factory_test_tool/CheckForm.cs

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

namespace MOTINOVA_Motor_Factory_Set
{
    public partial class CheckForm : Form
    {
        #region 文件路径
        public string LocalCfgFilePath = "";
        public string LogSavePath = "";
        public string LogSaveFileName = "";
        #endregion

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

        #region 力矩传感器判断标准
        TorqueCheckParam TorqueCheck = new TorqueCheckParam();
        #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故障码超时计数
        bool MC_ErrorCode_Refresh = false;
        ushort MC_ErrorCode_Refresh_Cnt = 0;
        #endregion

        #region 配置文件信息
        ArrayList array_CfgInfo = new ArrayList();
        #endregion

        #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];
                            }
                            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 故障转换和显示
        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 string ErrorInfoDisplay(UInt32 Code)
        {
            string Result = "";
            if (Code == 0)
            {
                Result = "无故障";
            }
            else
            {
                for (int i = 0; i < 32; i++)
                {
                    if ((Code & 0x01) == 0x01)
                    {
                        Result += ErrorInfo[i] + " ";
                    }
                    Code >>= 1;
                }
            }
            return Result;
        }
        #endregion

        #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 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;
                                }));
                            }
                            break;
                        }

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

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

                                    //电机HW
                                    richTextBox_VerInfo.Text += "硬件版本：";
                                    for (ushort i = 0; i < 10; i++)//前10位是PCB版号，以'.'结束
                                    {
                                        if (binary_data_1[34 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[34 + i] == 'r')
                                        {
                                            binary_data_1[34 + i] = (byte)'.';
                                        }
                                        richTextBox_VerInfo.Text += ((char)binary_data_1[34 + i]).ToString();
                                    }
                                    switch (binary_data_1[34 + 10])//第10位代表MCU品牌
                                    {
                                        case (byte)'1':
                                            richTextBox_VerInfo.Text += " " + "ST" + " "; break;
                                        case (byte)'2':
                                            richTextBox_VerInfo.Text += " " + "APM" + " "; break;
                                        case (byte)'3':
                                            richTextBox_VerInfo.Text += " " + "HK" + " "; break;
                                        case (byte)'4':
                                            richTextBox_VerInfo.Text += " " + "GD" + " "; break;
                                        default:
                                            richTextBox_VerInfo.Text += " " + "NULL" + " "; break;
                                    }
                                    for (ushort i = 0; i < 4; i++)//后4位是MCU的ID校验码，用于识别板子的ID
                                    {
                                        richTextBox_VerInfo.Text += Convert.ToString(binary_data_1[46 + i], 16).PadLeft(2, '0').ToUpper();//MCU ID 的CRC32值
                                    }
                                    richTextBox_VerInfo.Text += "\r\n";

                                    //电机FW
                                    richTextBox_VerInfo.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_VerInfo.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                    richTextBox_VerInfo.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0x1720://电机程序特性信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    //程序特性
                                    richTextBox_VerInfo.Text += "软件属性：";
                                    for (ushort i = 0; i < 32; i++)
                                    {
                                        if (binary_data_1[2 + i] == 0x2E)
                                        {
                                            break;
                                        }
                                        if (binary_data_1[2 + i] == 'r')
                                        {
                                            binary_data_1[2 + i] = (byte)'.';
                                        }
                                        richTextBox_VerInfo.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_VerInfo.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA020://用户参数1
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "[用户参数1]" + "\r\n";
                                    richTextBox_ReadCfg.Text += "启动模式," + binary_data_1[3].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "停机时间," + ((ushort)(binary_data_1[5] * 256 + binary_data_1[4])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "限速值," + binary_data_1[6].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "下降速度," + binary_data_1[7].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "前飞," + binary_data_1[8].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "后飞," + binary_data_1[9].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "限流," + binary_data_1[10].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "温度预警," + (binary_data_1[11] - 40).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "温度保护," + (binary_data_1[12] - 40).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "码表," + binary_data_1[13].ToString()+",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[13] == 0x55) ? "有" : "无") + "\r\n";
                                    richTextBox_ReadCfg.Text += "轮胎周长," + binary_data_1[14].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "系列号," + binary_data_1[15].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "ECO增益," + binary_data_1[16].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "ECO加速," + binary_data_1[17].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "NORM增益," + binary_data_1[18].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "NORM加速," + binary_data_1[19].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "SPORT增益," + binary_data_1[20].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "SPORT加速," + binary_data_1[21].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "TURBO增益," + binary_data_1[22].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "TURBO加速," + binary_data_1[23].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "SMART增益," + binary_data_1[24].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "SMART加速," + binary_data_1[25].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "车速级数," + binary_data_1[26].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "踏频启动," + binary_data_1[27].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "指拨模式," + binary_data_1[2].ToString() + ",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[2] == 0x55) ? "不支持" : "支持") + "\r\n";
                                    richTextBox_ReadCfg.Text += "速度信号来源," + binary_data_1[28].ToString() + ",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[28] == 0x55) ? "传感器" :
                                                                (binary_data_1[28] == 0xAA) ? "踏频" :
                                                                (binary_data_1[28] == 0xEE) ? "通信" : "") + "\r\n";
                                    richTextBox_ReadCfg.Text += "周长微调," + ((int)binary_data_1[29]).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "低压保护," + ((ushort)(binary_data_1[31] * 256 + binary_data_1[30])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "推行限速," + binary_data_1[32].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "推行转速," + binary_data_1[33].ToString() + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA110://马达参数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "\r\n";
                                    richTextBox_ReadCfg.Text += "[马达参数]" + "\r\n";
                                    richTextBox_ReadCfg.Text += "额定功率," + ((ushort)(binary_data_1[3] * 256 + binary_data_1[2])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "额定转速," + ((ushort)(binary_data_1[5] * 256 + binary_data_1[4])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "定子电阻," + ((ushort)(binary_data_1[7] * 256 + binary_data_1[6])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "定子Lq," + ((ushort)(binary_data_1[9] * 256 + binary_data_1[8])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "定子Ld," + ((ushort)(binary_data_1[11] * 256 + binary_data_1[10])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "反电动势," + ((ushort)(binary_data_1[13] * 256 + binary_data_1[12])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "额定电压," + binary_data_1[14].ToString() + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA318://单传感器零点值
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_TQ.Text += "零点：";
                                    for (int i = 0; i < 12; i++)
                                    {
                                        richTextBox_TQ.Text += ((ushort)((binary_data_1[3 + 2 * i] << 8) + binary_data_1[2 + 2 * i])).ToString() + ", ";
                                    }
                                    richTextBox_TQ.Text = richTextBox_TQ.Text.Substring(0, richTextBox_TQ.Text.Length - 2) + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA408://校验秘钥
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "校验密钥,";
                                    for (int i = 0; i < 8; i++)
                                    {
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[2+i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA520://生产信息
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "\r\n";
                                    richTextBox_ReadCfg.Text += "[其它信息]" + "\r\n";
                                    richTextBox_ReadCfg.Text += "生产商,";
                                    for (int i = 0; i < 8; i++)
                                    {
                                        if (binary_data_1[2 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                    richTextBox_ReadCfg.Text += "生产地,";
                                    for (int i = 0; i < 8; i++)
                                    {
                                        if (binary_data_1[10 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[10 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                    richTextBox_ReadCfg.Text += "生产日期,";
                                    for (int i = 0; i < 8; i++)
                                    {
                                        if (binary_data_1[18 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[18 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA610://自定义1
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "信息1,";
                                    for (int i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[2 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA710://自定义2
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "信息2,";
                                    for (int i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[2 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA810://自定义3
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "信息3,";
                                    for (int i = 0; i < 16; i++)
                                    {
                                        if (binary_data_1[2 + i] == '.') break;
                                        richTextBox_ReadCfg.Text += ((char)binary_data_1[2 + i]).ToString();
                                    }
                                    richTextBox_ReadCfg.Text += "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xA903://写入反馈
                        {
                            
                            break;
                        }
                    case 0xAA04://单传感器校正值
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_TQ.Text += "校正系数：";
                                    richTextBox_TQ.Text += ((float)binary_data_1[4] / 100f).ToString("#0.00") + "\r\n";
                                    richTextBox_TQ.Text += "启动值：";
                                    richTextBox_TQ.Text += ((ushort)((binary_data_1[3] << 8) + binary_data_1[2])).ToString() + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xAD20://用户参数2
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_ReadCfg.Text += "\r\n";
                                    richTextBox_ReadCfg.Text += "[用户参数2]" + "\r\n";
                                    richTextBox_ReadCfg.Text+="姿态传感器," + binary_data_1[6].ToString() + ",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[6] == 0x55) ? "不支持" : "支持") + "\r\n";
                                    richTextBox_ReadCfg.Text += "俯仰角零偏," + ((ushort)(binary_data_1[3] * 256 + binary_data_1[2])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "横滚角零偏," + ((ushort)(binary_data_1[5] * 256 + binary_data_1[4])).ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "尾灯模式," + binary_data_1[7].ToString() + "\r\n";
                                    richTextBox_ReadCfg.Text += "前灯电压," + binary_data_1[8].ToString() + ",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[8] == 0xFF) ? "随电池" : (binary_data_1[8] == 0) ? "硬件配置" : (binary_data_1[8].ToString() + "V")) + "\r\n";
                                    richTextBox_ReadCfg.Text += "尾灯电压," + binary_data_1[9].ToString() + ",";
                                    richTextBox_ReadCfg.Text += ((binary_data_1[9] == 0xFF) ? "随电池" : (binary_data_1[9] == 0) ? "硬件配置" : (binary_data_1[9].ToString() + "V")) + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xAE1A://三传感器零点
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_TQ.Text += "传感器" + binary_data_1[2].ToString() + "零点：";
                                    for (int i = 0; i < 12; i++)
                                    {
                                        richTextBox_TQ.Text += ((ushort)((binary_data_1[4 + 2 * i] << 8) + binary_data_1[3 + 2 * i])).ToString() + ", ";
                                    }
                                    richTextBox_TQ.Text = richTextBox_TQ.Text.Substring(0, richTextBox_TQ.Text.Length - 2) + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xAF02://三传感器校正系数
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_TQ.Text += "传感器" + binary_data_1[2].ToString() + "校正系数：";
                                    richTextBox_TQ.Text += ((float)binary_data_1[3] / 100f).ToString("#0.00") + "\r\n";
                                }));
                            }
                            break;
                        }
                    case 0xB002://三传感器启动值
                        {
                            unchecked
                            {
                                this.Invoke((EventHandler)(delegate
                                {
                                    richTextBox_TQ.Text += "启动值：";
                                    richTextBox_TQ.Text += ((ushort)((binary_data_1[3] << 8) + binary_data_1[2])).ToString() + "\r\n";
                                }));
                            }
                            break;
                        }

                    default: break;
                }
            }
            #endregion

            #region TE信息
            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_VerInfo.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_VerInfo.Text += ((char)binary_data_1[50 + i]).ToString();
                                    }
                                }));
                            }
                            break;
                        }
                    default: break;
                }
                #endregion

            }
        }
        #endregion

        #region 20ms定时器
        private void timer1_Tick(object sender, EventArgs e)
        {
            //串口数据解析
            Serial_DataReceived_Process();
        }
        #endregion

        #region 非独占性延时函数
        public static void Delay_ms(int milliSecond)
        {
            int start = Environment.TickCount;
            while (Math.Abs(Environment.TickCount - start) < milliSecond)//毫秒
            {
                Application.DoEvents();
            }
        }
        #endregion

        #region 获取配置文件日期
        private void GetDateList(bool DisAll)
        {
            string[] DateList = { "" };
            if (checkBox_LocalFile.Checked == true)//从本地更新日期列表
            {
                DateList = System.IO.Directory.GetDirectories(LocalCfgFilePath);
            }
            else//从服务器更新日期列表
            {
                DateList = StartForm.myFtp.GetDirectoryList(StartForm.myServerCfg.RootPath + "/cfg");
            }
            comboBox_cfgFileDate.Items.Clear();
            //日期列表加载
            if (DisAll == true)
            {
                comboBox_cfgFileDate.Items.Add("显示近期");
                comboBox_cfgFileDate.Items.Add("---");
                foreach (var file in DateList)
                    comboBox_cfgFileDate.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
            }
            else
            {
                if (DateList.Length > 10)
                {
                    comboBox_cfgFileDate.Items.Add("显示全部");
                    comboBox_cfgFileDate.Items.Add("---");
                }
                for (int i = (DateList.Length > 10) ? (DateList.Length - 10) : 0; i < DateList.Length; i++)//显示最近10个日期
                    comboBox_cfgFileDate.Items.Add(DateList[i].Substring(DateList[i].LastIndexOf("\\") + 1));
            }
        }
        #endregion

        #region 获取配置文件列表
        private void GetFileListFrom(string date)
        {
            string[] FileList = { "" };
            if (checkBox_LocalFile.Checked == true)//从本地更新文件列表
            {
                FileList = System.IO.Directory.GetFiles(LocalCfgFilePath + date);
            }
            else//从服务器更新文件列表
            {
                FileList = StartForm.myFtp.GetFileNameList(StartForm.myServerCfg.RootPath + "/cfg/" + date);
            }
            comboBox_File.Items.Clear();
            foreach (var file in FileList)
            {
                comboBox_File.Items.Add(file.Substring(file.LastIndexOf("\\") + 1));
            }
        }
        #endregion

        #region 选择文件日期后更新文件列表
        private void comboBox_cfgFileDate_SelectionChangeCommitted(object sender, EventArgs e)
        {
            if (comboBox_cfgFileDate.SelectedItem.ToString() == "显示全部")
            {
                GetDateList(true);
            }
            else if (comboBox_cfgFileDate.SelectedItem.ToString() == "显示近期")
            {
                GetDateList(false);
            }
            else
            {
                comboBox_File.Text = "";
                GetFileListFrom(comboBox_cfgFileDate.SelectedItem.ToString());
            }
        }
        #endregion

        #region 选择文件后加载文件
        private void comboBox_File_SelectionChangeCommitted(object sender, EventArgs e)
        {
            //清空原来数据
            array_CfgInfo.Clear();
            string SelectFile = "";
            if (checkBox_LocalFile.Checked == false)//从服务器下载文件
            {
                SelectFile = comboBox_cfgFileDate.SelectedItem.ToString() + "\\" + comboBox_File.SelectedItem.ToString();
                if (!File.Exists(LocalCfgFilePath + SelectFile))//检查本地是否存在选定文件
                {
                    SelectFile = comboBox_cfgFileDate.SelectedItem.ToString() + "/" + comboBox_File.SelectedItem.ToString();
                    StartForm.myFtp.DownloadFile(StartForm.myServerCfg.RootPath + "/cfg/" + SelectFile, LocalCfgFilePath + comboBox_cfgFileDate.SelectedItem.ToString());
                }
            }
            SelectFile = comboBox_cfgFileDate.SelectedItem.ToString() + "\\" + comboBox_File.SelectedItem.ToString();
            //打开选中文件
            StreamReader objReader = new StreamReader(LocalCfgFilePath + SelectFile);
            string sLine = "";
            while (sLine != null)
            {
                sLine = objReader.ReadLine();
                array_CfgInfo.Add(sLine);
            }
            objReader.Close();
            //解析显示配置文件
            richTextBox_CfgFile.Text = "";
            try
            {
                foreach (string sOutput in array_CfgInfo)
                {
                    if (sOutput.Contains("[测试阈值]"))
                    {
                        //删除最后一行，不显示后面内容
                        richTextBox_CfgFile.Text = richTextBox_CfgFile.Text.Remove(richTextBox_CfgFile.Text.Length - 1);
                        break;
                    }
                    richTextBox_CfgFile.AppendText(sOutput + "\r\n");
                }
            }
            catch (System.Exception)
            {
                return;
            }
            //加载力矩传感器判断标准
            TorqueCheck.CheckParam_Load(LocalCfgFilePath + SelectFile);
            textBox_TQ_Zero.Text = TorqueCheck.Zero_Min.ToString() + " - " + TorqueCheck.Zero_Max.ToString();
            textBox_TQ_K.Text = TorqueCheck.Cal_K_Min.ToString("#0.00") + " - " + TorqueCheck.Cal_K_Max.ToString("#0.00");
            textBox_TQ_Start.Text = TorqueCheck.Start_Min.ToString() + " - " + TorqueCheck.Start_Max.ToString(); 
        }
        #endregion

        #region 修改获取文件方式，本地或服务器
        private void checkBox_LocalFile_CheckedChanged(object sender, EventArgs e)
        {
            comboBox_cfgFileDate.Text = "";
            comboBox_File.Text = "";
            GetDateList(false);
        }
        #endregion


        public CheckForm()
        {
            InitializeComponent();
            System.Windows.Forms.Control.CheckForIllegalCrossThreadCalls = false;
        }

        #region 端口设置
        private void toolStripMenuIte_PortSet_Click(object sender, EventArgs e)
        {
            portsettings_form.Show();
        }
        #endregion

        #region 打开电源
        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;
            }
        }
        #endregion

        #region 关闭电源
        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;
            }
        }
        #endregion

        #region 1s定时器更新时间
        private void timer2_Tick(object sender, EventArgs e)
        {
            label_SystemTime.Text = DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss");

            //MC故障信息超时清除
            if (MC_ErrorCode_Refresh == false)
            {
                MC_ErrorCode_Refresh_Cnt++;
                if (MC_ErrorCode_Refresh_Cnt > 5)
                {
                    label_error_code.Text = "OK";
                    label_error_code.BackColor = Color.Green;
                    MC_ErrorCode_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_ErrorCode_Refresh_Cnt = 0;
            }
            MC_ErrorCode_Refresh = false;
        }
        #endregion

        #region 故障码标签鼠标滑过显示故障内容
        private void label_error_code_MouseHover(object sender, EventArgs e)
        {
            // 创建the ToolTip 
            ToolTip toolTip1 = new ToolTip();

            // 设置显示样式
            toolTip1.AutoPopDelay = 30000;//提示信息的可见时间
            toolTip1.InitialDelay = 50;//事件触发多久后出现提示
            toolTip1.ReshowDelay = 50;//指针从一个控件移向另一个控件时，经过多久才会显示下一个提示框
            toolTip1.ShowAlways = true;//是否显示提示框

            //  设置伴随的对象.
            string ErrorCode = this.label_error_code.Text;
            UInt32 Code = ErrorCode.Contains("H") ? Convert.ToUInt32(ErrorCode.Split('H')[0], 16) : 0;

            toolTip1.SetToolTip(this.label_error_code, ErrorInfoDisplay(Code));//设置故障内容显示
        }
        #endregion

        //创建线程执行一次测试任务
        /*
        执行流程如下：
        1、读取电机版本信息 -> 确认SN是否存在为0、确认版本和cfg文件是否一致；
        2、读取力矩传感器标定值 -> 依次判断零点、校正系数、启动值是否在允许范围内，判断零点值差异是否过大
        3、依次读取配置参数，严格按照cfg文件的顺序读取 -> 对比两个richbox内容是否一致
        4、显示测试结果
        5、存储测试结果，上传ftp服务器
        */
        private void Thread_Task()
        {
            //开始测试
            richTextBox_TestRecord.Text += "电机信息：" + textBox_PDinfo.Text + "\r\n";
            richTextBox_TestRecord.Text += "配置文件：" + comboBox_File.Text + "\r\n";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始测试" + "\r\n";
            label_Result.Text = "不合格";
            label_Result.BackColor = Color.Red;

            //公有变量
            var Code = new byte[32];//发送的指令数据

            //检查是否有故障
            if (label_error_code.Text != "OK")
            {
                label_Step.Text = "电机存在故障！";
                button_Start.Enabled = true;
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }

            //开机
            Code[0] = 0xF1;
            SendCmd(0x7FF, 0x16, 0x2201, Code);
            开ToolStripMenuItem.Checked = true;
            关ToolStripMenuItem.Checked = false;
            
            Delay_ms(2000);

            #region 版本查询和确认
            label_Step.Text = "检查版本信息";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令查询版本信息" + "\r\n";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(500);
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(500);
            string FW_Version_Check = comboBox_File.Text.Split('_')[2] + "_" + comboBox_File.Text.Split('_')[3];
            string FW_Version_Result = "";
            string TE_FW_Ver_Check = comboBox_File.Text.Split('_')[4] + "_" + comboBox_File.Text.Split('_')[5];
            string TE_FW_Ver_Result = "";
            try
            {
                FW_Version_Result = richTextBox_VerInfo.Lines[3].Split('：')[1];
                FW_Version_Result = FW_Version_Result.Split('_')[0] + richTextBox_VerInfo.Lines[4].Split('-')[2].Replace('V', '.') + "_" + FW_Version_Result.Split('_')[1];
                TE_FW_Ver_Result = richTextBox_VerInfo.Lines[5].Split('：')[1];
            }
            catch (System.Exception)
            {
                label_Step.Text = "软件版本信息不完整！";
            }
            if (string.Equals(FW_Version_Check, FW_Version_Result) == false) //主控版本错误，直接结束
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "主控版本错误" + "\r\n";
                label_Step.Text = "主控软件版本错误，测试结束！";
                label_Step.ForeColor = Color.Red;
                button_Start.Enabled = true;
                ErrorSaveLog();
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                return;
            }
            else
            {
                if (TE_FW_Ver_Check != "N_A")//单MCU主控板不检测TE版本
                {
                    if (string.Equals(TE_FW_Ver_Check, TE_FW_Ver_Result) == false) //TE版本错误，给出提示
                    {
                        if (MessageBox.Show("TE版本错误，请确认主控板是否为HK？", "TE版本错误", MessageBoxButtons.YesNo) == DialogResult.No)
                        {
                            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "TE版本错误" + "\r\n";
                            label_Step.Text = "TE软件版本错误，测试结束！";
                            label_Step.ForeColor = Color.Red;
                            button_Start.Enabled = true;
                            ErrorSaveLog();
                            //关机
                            Code[0] = 0xF0;
                            SendCmd(0x7FF, 0x16, 0x2201, Code);
                            开ToolStripMenuItem.Checked = false;
                            关ToolStripMenuItem.Checked = true;
                            Delay_ms(500);
                            //关闭串口
                            portsettings_form.closePort();
                            return;
                        }
                    }
                }                
                try
                {
                    string mode1 = "", mode2 = ""; 
                    mode1 = richTextBox_VerInfo.Lines[0].Split('：')[1].Trim();
                    mode2 = textBox_PDinfo.Text.Contains("%#") ? textBox_PDinfo.Text.Substring(0, textBox_PDinfo.Text.LastIndexOf('%')) 
                                                               : textBox_PDinfo.Text.Substring(0, textBox_PDinfo.Text.LastIndexOf(' ')).Trim();
                    if (string.Equals(mode1, mode2) == false)//型号不一致
                    {
                        richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "型号错误" + "\r\n";
                        label_Step.Text = "型号不一致，测试结束！";
                        label_Step.ForeColor = Color.Red;
                        button_Start.Enabled = true;
                        ErrorSaveLog();
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        return;
                    }
                    string SN1 = "", SN2 = "";
                    SN1 = richTextBox_VerInfo.Lines[1].Split('：')[1].Trim();
                    SN2 = textBox_PDinfo.Text.Contains("%#") ? textBox_PDinfo.Text.Remove(0, textBox_PDinfo.Text.LastIndexOf('#') + 1) 
                                                             : textBox_PDinfo.Text.Remove(0, textBox_PDinfo.Text.LastIndexOf(' ') + 1);
                    if (string.Equals(SN1, SN2) == false)//SN不一致
                    {
                        richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "SN错误" + "\r\n";
                        label_Step.Text = "SN不一致，测试结束！";
                        label_Step.ForeColor = Color.Red;
                        button_Start.Enabled = true;
                        ErrorSaveLog();
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        return;
                    }
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "版本信息正确" + "\r\n";
                }
                catch (Exception)
                {
                    label_Step.Text = "电机信息错误，测试结束！";
                    label_Step.ForeColor = Color.Red;
                    button_Start.Enabled = true;
                    ErrorSaveLog();
                    //关机
                    Code[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                    开ToolStripMenuItem.Checked = false;
                    关ToolStripMenuItem.Checked = true;
                    Delay_ms(500);
                    //关闭串口
                    portsettings_form.closePort();
                    return;
                }
            }
            #endregion

            #region 判断力矩传感器的标定值是否在允许范围内
            label_Step.Text = "判断力矩传感器";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令查询力矩传感器" + "\r\n";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2000, null);//单传感器零点
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2900, null);//单传感器校正信息
            Delay_ms(200);
            Code[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, Code);//传感器1零点
            Delay_ms(200);
            Code[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, Code);//传感器2零点
            Delay_ms(200);
            Code[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, Code);//传感器3零点
            Delay_ms(200);
            Code[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, Code);//传感器1校正系数
            Delay_ms(200);
            Code[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, Code);//传感器2校正系数
            Delay_ms(200);
            Code[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, Code);//传感器3校正系数
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3500, null);//三传感器启动值
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "判断力矩传感器" + "\r\n";
            for (int i = 0; i < richTextBox_TQ.Lines.Length; i++)
            {
                switch (richTextBox_TQ.Lines[i].Split('：')[0])
                {
                    case "零点": case "传感器1零点": case "传感器2零点": case "传感器3零点":
                        {
                            string[] zero = richTextBox_TQ.Lines[i].Split('：')[1].Split(new string[] { ", " }, StringSplitOptions.None);
                            for (int j = 0; j < zero.Length; j++)
                            {
                                if ((Convert.ToUInt16(zero[j]) > TorqueCheck.Zero_Max) || (Convert.ToUInt16(zero[j]) < TorqueCheck.Zero_Min))//零点超差
                                {
                                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "传感器零点超范围" + "\r\n";
                                    label_Step.Text = "传感器零点超范围，测试结束！";
                                    label_Step.ForeColor = Color.Red;
                                    button_Start.Enabled = true;
                                    ErrorSaveLog();
                                    //关机
                                    Code[0] = 0xF0;
                                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                                    开ToolStripMenuItem.Checked = false;
                                    关ToolStripMenuItem.Checked = true;
                                    Delay_ms(500);
                                    //关闭串口
                                    portsettings_form.closePort();
                                    return;
                                }
                            }
                            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + richTextBox_TQ.Lines[i].Split('：')[0] + "正常" + "\r\n";
                            break;
                        }
                    case "校正系数": case "传感器1校正系数": case "传感器2校正系数": case "传感器3校正系数":
                        {
                            ushort k = (ushort)(Convert.ToSingle(richTextBox_TQ.Lines[i].Split('：')[1]) * 100);
                            if ((k > (ushort)(TorqueCheck.Cal_K_Max * 100f)) || (k < (ushort)(TorqueCheck.Cal_K_Min * 100f)))//校正系数超差
                            {
                                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "校正系数超范围" + "\r\n";
                                label_Step.Text = "校正系数超范围，测试结束！";
                                label_Step.ForeColor = Color.Red;
                                button_Start.Enabled = true;
                                ErrorSaveLog();
                                //关机
                                Code[0] = 0xF0;
                                SendCmd(0x7FF, 0x16, 0x2201, Code);
                                开ToolStripMenuItem.Checked = false;
                                关ToolStripMenuItem.Checked = true;
                                Delay_ms(500);
                                //关闭串口
                                portsettings_form.closePort();
                                return;
                            }
                            if (k == 100)
                            {
                                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "传感器未标定" + "\r\n";
                                label_Step.Text = "传感器未标定，测试结束！";
                                label_Step.ForeColor = Color.Red;
                                button_Start.Enabled = true;
                                ErrorSaveLog();
                                //关机
                                Code[0] = 0xF0;
                                SendCmd(0x7FF, 0x16, 0x2201, Code);
                                开ToolStripMenuItem.Checked = false;
                                关ToolStripMenuItem.Checked = true;
                                Delay_ms(500);
                                //关闭串口
                                portsettings_form.closePort();
                                return;
                            }
                            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + richTextBox_TQ.Lines[i].Split('：')[0] + "正常" + "\r\n";
                            break;
                        }
                    case "启动值":
                        {
                            string start = richTextBox_TQ.Lines[i].Split('：')[1];
                            if ((Convert.ToUInt16(start) > TorqueCheck.Start_Max) || (Convert.ToUInt16(start) < TorqueCheck.Start_Min))//启动值超差
                            {
                                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "启动值超范围" + "\r\n";
                                label_Step.Text = "启动值超范围，测试结束！";
                                label_Step.ForeColor = Color.Red;
                                button_Start.Enabled = true;
                                ErrorSaveLog();
                                //关机
                                Code[0] = 0xF0;
                                SendCmd(0x7FF, 0x16, 0x2201, Code);
                                开ToolStripMenuItem.Checked = false;
                                关ToolStripMenuItem.Checked = true;
                                Delay_ms(500);
                                //关闭串口
                                portsettings_form.closePort();
                                return;
                            }
                            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + richTextBox_TQ.Lines[i].Split('：')[0] + "正常" + "\r\n";
                            break;
                        }
                    default:break;
                }
            }

            #endregion

            #region 依次读取配置参数
            label_Step.Text = "判断配置参数";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令查询电机配置参数" + "\r\n";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1A00, null);//用户参数1
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3000, null);//用户参数2
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1C00, null);//马达参数
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null);//生产信息
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1000, null);//校验秘钥
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null);//自定义1
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null);//自定义2
            Delay_ms(200);
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null);//自定义3
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "判断配置参数" + "\r\n";
            for (int line = 0; line < richTextBox_CfgFile.Lines.Length; line++)
            {
                try
                {
                    if (richTextBox_ReadCfg.Lines[line].Equals(richTextBox_CfgFile.Lines[line]) == false)
                    {
                        richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + richTextBox_CfgFile.Lines[line].Split(',')[0] + "错误" + "\r\n";
                        label_Step.Text = "检查配置参数失败，测试结束！";
                        label_Step.ForeColor = Color.Red;
                        button_Start.Enabled = true;
                        ErrorSaveLog();
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        return;
                    }
                }
                catch (System.Exception)
                {
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "读取电机配置参数失败" + "\r\n";
                    label_Step.Text = "检查配置参数失败，测试结束！";
                    label_Step.ForeColor = Color.Red;
                    button_Start.Enabled = true;
                    ErrorSaveLog();
                    //关机
                    Code[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                    开ToolStripMenuItem.Checked = false;
                    关ToolStripMenuItem.Checked = true;
                    Delay_ms(500);
                    //关闭串口
                    portsettings_form.closePort();
                    return;
                }
            }
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机配置参数正确" + "\r\n";
            #endregion

            //检查是否有故障
            if (label_error_code.Text != "OK")
            {
                label_Step.Text = "电机存在故障！";
                button_Start.Enabled = true;
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }

            #region 测试结束
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" +  "测试结束" + "\r\n";
            label_Step.Text = "测试结束！";
            label_Step.ForeColor = Color.Green;
            label_Result.Text = "合格";
            label_Result.BackColor = Color.Green;
            button_Start.Enabled = true;
            //关机
            Code[0] = 0xF0;
            SendCmd(0x7FF, 0x16, 0x2201, Code);
            开ToolStripMenuItem.Checked = false;
            关ToolStripMenuItem.Checked = true;
            Delay_ms(500);
            //关闭串口
            portsettings_form.closePort();

            #region 按照产品信息设置测试文件路径
            string ResultPathName = textBox_PDinfo.Text + "_" + DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss").Replace("/", "-").Replace(":", string.Empty).Replace(" ", "_");
            if (System.IO.Directory.Exists(LogSavePath + "log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName) == false)
                System.IO.Directory.CreateDirectory(LogSavePath + "log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName);
            #endregion

            //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 = LogSavePath + "log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName + "\\测试记录" + ".png";
            bit.Save(LogSaveFileName);
            //测试页面上传服务器
            if (StartForm.myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/qcTest/log/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow);
                }
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/qcTest/log/", DateNow + "/" + ResultPathName) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow + "/" + ResultPathName);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow + "/" + ResultPathName);
                if (result == true)
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试页面上传服务器成功" + "\r\n";
            }
            //电机数据存储
            LogSaveFileName = LogSavePath + "\\log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName + "\\电机参数" + ".txt";
            string fileInfo = "";
            fileInfo += "检验记录:\r\n" + richTextBox_TestRecord.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "电机生产参数：\r\n";
            fileInfo += richTextBox_CfgFile.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "电机版本信息查询：\r\n";
            fileInfo += richTextBox_VerInfo.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "力矩传感器标定结果：\r\n";
            fileInfo += richTextBox_TQ.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "电机参数查询：\r\n";
            fileInfo += richTextBox_ReadCfg.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "电机故障码：\r\n";
            fileInfo += label_error_code.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            fileInfo += "测试结果：\r\n";
            fileInfo += label_Result.Text.Replace("\n", "\r\n") + "\r\n\r\n";
            System.IO.File.WriteAllText(LogSaveFileName, fileInfo);
            //电机数据上传服务器
            if (StartForm.myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/qcTest/log/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow);
                }
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow, ResultPathName) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow + "/" + ResultPathName);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/qcTest/log/" + DateNow + "/" + ResultPathName);
                if (result == true)
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机数据上传服务器成功" + "\r\n";
            }
            #endregion

            //测试正常，清空扫码信息
            Delay_ms(1000);
            textBox_PDinfo.Text = "";
        }

        private void CheckForm_Load(object sender, EventArgs e)
        {
            timer1.Enabled = true;
            timer2.Enabled = true;

            //显示测试员信息
            label_TestUser.Text = "测试员：" + StartForm.EnterForm1.comboBox_User.Text;

            //窗口加载时，从FTP服务器或本地获取文件日期列表
            GetDateList(false);
            //装载序列号文件
            string cfg_file = System.IO.Directory.GetCurrentDirectory() + "\\SerialNum";
            StreamReader objReader = new StreamReader(cfg_file);
            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();
            label_SerialNum.Text = arrText[1].ToString();//流水号
        }

        //测试失败存储测试界面
        private void ErrorSaveLog()
        {
            //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  
            string LogSaveFileName = LogSavePath + "errorlog\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\";
            if (System.IO.Directory.Exists(LogSaveFileName) == false)
                System.IO.Directory.CreateDirectory(LogSaveFileName);
            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);
            //测试页面上传服务器
            if (StartForm.myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/qcTest/errorlog/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/qcTest/errorlog/" + DateNow);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/qcTest/errorlog/" + DateNow);
                if (result == true)
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试异常页面上传服务器成功" + "\r\n";
            }
        }

        //开始测试按钮点击
        private void button_Start_Click(object sender, EventArgs e)
        {
            TestStart();
        }
        
        //开始一次测试
        private void TestStart()
        {
            //显示数据清空
            richTextBox_ReadCfg.Text = "";
            richTextBox_TestRecord.Text = "";
            richTextBox_TQ.Text = "";
            richTextBox_VerInfo.Text = "";

            #region 检查配置文件
            if (comboBox_File.Items.Count == 0) //配置文件目录为空
            {
                label_Step.Text = "无可用配置文件！";
                label_Step.ForeColor = Color.Red;
                return;
            }
            if (comboBox_File.Text.Trim().Length == 0)//未选择配置文件
            {
                label_Step.Text = "请选择配置文件！";
                label_Step.ForeColor = Color.Red;
                return;
            }
            #endregion

            #region 检查产品信息是否符合格式要求
            try
            {
                Regex regex = new Regex(@"^M[12][0-9](0?[1-9]|1[0-2])((0?[1-9])|((1|2)[0-9])|30|31)[A-Z]\d{4}[A-Z]$");
                if (textBox_PDinfo.Text.Contains("  "))
                {
                    string Mode = textBox_PDinfo.Text.Split(new string[] { "  " }, StringSplitOptions.None)[0];
                    string Sn = textBox_PDinfo.Text.Split(new string[] { "  " }, StringSplitOptions.None)[1];
                    if (regex.IsMatch(Sn) == false)
                    {
                        label_Step.Text = "SN格式错误！";
                        label_Step.ForeColor = Color.Red;
                        return;
                    }
                }
                else if (textBox_PDinfo.Text.Contains("%#"))
                {
                    string Mode = textBox_PDinfo.Text.Split(new string[] { "%#" }, StringSplitOptions.None)[0];
                    string Sn = textBox_PDinfo.Text.Split(new string[] { "%#" }, StringSplitOptions.None)[1];
                    if (regex.IsMatch(Sn) == false)
                    {
                        label_Step.Text = "SN格式错误！";
                        label_Step.ForeColor = Color.Red;
                        return;
                    }
                }
                else
                {
                    label_Step.Text = "标签格式错误！";
                    label_Step.ForeColor = Color.Red;
                    return;
                }
            }
            catch (System.Exception)
            {
                label_Step.Text = "标签格式错误！";
                label_Step.ForeColor = Color.Red;
                return;
            }
            #endregion

            //连接串口
            if (portsettings_form.openPort() == false)
            {
                label_Step.Text = "串口连接失败！";
                label_Step.ForeColor = Color.Red;
                return;
            }

            //测试状态更新
            label_Step.Text = "准备开始测试";
            label_Step.ForeColor = Color.Red;

            //流水号累加和存储
            label_SerialNum.Text = (Convert.ToInt32(label_SerialNum.Text) + 1).ToString();
            string cfg_file = System.IO.Directory.GetCurrentDirectory() + "\\SerialNum";
            StreamReader objReader = new StreamReader(cfg_file);
            string sLine = "";
            ArrayList arrText = new ArrayList();//创建一个动态数组
            while (sLine != null)
            {
                sLine = objReader.ReadLine();
                arrText.Add(sLine);
            }
            arrText.RemoveAt(arrText.Count - 1);
            objReader.Close();
            arrText[1] = label_SerialNum.Text;
            using (StreamWriter file = new StreamWriter(cfg_file))
            {
                foreach (var entry in arrText)
                {
                    file.WriteLine(entry);
                }
            }

            button_Start.Enabled = false;

            //创建线程，执行测试任务
            Thread th = new Thread(Thread_Task);
            th.Start();

        }

        //双击清零流水号
        private void label32_DoubleClick(object sender, EventArgs e)
        {
            //流水号清零
            if (MessageBox.Show("流水号清零", "确认清零?", MessageBoxButtons.YesNo, MessageBoxIcon.Question) == DialogResult.Yes)
            {
                label_SerialNum.Text = "0";
                //存储
                string cfg_file = System.IO.Directory.GetCurrentDirectory() + "\\SerialNum";
                StreamReader objReader = new StreamReader(cfg_file);
                string sLine = "";
                ArrayList arrText = new ArrayList();//创建一个动态数组
                while (sLine != null)
                {
                    sLine = objReader.ReadLine();
                    arrText.Add(sLine);
                }
                arrText.RemoveAt(arrText.Count - 1);
                objReader.Close();
                arrText[1] = label_SerialNum.Text;
                using (StreamWriter file = new StreamWriter(cfg_file))
                {
                    foreach (var entry in arrText)
                    {
                        file.WriteLine(entry);
                    }
                }
            }
        }

        private void textBox_PDinfo_KeyUp(object sender, KeyEventArgs e)
        {
            if (e.KeyCode == Keys.Enter)
                TestStart();
        }

        private void textBox_PDinfo_Click(object sender, EventArgs e)
        {
            textBox_PDinfo.SelectAll();
        }

        private void 屏幕键盘ToolStripMenuItem_Click_1(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("osk.exe");
        }

        private void 端口设置ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            portsettings_form.Show();
        }

        private void 合格ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("explorer.exe", LogSavePath + "log\\");
        }

        private void 不合格ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            System.Diagnostics.Process.Start("explorer.exe", LogSavePath + "errorlog\\");
        }
    }
}