0x5A5E5B08,
            0x571D7DD1, 0x53DC6066, 0x4D9B3063, 0x495A2DD4, 0x44190B0D, 0x40D816BA,
            0xACA5C697, 0xA864DB20, 0xA527FDF9, 0xA1E6E04E, 0xBFA1B04B, 0xBB60ADFC,
            0xB6238B25, 0xB2E29692, 0x8AAD2B2F, 0x8E6C3698, 0x832F1041, 0x87EE0DF6,
            0x99A95DF3, 0x9D684044, 0x902B669D, 0x94EA7B2A, 0xE0B41DE7, 0xE4750050,
            0xE9362689, 0xEDF73B3E, 0xF3B06B3B, 0xF771768C, 0xFA325055, 0xFEF34DE2,
            0xC6BCF05F, 0xC27DEDE8, 0xCF3ECB31, 0xCBFFD686, 0xD5B88683, 0xD1799B34,
            0xDC3ABDED, 0xD8FBA05A, 0x690CE0EE, 0x6DCDFD59, 0x608EDB80, 0x644FC637,
            0x7A089632, 0x7EC98B85, 0x738AAD5C, 0x774BB0EB, 0x4F040D56, 0x4BC510E1,
            0x46863638, 0x42472B8F, 0x5C007B8A, 0x58C1663D, 0x558240E4, 0x51435D53,
            0x251D3B9E, 0x21DC2629, 0x2C9F00F0, 0x285E1D47, 0x36194D42, 0x32D850F5,
            0x3F9B762C, 0x3B5A6B9B, 0x0315D626, 0x07D4CB91, 0x0A97ED48, 0x0E56F0FF,
            0x1011A0FA, 0x14D0BD4D, 0x19939B94, 0x1D528623, 0xF12F560E, 0xF5EE4BB9,
            0xF8AD6D60, 0xFC6C70D7, 0xE22B20D2, 0xE6EA3D65, 0xEBA91BBC, 0xEF68060B,
            0xD727BBB6, 0xD3E6A601, 0xDEA580D8, 0xDA649D6F, 0xC423CD6A, 0xC0E2D0DD,
            0xCDA1F604, 0xC960EBB3, 0xBD3E8D7E, 0xB9FF90C9, 0xB4BCB610, 0xB07DABA7,
            0xAE3AFBA2, 0xAAFBE615, 0xA7B8C0CC, 0xA379DD7B, 0x9B3660C6, 0x9FF77D71,
            0x92B45BA8, 0x9675461F, 0x8832161A, 0x8CF30BAD, 0x81B02D74, 0x857130C3,
            0x5D8A9099, 0x594B8D2E, 0x5408ABF7, 0x50C9B640, 0x4E8EE645, 0x4A4FFBF2,
            0x470CDD2B, 0x43CDC09C, 0x7B827D21, 0x7F436096, 0x7200464F, 0x76C15BF8,
            0x68860BFD, 0x6C47164A, 0x61043093, 0x65C52D24, 0x119B4BE9, 0x155A565E,
            0x18197087, 0x1CD86D30, 0x029F3D35, 0x065E2082, 0x0B1D065B, 0x0FDC1BEC,
            0x3793A651, 0x3352BBE6, 0x3E119D3F, 0x3AD08088, 0x2497D08D, 0x2056CD3A,
            0x2D15EBE3, 0x29D4F654, 0xC5A92679, 0xC1683BCE, 0xCC2B1D17, 0xC8EA00A0,
            0xD6AD50A5, 0xD26C4D12, 0xDF2F6BCB, 0xDBEE767C, 0xE3A1CBC1, 0xE760D676,
            0xEA23F0AF, 0xEEE2ED18, 0xF0A5BD1D, 0xF464A0AA, 0xF9278673, 0xFDE69BC4,
            0x89B8FD09, 0x8D79E0BE, 0x803AC667, 0x84FBDBD0, 0x9ABC8BD5, 0x9E7D9662,
            0x933EB0BB, 0x97FFAD0C, 0xAFB010B1, 0xAB710D06, 0xA6322BDF, 0xA2F33668,
            0xBCB4666D, 0xB8757BDA, 0xB5365D03, 0xB1F740B4
        };

        static UInt32 crc32_cal(byte[] pData, UInt16 Length)
        {
            UInt32 nReg;
            UInt32 nTemp = 0;
            UInt16 i, n;

            nReg = 0xFFFFFFFF;
            for (n = 0; n < Length; n++)
            {
                nReg ^= (UInt32)pData[n];
                for (i = 0; i < 4; i++)
                {
                    nTemp = crc32_table[((nReg >> 24) & 0xFF)];
                    nReg <<= 8;
                    nReg ^= nTemp;
                }
            }
            return nReg;
        }
        #endregion

        #region 命令发送
        private void SendCmd(ushort ID, byte Mode, ushort Cmd, byte[] Data)
        {
            if (!portsettings_form.serialPort1.IsOpen)
            {
                MessageBox.Show("串口未连接");
                return;
            }

            ushort DataLength = (ushort)(Cmd & 0xFF);

            var SendCmdTmp = new byte[DataLength + 13];

            //帧头
            SendCmdTmp[0] = 0x55;
            SendCmdTmp[1] = 0xAA;
            //ID
            SendCmdTmp[2] = (byte)(ID >> 8);
            SendCmdTmp[3] = (byte)(ID & 0xFF);
            //MODE
            SendCmdTmp[4] = Mode;
            //长度
            SendCmdTmp[5] = (byte)((Cmd & 0xFF) + 2);
            //命令字
            SendCmdTmp[6] = (byte)(Cmd >> 8);
            SendCmdTmp[7] = (byte)(Cmd & 0xFF);
            //数据段
            for (UInt16 i = 0; i < (Cmd & 0xFF); i++)
            {
                SendCmdTmp[8 + i] = Data[i];
            }
            //校验
            UInt32 CRC_Result = crc32_cal(SendCmdTmp, (ushort)(DataLength + 8));
            SendCmdTmp[DataLength + 8] = Convert.ToByte(CRC_Result >> 24);
            SendCmdTmp[DataLength + 9] = Convert.ToByte((CRC_Result >> 16) % 256);
            SendCmdTmp[DataLength + 10] = Convert.ToByte((CRC_Result >> 8) % 256);
            SendCmdTmp[DataLength + 11] = Convert.ToByte(CRC_Result % 256);
            //帧尾
            SendCmdTmp[DataLength + 12] = 0xF0;

            //发送数据
            portsettings_form.serialPort1.Write(SendCmdTmp, 0, SendCmdTmp.Length);
        }
        #endregion

        #region 串口数据解析   
        private void Serial_DataReceived_Process()
        {
            //串口解析
            byte DataNum = 0;   //记录每条命令数据段的长度
            while (buffer.Count >= 13)//当buffer中的数据的个数大于等于4个时，即每一帧的数据长度所在位（第4位）出现时
            {
                if (buffer[0] == 0x55 && buffer[1] == 0xAA)//判断帧头
                {
                    ushort PackageID;
                    PackageID = (ushort)(buffer[2] * 256 + buffer[3]);
                    if ((PackageID == 0x0710) || (PackageID == 0x0715) || (PackageID == 0x0610) || (PackageID == 0x0615) || (PackageID == 0x07FF))
                    {
                        int CmdLen = buffer[5];
                        if (buffer.Count < CmdLen + 11) break;//如果接收到的数据没有达到一帧数据的指定长度， 则执行下次循环

                        buffer.RemoveRange(0, 6);//数据达到要求长度后删去帧头，ID，模式，和命令长度
                        DataNum = (byte)(buffer[1]);//命令字的第二个字节的表示数据位的长度
                        if (DataNum == (CmdLen - 2))
                        {
                            for (int i = 0; i < DataNum + 2; i++)
                            {
                                binary_data_1[i] = buffer[i];
                            }
                            if (TestStep == TestStep_Enum.Step_Save)
                            {
                                //数据存储
                                var RecData = new byte[CmdLen];
                                Array.Copy(binary_data_1, RecData, CmdLen);
                                DataSave(RecData);
                            }
                            DataCmdProcess(PackageID);//对于不同的命令段，做不同的处理                          
                        }
                        buffer.RemoveRange(0, CmdLen + 5);//解析完成
                    }
                    else
                    {
                        buffer.RemoveAt(0);//ID不对
                    }
                }
                else
                {
                    buffer.RemoveAt(0);//帧头不对，删除帧头高字节
                }
            }
        }

        #endregion

        #region 数据存储
        private void DataSave(byte[] Data)
        {
            string SaveData = "";
            //数据存储
            for (int i = 0; i < Data.Length; i++)
            {
                SaveData += Convert.ToString(Data[i], 16).PadLeft(2, '0').ToUpper() + " ";
            }
            SaveData += "\r\n";
            System.IO.File.AppendAllText(LogSaveFileName, SaveData);
        }
        #endregion

        List<string> ErrorInfo = new List<string>{ "过流保护", "低压保护", "过压保护", "堵转保护","过热保护","速度传感器故障","力矩传感器故障","霍尔故障",
        "马达缺相","NTC故障","","","","MCU故障","踏频传感器故障","指拨故障","MOS短路","电压异常","电路故障","TE故障","TE电路故障","","","","","","","","","",
        "",""};
        private void ErrorInfoDisplay(UInt32 Code)
        {
            label_ErrorInfo.Text = "";
            if (Code == 0)
            {
                label_ErrorInfo.Text = "无故障";
                label_ErrorInfo.ForeColor = Color.Green;
            }
            else
            {
                label_ErrorInfo.ForeColor = Color.Red;
                for (int i = 0; i < 32; i++)
                {
                    if ((Code & 0x01) == 0x01)
                    {
                        label_ErrorInfo.Text += ErrorInfo[i] + " ";
                    }
                    Code >>= 1;
                }                
            }
        }

        #region 数据解析处理
        private void DataCmdProcess(ushort ID)
        {
            ushort CmdTemp = (ushort)(binary_data_1[0] * 256 + binary_data_1[1]);
            ushort DataTemp;

            #region 主控信息
            if ((ID == 0x715) || (ID == 0x710))
            {
                switch (CmdTemp)
                {
                    case 0x1020://电机运行信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    MC_RunInfo_Refresh = true;
                                    //车速
                                    DataTemp = (ushort)(binary_data_1[3] * 256 + binary_data_1[2]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if (DataTemp > 250)
                                        {
                                            label_sensor_speed.BackColor = Color.Green;
                                            label_sensor_speed.Text = "OK";
                                        }
                                    }
                                    textBox_BikeSpeed.Text = ((float)DataTemp / 10f).ToString("0.0");

                                    //输出转速
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        DataTemp = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                        if ((DataTemp > (MotorRadeSpeed - 200)) && (DataTemp < (MotorRadeSpeed + 200)))
                                        {
                                            label_sensor_motor.BackColor = Color.Green;
                                            label_sensor_motor.Text = "OK";
                                        }
                                    }   
                                    textBox_MotorSpeed.Text = Convert.ToString(DataTemp);
                                    
                                    //母线电压
                                    DataTemp = (ushort)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if ((DataTemp > (RateVoltage - 1000)) && (DataTemp < (RateVoltage + 1000)))
                                        {
                                            label_sensor_vol.BackColor = Color.Green;
                                            label_sensor_vol.Text = "OK";
                                        }
                                    }
                                    textBox_Vol.Text = Convert.ToString(DataTemp);

                                    //母线电流
                                    DataTemp = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if (DataTemp > No_load_Current)
                                        {
                                            label_sensor_cur.BackColor = Color.Green;
                                            label_sensor_cur.Text = "OK";
                                        }
                                    } 
                                    textBox_Cur.Text = Convert.ToString(DataTemp);

                                    //踏频
                                    DataTemp = (ushort)(binary_data_1[12]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if ((DataTemp > (RateCadence - 20)) && (DataTemp < (RateCadence + 20)))
                                        {
                                            label_sensor_cadence.BackColor = Color.Green;
                                            label_sensor_cadence.Text = "OK";
                                        }
                                    }   
                                    textBox_Cadence.Text = Convert.ToString(DataTemp);

                                    //踩踏力矩
                                    DataTemp = (ushort)(binary_data_1[13]);
                                    textBox_Torque.Text = Convert.ToString(DataTemp);

                                    //踩踏方向
                                    DataTemp = (ushort)(binary_data_1[14]);
                                    if (DataTemp == 0)
                                    {
                                        textBox_Dir.Text = "正向";
                                    }
                                    else if (DataTemp == 1)
                                    {
                                        textBox_Dir.Text = "反向";
                                    }
                                    else if (DataTemp == 2)
                                    {
                                        textBox_Dir.Text = "停止";
                                    }
                                    //PCB温度
                                    DataTemp = (ushort)(binary_data_1[23]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if (DataTemp > 45)
                                        {
                                            label_sensor_PCB_temp.BackColor = Color.Green;
                                            label_sensor_PCB_temp.Text = "OK";
                                        }
                                    }  
                                    textBox_PCB.Text = Convert.ToString((int)(DataTemp - 40));

                                    //绕组温度
                                    DataTemp = (ushort)(binary_data_1[24]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if (DataTemp > 45)
                                        {
                                            label_sensor_coil_temp.BackColor = Color.Green;
                                            label_sensor_coil_temp.Text = "OK";
                                        }
                                    }   
                                    textBox_Coil.Text = Convert.ToString((int)(DataTemp - 40));

                                    //MCU温度
                                    DataTemp = (ushort)(binary_data_1[25]);
                                    if (TestStep == TestStep_Enum.Step_Walk)
                                    {
                                        if (DataTemp > 45)
                                        {
                                            label_sensor_MCU_temp.BackColor = Color.Green;
                                            label_sensor_MCU_temp.Text = "OK";
                                        }
                                    }
                                    textBox_MCU.Text = Convert.ToString((int)(DataTemp - 40));
                                }));
                            }
                            break;
                        }
                    case 0x1104://故障码
                        {
                            unchecked
                            {
                                _ = this.Invoke((EventHandler)(delegate
                                  {
                                      MC_ErrorCode_Refresh = true;
                                      label_error_code.Text =
                                          Convert.ToString(binary_data_1[5], 16).PadLeft(2, '0').ToUpper() +
                                          Convert.ToString(binary_data_1[4], 16).PadLeft(2, '0').ToUpper() +
                                          Convert.ToString(binary_data_1[3], 16).PadLeft(2, '0').ToUpper() +
                                          Convert.ToString(binary_data_1[2], 16).PadLeft(2, '0').ToUpper() +
                                          "H";
                                      label_error_code.BackColor = Color.Red;
                                      UInt32 ErrorCode = (UInt32)((binary_data_1[5] << 24) + (binary_data_1[4] << 16) + (binary_data_1[3] << 8) + binary_data_1[2]);
                                      ErrorInfoDisplay(ErrorCode);
                                      
                                  }));
                            }
                            break;
                        }

                    case 0x1240://电机版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_Ver.Text = "";
                                     //电机型号
                                    richTextBox_Ver.Text += "型号：";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[2 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_Ver.Text += "\r\n";

                                    //电机SN
                                    richTextBox_Ver.Text += "序列号：";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[18 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[18 + i]).ToString();
                                    }
                                    richTextBox_Ver.Text += "\r\n";

                                    //电机HW
                                    richTextBox_Ver.Text += "硬件版本：";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[34 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[34 + i] == 'r')
                                        {
                                            binary_data_1[34 + i] = (byte)'.';
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[34 + i]).ToString();
                                    }
                                    richTextBox_Ver.Text += "\r\n";

                                    //电机FW
                                    richTextBox_Ver.Text += "软件版本：";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[50 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[50 + i] == 'r')
                                        {
                                            binary_data_1[50 + i] = (byte)'.';
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                    richTextBox_Ver.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0x1720://电机程序特性信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //程序特性
                                    for (ushort i = 0; i < 32; i++)
                                    {
                                        if (binary_data_1[2 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_Ver.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA903://反馈指令
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    Ack_Flag = true;
                                    switch (TestStep)
                                    {
                                        case TestStep_Enum.Step_SysClear:
                                            timer1.Enabled = false;
                                            MessageBox.Show("清除成功！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                            timer1.Enabled = true;
                                            //结果显示
                                            label_Sta_Clear.Text = "OK";
                                            label_Sta_Clear.BackColor = Color.Green;
                                            //产品信息输入框使能
                                            textBox_PDinfo.Enabled = true;
                                            //使能参数写入按钮
                                            button_Write.Enabled = true;
                                            break;
                                        case TestStep_Enum.Step_Write:
                                            WriteAckCount++;
                                            if (WriteAckCount >= WriteCmdNum) //一共会发送WriteCmdNum条写入指令
                                            {
                                                timer1.Enabled = false;
                                                MessageBox.Show("写入成功！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                                                timer1.Enabled = true;
                                                button_Write.Enabled = true;
                                                button_Write.Text = "电机参数写入";
                                                Write_Flag = false;
                                                //结果显示
                                                label_Sta_Write.Text = "OK";
                                                label_Sta_Write.BackColor = Color.Green;
                                                //使能开灯测试按钮
                                                button_LightCtl.Enabled = true;
                                            }
                                            break;
                                        case TestStep_Enum.Step_Light:
                                            break;
                                        case TestStep_Enum.Step_Walk:
                                            break;
                                        case TestStep_Enum.Step_CheckVer:
                                            break;
                                        case TestStep_Enum.Step_Save:
                                            break;
                                    }
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion
            else if ((ID == 0x615) || (ID == 0x610))
            {
                switch (CmdTemp)
                {
                    case 0x1240://TE APP版本信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //TE 软件版本
                                    richTextBox_Ver.Text += "TE软件版本：";
                                    for (ushort i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[50 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[50 + i] == 'r')
                                        {
                                            binary_data_1[50 + i] = (byte)'.';
                                        }
                                        richTextBox_Ver.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
        }
        #endregion

        private void timer1_Tick(object sender, EventArgs e)
        {
            //串口数据解析
            Serial_DataReceived_Process();

            //MC故障信息超时清除
            if (MC_ErrorCode_Refresh == false)
            {
                MC_ErrorCode_Refresh_Cnt++;
                if (MC_ErrorCode_Refresh_Cnt > 50)
                {
                    label_error_code.Text = "OK";
                    label_error_code.BackColor = Color.Green;
                    label_ErrorInfo.Text = "无故障";
                    label_ErrorInfo.ForeColor = Color.Green;
                    MC_ErrorCode_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_ErrorCode_Refresh_Cnt = 0;
            }
            MC_ErrorCode_Refresh = false;

            //MC_RunInfo超时清除
            if (MC_RunInfo_Refresh == false)
            {
                MC_RunInfo_Refresh_Cnt++;
                if (MC_RunInfo_Refresh_Cnt > 50)
                {
                    MC_RunInfo_Clear();
                    MC_RunInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_RunInfo_Refresh_Cnt = 0;
            }
            MC_RunInfo_Refresh = false;

            //系统清除等待
            if (Ack_Flag == false)
            {
                Ack_Cnt++;
                if (Ack_Cnt > 100)
                {
                    Ack_Flag = true;
                    MessageBox.Show("指令操作失败！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    switch (TestStep)
                    {
                        case TestStep_Enum.Step_SysClear:
                            label_Sta_Clear.Text = "NG";
                            label_Sta_Clear.BackColor = Color.Red;
                            break;
                        case TestStep_Enum.Step_Write:
                            label_Sta_Write.Text = "NG";
                            label_Sta_Write.BackColor = Color.Red;
                            break;
                        case TestStep_Enum.Step_Light:
                            break;
                        case TestStep_Enum.Step_Walk:
                            break;
                        case TestStep_Enum.Step_CheckVer:
                            break;
                        case TestStep_Enum.Step_Save:
                            break;
                    }
                }
            }

            //参数写入超时判断
            if (Write_Flag == true)
            {
                Write_DelayTimeCnt++;
                if (Write_DelayTimeCnt > 500)
                {
                    button_Write.Enabled = true;
                    button_Write.Text = "电机参数写入";
                    Write_Flag = false;
                    label_Sta_Write.BackColor = Color.Red;
                    label_Sta_Write.Text = "NG";
                }
            }

        }

        //电机运行信息清除
        private void MC_RunInfo_Clear()
        {
            foreach (Control c in groupBox9.Controls)
            {
                if (c is TextBox)
                {
                    c.Text = "---";
                }
            }
        }

        //系统清除按钮
        private void button_Clear_Click(object sender, EventArgs e)
        {
            var Code = new byte[5];

            Code[0] = (byte)'C';
            Code[1] = (byte)'L';
            Code[2] = (byte)'E';
            Code[3] = (byte)'A';
            Code[4] = (byte)'R';

            timer1.Enabled = false;
            if (MessageBox.Show("系统清除后将无法恢复", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                if (MessageBox.Show("请再次确认", "确认清除?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
                {
                    SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                    Ack_Flag = false;
                    Ack_Cnt = 0;
                    TestStep = TestStep_Enum.Step_SysClear;
                    label_Sta_Clear.Text = "Ing";
                    label_Sta_Clear.BackColor = Color.Yellow;
                }
            }
            timer1.Enabled = true;
        }

        //一键写入配置信息
        private void button_Write_Click(object sender, EventArgs e)
        {
            //导入配置文件
            if (comboBox_File.Items.Count == 0) //配置文件目录为空
            {
                MessageBox.Show("无可用配置文件！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }
            if (comboBox_File.Text.Trim().Length == 0)//未选择配置文件
            {
                MessageBox.Show("请选择配置文件！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }

            //打开选中文件
            string SelectFile = comboBox_File.SelectedItem.ToString();
            StreamReader objReader = new StreamReader(CfgFilePath + "\\" + SelectFile);
            string sLine = "";
            ArrayList arrText = new ArrayList();//创建一个动态数组
            while (sLine != null)
            {
                sLine = objReader.ReadLine();
                arrText.Add(sLine);
            }
            objReader.Close();

            //读取电机型号和序列号
            if (textBox_PDinfo.Text.Contains("%#") == false)
            {
                MessageBox.Show("请输入正确的打标信息！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }

            button_Write.Enabled = false;
            button_Write.Text = "写入中";

            //反馈指令计数清零
            WriteAckCount = 0;
            Ack_Flag = false;
            Ack_Cnt = 0;
            Write_Flag = true;
            Write_DelayTimeCnt = 0;
            TestStep = TestStep_Enum.Step_Write;
            label_Sta_Write.Text = "Ing";
            label_Sta_Write.BackColor = Color.Yellow;

            //写入电机型号
            string Mode = textBox_PDinfo.Text.Split(new char[2] { '%', '#' })[0];
            var ModeArray = new byte[16];
            for (ushort i = 0; i < ((Mode.Length > 16) ? 16 : Mode.Length); i++)
            {
                ModeArray[i] = (byte)Mode[i];
            }
            if (Mode.Length < 16)
            {
                ModeArray[Mode.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - Mode.Length - 1; i++)
                {
                    ModeArray[Mode.Length + 1 + i] = 0x20;
                }
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2210, ModeArray);
            Thread.Sleep(200);

            //写入电机序列号
            string SN = textBox_PDinfo.Text.Split('#')[1];
            var SNArray = new byte[16];
            for (ushort i = 0; i < ((SN.Length > 16) ? 16 : SN.Length); i++)
            {
                SNArray[i] = (byte)SN[i];
            }
            if (SN.Length < 16)
            {
                SNArray[SN.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - SN.Length - 1; i++)
                {
                    SNArray[SN.Length + 1 + i] = 0x20;
                }
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2310, SNArray);
            Thread.Sleep(200);

            //写入用户参数1
            var ConfigParam = new byte[32];
            ushort DataTemp;
            //指拨模式
            ConfigParam[0] = Convert.ToByte(arrText[25].ToString().Split(',')[1]);
            //启动模式
            ConfigParam[1] = Convert.ToByte(arrText[1].ToString().Split(',')[1]);
            //停机时间
            DataTemp = Convert.ToUInt16(arrText[2].ToString().Split(',')[1]);
            ConfigParam[2] = (byte)(DataTemp & 0xFF);
            ConfigParam[3] = (byte)(DataTemp >> 8);
            //限速
            ConfigParam[4] = Convert.ToByte(arrText[3].ToString().Split(',')[1]);
            //下降速度
            ConfigParam[5] = Convert.ToByte(arrText[4].ToString().Split(',')[1]);
            //前飞
            ConfigParam[6] = Convert.ToByte(arrText[5].ToString().Split(',')[1]);
            //后飞
            ConfigParam[7] = Convert.ToByte(arrText[6].ToString().Split(',')[1]);
            //限流
            ConfigParam[8] = Convert.ToByte(arrText[7].ToString().Split(',')[1]);
            //温度预警
            ConfigParam[9] = (byte)(Convert.ToByte(arrText[8].ToString().Split(',')[1]) + 40);
            //温度保护
            ConfigParam[10] = (byte)(Convert.ToByte(arrText[9].ToString().Split(',')[1]) + 40);
            //无PBU
            ConfigParam[11] = Convert.ToByte(arrText[10].ToString().Split(',')[1]);
            //轮胎周长
            ConfigParam[12] = Convert.ToByte(arrText[11].ToString().Split(',')[1]);
            //电机系列号
            ConfigParam[13] = Convert.ToByte(arrText[12].ToString().Split(',')[1]);
            //ECO助力增益
            ConfigParam[14] = Convert.ToByte(arrText[13].ToString().Split(',')[1]);
            //ECO加速
            ConfigParam[15] = Convert.ToByte(arrText[14].ToString().Split(',')[1]);
            //NORM助力增益
            ConfigParam[16] = Convert.ToByte(arrText[15].ToString().Split(',')[1]);
            //NORM加速
            ConfigParam[17] = Convert.ToByte(arrText[16].ToString().Split(',')[1]);
            //SPORT助力增益
            ConfigParam[18] = Convert.ToByte(arrText[17].ToString().Split(',')[1]);
            //SPORT加速
            ConfigParam[19] = Convert.ToByte(arrText[18].ToString().Split(',')[1]);
            //TURBO助力增益
            ConfigParam[20] = Convert.ToByte(arrText[19].ToString().Split(',')[1]);
            //TURBO加速
            ConfigParam[21] = Convert.ToByte(arrText[20].ToString().Split(',')[1]);
            //SMART助力增益
            ConfigParam[22] = Convert.ToByte(arrText[21].ToString().Split(',')[1]);
            //SMART加速
            ConfigParam[23] = Convert.ToByte(arrText[22].ToString().Split(',')[1]);
            //速度传感器信号个数
            ConfigParam[24] = Convert.ToByte(arrText[23].ToString().Split(',')[1]);
            //踏频启动信号个数
            ConfigParam[25] = Convert.ToByte(arrText[24].ToString().Split(',')[1]);
            //速度传感器
            ConfigParam[26] = Convert.ToByte(arrText[26].ToString().Split(',')[1]);
            //周长微调
            ConfigParam[27] = (byte)Convert.ToInt16(arrText[27].ToString().Split(',')[1]);
            //低压保护阈值
            DataTemp = Convert.ToUInt16(arrText[28].ToString().Split(',')[1]);
            ConfigParam[28] = (byte)(DataTemp & 0xFF);
            ConfigParam[29] = (byte)(DataTemp >> 8);
            //推行限速
            DataTemp = Convert.ToByte(arrText[29].ToString().Split(',')[1]);
            ConfigParam[30] = (byte)Convert.ToByte(DataTemp);
            //推行马达转速
            ConfigParam[31] = (byte)Convert.ToByte(arrText[30].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1B20, ConfigParam);
            Thread.Sleep(200);

            //写入用户参数2
            var ConfigParam_Ext = new byte[32];
            short DataTemp_Int16;
            //俯仰角零偏
            DataTemp_Int16 = (short)(decimal.Parse(arrText[34].ToString().Split(',')[1]) * 10);
            ConfigParam_Ext[0] = (byte)(DataTemp_Int16 & 0xFF);
            ConfigParam_Ext[1] = (byte)(DataTemp_Int16 >> 8);
            //横滚角零偏
            DataTemp_Int16 = (short)(decimal.Parse(arrText[35].ToString().Split(',')[1]) * 10);
            ConfigParam_Ext[2] = (byte)(DataTemp_Int16 & 0xFF);
            ConfigParam_Ext[3] = (byte)(DataTemp_Int16 >> 8);
            //支持姿态传感器
            ConfigParam_Ext[4] = Convert.ToByte(arrText[33].ToString().Split(',')[1]);
            //尾灯模式
            ConfigParam_Ext[5] = Convert.ToByte(arrText[36].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3120, ConfigParam_Ext);
            Thread.Sleep(200);

            //写入马达参数
            //额定功率
            DataTemp = Convert.ToUInt16(arrText[39].ToString().Split(',')[1]);
            ConfigParam[0] = (byte)(DataTemp & 0xFF);
            ConfigParam[1] = (byte)(DataTemp >> 8);
            //额定转速
            DataTemp = Convert.ToUInt16(arrText[40].ToString().Split(',')[1]);
            ConfigParam[2] = (byte)(DataTemp & 0xFF);
            ConfigParam[3] = (byte)(DataTemp >> 8);
            //定子电阻
            DataTemp = Convert.ToUInt16(arrText[41].ToString().Split(',')[1]);
            ConfigParam[4] = (byte)(DataTemp & 0xFF);
            ConfigParam[5] = (byte)(DataTemp >> 8);
            //Lq
            DataTemp = Convert.ToUInt16(arrText[42].ToString().Split(',')[1]);
            ConfigParam[6] = (byte)(DataTemp & 0xFF);
            ConfigParam[7] = (byte)(DataTemp >> 8);
            //Ld
            DataTemp = Convert.ToUInt16(arrText[43].ToString().Split(',')[1]);
            ConfigParam[8] = (byte)(DataTemp & 0xFF);
            ConfigParam[9] = (byte)(DataTemp >> 8);
            //反电动势
            DataTemp = Convert.ToUInt16(arrText[44].ToString().Split(',')[1]);
            ConfigParam[10] = (byte)(DataTemp & 0xFF);
            ConfigParam[11] = (byte)(DataTemp >> 8);
            //额定电压
            ConfigParam[12] = Convert.ToByte(arrText[45].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1D10, ConfigParam);
            Thread.Sleep(200);

            //更新推行模式测试判断标准
            MotorRadeSpeed = Convert.ToUInt16(arrText[40].ToString().Split(',')[1]);
            RateCadence = (ushort)(MotorRadeSpeed / 11U);
            RateVoltage = (ushort)(Convert.ToByte(arrText[45].ToString().Split(',')[1]) * 1000);


            //写入生产信息
            var MAC_InfoArray = new byte[32];
            string MAC_Info = arrText[48].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                MAC_InfoArray[i] = (byte)MAC_Info[i];
            }
            MAC_Info = arrText[49].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                MAC_InfoArray[8 + i] = (byte)MAC_Info[i];
            }
            MAC_Info = arrText[50].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                MAC_InfoArray[16 + i] = (byte)MAC_Info[i];
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2420, MAC_InfoArray);
            Thread.Sleep(200);

            //写入校验密钥
            var KeyArray = new byte[8];
            if (arrText[51].ToString().EndsWith(",") == false)
            {
                string KeyString = arrText[51].ToString().Split(',')[1];
                for (ushort i = 0; i < ((KeyString.Length > 8) ? 8 : KeyString.Length); i++)
                {
                    KeyArray[i] = (byte)KeyString[i];
                }
            }
            else
            {
                KeyArray.Initialize();
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1108, KeyArray);
            Thread.Sleep(200);

            //写入自定义信息1
            var UserInfo1Array = new byte[16];
            if (arrText[52].ToString().EndsWith(",") == false)
            {
                string UserInfo1String = arrText[52].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo1String.Length > 16 ? 16 : UserInfo1String.Length); i++)
                {
                    UserInfo1Array[i] = (byte)UserInfo1String[i];
                }
            }
            else
            {
                UserInfo1Array.Initialize();
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1410, UserInfo1Array);
            Thread.Sleep(200);

            //写入自定义信息2
            var UserInfo2Array = new byte[16];
            if (arrText[53].ToString().EndsWith(",") == false)
            {
                string UserInfo2String = arrText[53].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo2String.Length > 16 ? 16 : UserInfo2String.Length); i++)
                {
                    UserInfo2Array[i] = (byte)UserInfo2String[i];
                }
            }
            else
            {
                UserInfo2Array.Initialize();
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1610, UserInfo2Array);
            Thread.Sleep(200);

            //写入自定义信息3
            var UserInfo3Array = new byte[16];
            if (arrText[54].ToString().EndsWith(",") == false)
            {
                string UserInfo3String = arrText[54].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo3String.Length > 16 ? 16 : UserInfo3String.Length); i++)
                {
                    UserInfo3Array[i] = (byte)UserInfo3String[i];
                }
            }
            else
            {
                UserInfo3Array.Initialize();
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1810, UserInfo3Array);
            Thread.Sleep(200);
        }

        private void ImportForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            portsettings_form.serialPort1.Close();
            portsettings_form.comboBox_ComIndex.Enabled = true;
            portsettings_form.button_ComOpen.Text = "连接";
            portsettings_form.g_blnIsOpen = false;
        }

        private void button_LightCtl_Click(object sender, EventArgs e)
        {
            var CtrlCode = new byte[2];
            CtrlCode[0] = 0x00;
            if (button_LightCtl.Text == "开灯")
            {
                button_LightCtl.Text = "关灯";
                CtrlCode[1] = 0xF1;
                label_sta_light.BackColor = Color.Yellow;
                label_sta_light.Text = "Ing";
                radioButton_Light_OK.Enabled = true;
                radioButton_Light_NG.Enabled = true;
            }
            else
            {
                button_LightCtl.Text = "开灯";
                CtrlCode[1] = 0xF0;
                radioButton_Light_OK.Enabled = false;
                radioButton_Light_NG.Enabled = false;
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
            TestStep = TestStep_Enum.Step_Light;

        }

        private void radioButton_Light_OK_Click(object sender, EventArgs e)
        {
            label_sta_light.BackColor = Color.Green;
            label_sta_light.Text = "OK";
            //使能推行测试按钮
            button_Walk.Enabled = true;
        }

        private void radioButton_Light_NG_Click(object sender, EventArgs e)
        {
            label_sta_light.BackColor = Color.Red;
            label_sta_light.Text = "NG";
            //使能推行测试按钮
            button_Walk.Enabled = true;
        }

        private void button_Walk_Click(object sender, EventArgs e)
        {
            var Code = new byte[2];
            if (button_Walk.Text == "启动")
            {
                button_Walk.Text = "停止";
                //发送指令使电机进入配置模式
                Code[0] = 0x01;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
                Thread.Sleep(200);
                //发送指令进入推行模式
                Code[0] = 0x22;
                if (button_LightCtl.Text == "关灯")
                    Code[1] = 0xF1;
                else
                    Code[1] = 0xF0;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);

                label_sensor_vol.BackColor = Color.Red;
                label_sensor_vol.Text = "NG";
                label_sensor_cur.BackColor = Color.Red;
                label_sensor_cur.Text = "NG";
                label_sensor_speed.BackColor = Color.Red;
                label_sensor_speed.Text = "NG";
                label_sensor_cadence.BackColor = Color.Red;
                label_sensor_cadence.Text = "NG";
                label_sensor_motor.BackColor = Color.Red;
                label_sensor_motor.Text = "NG";
                label_sensor_PCB_temp.BackColor = Color.Red;
                label_sensor_PCB_temp.Text = "NG";
                label_sensor_coil_temp.BackColor = Color.Red;
                label_sensor_coil_temp.Text = "NG";
                label_sensor_MCU_temp.BackColor = Color.Red;
                label_sensor_MCU_temp.Text = "NG";

                TestStep = TestStep_Enum.Step_Walk;
            }
            else
            {
                button_Walk.Text = "启动";               
                //发送指令退出推行模式
                Code[0] = 0x00;
                if (button_LightCtl.Text == "关灯")
                    Code[1] = 0xF1;
                else
                    Code[1] = 0xF0;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
                Thread.Sleep(200);

                //发送指令使电机退出配置模式
                Code[0] = 0x00;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);

                button_Check_Ver.Enabled = true;
                TestStep = TestStep_Enum.Step_CheckVer;
            }


        }

        private void button_Check_Ver_Click(object sender, EventArgs e)
        {
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Thread.Sleep(200);
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);

            richTextBox_Ver.Text = "";

            button_Fnish.Enabled = true;
        }

        private void button_Fnish_Click(object sender, EventArgs e)
        {
            button_Fnish.Text = "存储中";
            button_Fnish.Enabled = false;
            TestStep = TestStep_Enum.Step_Save;

            //页面存储
            Bitmap bit = new Bitmap(this.Width, this.Height);//实例化一个和窗体一样大的bitmap
            Graphics g = Graphics.FromImage(bit);
            g.CopyFromScreen(this.Left, this.Top, 0, 0, new Size(this.Width, this.Height));//保存整个窗体为图片  
            LogSaveFileName = System.IO.Directory.GetCurrentDirectory() + "\\log\\";
            LogSaveFileName += textBox_PDinfo.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_测试记录" + ".png";
            bit.Save(LogSaveFileName);//默认保存格式为PNG，保存成jpg格式质量不是很好

            //一键导出数据
            //设置保存路径
            LogSaveFileName = System.IO.Directory.GetCurrentDirectory() + "\\log\\";
            LogSaveFileName += textBox_PDinfo.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_") + "_ParamsLog" + ".ttlog";

            //开始发送指令
            byte[] SendData = new byte[32];

            //查询校验密钥
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1000, null);
            Thread.Sleep(200);

            //查询版本信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Thread.Sleep(200);

            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
            Thread.Sleep(200);

            //查询用户字符串1
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null);
            Thread.Sleep(200);

            //查询用户字符串2
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null);
            Thread.Sleep(200);

            //查询用户字符串3
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null);
            Thread.Sleep(200);

            //查询用户参数1
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1A00, null);
            Thread.Sleep(200);

            //查询马达参数
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1C00, null);
            Thread.Sleep(200);

            //查询历史信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
            Thread.Sleep(200);

            //查询生产信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null);
            Thread.Sleep(200);

            //查询力矩传感器零点 Volans
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2000, null);
            Thread.Sleep(200);

            //查询运行信息
            SendData[0] = 0x00;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            SendData[0] = 0x01;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            SendData[0] = 0x02;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            SendData[0] = 0x03;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            SendData[0] = 0x04;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            SendData[0] = 0x33;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Thread.Sleep(200);

            //查询力矩传感器校正信息 Volans
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2900, null);
            Thread.Sleep(200);

            //导出故障日志
            UInt32 Address_Begin;
            UInt32 Addres_End;
            Address_Begin = 0x0801F800;
            Addres_End = 0x0801FBFF;

            UInt32 ReadCount = 0;
            ReadCount = (Addres_End - Address_Begin + 1) / 128;
            for (ushort i = 0; i < ReadCount; i++)
            {
                var SendByte = new byte[8];
                UInt32 Address_Temp_Begin;
                UInt32 Address_Temp_End;
                Address_Temp_Begin = Address_Begin + 128 * (UInt32)i;
                SendByte[0] = (byte)(Address_Temp_Begin >> 24);
                SendByte[1] = (byte)(Address_Temp_Begin >> 16);
                SendByte[2] = (byte)(Address_Temp_Begin >> 8);
                SendByte[3] = (byte)(Address_Temp_Begin);
                Address_Temp_End = Address_Temp_Begin + 127;
                SendByte[4] = (byte)(Address_Temp_End >> 24);
                SendByte[5] = (byte)(Address_Temp_End >> 16);
                SendByte[6] = (byte)(Address_Temp_End >> 8);
                SendByte[7] = (byte)(Address_Temp_End);

                SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2D08, SendByte);
                Thread.Sleep(200);
            }

            //查询骑行信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null);
            Thread.Sleep(200);

            //查询用户参数2
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3000, null);
            Thread.Sleep(200);

            //查询力矩传感器零点值 Pegasi
            SendData[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Thread.Sleep(200);

            SendData[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Thread.Sleep(200);

            SendData[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Thread.Sleep(200);

            //查询校正系数 Pegasi
            SendData[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Thread.Sleep(200);

            SendData[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Thread.Sleep(200);

            SendData[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Thread.Sleep(200);

            //查询启动值 Pegasi
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3500, null);
            Thread.Sleep(200);

            timer1.Enabled = false;
            MessageBox.Show("已保存！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
            timer1.Enabled = true;

            button_Fnish.Text = "保存";

            button_Clear.Enabled = false;
            textBox_PDinfo.Enabled = false;
            button_Write.Enabled = false;
            button_LightCtl.Enabled = false;
            button_Walk.Enabled = false;
            button_Check_Ver.Enabled = false;
            radioButton_Light_NG.Enabled = false;
            radioButton_Light_OK.Enabled = false;
        }

        private void button_Start_Click(object sender, EventArgs e)
        {
            button_Clear.Enabled = true;
            //所有按钮和标签初始化

            radioButton_Light_OK.Checked = false;
            radioButton_Light_NG.Checked = true;

            label_error_code.BackColor = Color.Green;
            label_error_code.Text = "OK";
            label_Sta_Clear.BackColor = Color.Red;
            label_Sta_Clear.Text = "NG";
            label_Sta_Write.BackColor = Color.Red;
            label_Sta_Write.Text = "NG";
            label_sta_light.BackColor = Color.Red;
            label_sta_light.Text = "NG";

            label_sensor_vol.BackColor = Color.Red;
            label_sensor_vol.Text = "NG";
            label_sensor_cur.BackColor = Color.Red;
            label_sensor_cur.Text = "NG";
            label_sensor_speed.BackColor = Color.Red;
            label_sensor_speed.Text = "NG";
            label_sensor_cadence.BackColor = Color.Red;
            label_sensor_cadence.Text = "NG";
            label_sensor_motor.BackColor = Color.Red;
            label_sensor_motor.Text = "NG";
            label_sensor_PCB_temp.BackColor = Color.Red;
            label_sensor_PCB_temp.Text = "NG";
            label_sensor_coil_temp.BackColor = Color.Red;
            label_sensor_coil_temp.Text = "NG";
            label_sensor_MCU_temp.BackColor = Color.Red;
            label_sensor_MCU_temp.Text = "NG";

            button_LightCtl.Text = "开灯";
            button_Walk.Text = "启动";

            richTextBox_Ver.Text = "";

            TestStep = TestStep_Enum.Step_Init;
        }

        private void timer2_Tick(object sender, EventArgs e)
        {
            label_SystemTime.Text = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");
        }

        private void 开ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            byte[] Data = new byte[1];

            if (portsettings_form.serialPort1.IsOpen)
            {
                //开机
                Data[0] = 0xF1;
                SendCmd(0x7FF, 0x16, 0x2201, Data);
                开ToolStripMenuItem.Checked = true;
                关ToolStripMenuItem.Checked = false;
            }
            else
            {
                MessageBox.Show("串口未连接");
                return;
            }

        }

        private void 关ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            byte[] Data = new byte[1];

            if (portsettings_form.serialPort1.IsOpen)
            {
                //关机
                Data[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Data);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
            }
            else
            {
                MessageBox.Show("串口未连接");
                return;
            }
        }

        private void button_CheckCfg_Click(object sender, EventArgs e)
        {
            if (button_CheckCfg.Text == "查看")
            {
                if (comboBox_File.Items.Count == 0) //配置文件目录为空
                {
                    MessageBox.Show("无可用配置文件！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    return;
                }
                if (comboBox_File.Text.Trim().Length == 0)//未选择配置文件
                {
                    MessageBox.Show("请选择配置文件！", "", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                    return;
                }

                richTextBox_Cfg.Visible = true;
                richTextBox_Cfg.Text = "";

                button_CheckCfg.Text = "隐藏";
                this.Size = new Size(this.Size.Width + 280, this.Size.Height);

                //显示文件
                string SelectFile = comboBox_File.SelectedItem.ToString();
                StreamReader objReader = new StreamReader(CfgFilePath + "\\" + SelectFile);
                string sLine = "";
                ArrayList arrText = new ArrayList();//创建一个动态数组
                while (sLine != null)
                {
                    sLine = objReader.ReadLine();
                    arrText.Add(sLine);
                }
                objReader.Close();
                foreach (string sOutput in arrText)
                {
                    richTextBox_Cfg.Text += sOutput + "\r\n";
                }
            }
            else
            {
                richTextBox_Cfg.Visible = false;
                richTextBox_Cfg.Text = "";
                button_CheckCfg.Text = "查看";

                this.Size = new Size(this.Size.Width - 280, this.Size.Height);
            }
        }
    }
}