factory_test_tool/ImportForm.cs

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;
using System.Text.RegularExpressions;

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

        #region 测试参数配置
        //以下值在根据电机测试的配置文件中更改
        ushort MotorRadeSpeed = 1200;  //空载转速
        ushort RateCadence = 100;      //最高踏频
        ushort RateVoltage = 36000;    //额定电压
        bool GasModeTest = true;       //转把模式检测开关
        bool SpeedSensorTest = true;   //速度传感器检测开关
        //以下值在软件测试文件params.cfg文件中修改
        ushort No_load_Current = 1000; //空载电流
        ushort SpeedSensorThData = 60; //车速传感器判断阈值
        ushort GasModeSpeed = 1200;    //指拨模式测试转速
        #endregion

        #region 配置文件信息
        ArrayList array_CfgInfo = new ArrayList();
        #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,  //系统清除
            Step_Write = 2,     //参数写入
            Step_Light = 3,     //灯电压测试
            Step_Walk = 4,      //推行测试
            Step_GasMode = 5,   //转把测试
            Step_CheckVer = 6,  //版本查询和确认
            Step_Save = 7       //数据读取和存储
        }
        TestStep_Enum TestStep;
        #endregion

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

        #region 单步测试标志
        public enum StepTestResult_Enum
        {
            StepTestResult_Ready = 0,
            StepTestResult_Testing = 1,
            StepTestResult_OK = 2,
            StepTestResult_Fail = 3
        }
        StepTestResult_Enum StepTestFlag = StepTestResult_Enum.StepTestResult_Ready;
        #endregion

        #region 推行/转把测试计时
        ushort WalkProcess_Cnt = 0;
        ushort OK_cnt = 0;
        #endregion

        public ImportForm()
        {
            InitializeComponent();
            System.Windows.Forms.Control.CheckForIllegalCrossThreadCalls = false;
            //加载用户路径
            LogSavePath = StartForm.UserPath;
            LocalCfgFilePath = StartForm.UserPath;
        }

        #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)//非本地模式从服务器下载文件
            {
                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)
                {
                    richTextBox_CfgFile.AppendText(sOutput + "\r\n");
                }
            }
            catch (System.Exception)
            {
                return;
            }
            //更新推行模式测试判断标准
            MotorRadeSpeed = Convert.ToUInt16(array_CfgInfo[42].ToString().Split(',')[1]);
            RateCadence = (ushort)(MotorRadeSpeed / 11U);
            RateVoltage = (ushort)(Convert.ToByte(array_CfgInfo[47].ToString().Split(',')[1]) * 1000);

            //更新指拨和速度传感器测试标志
            byte temp = Convert.ToByte(array_CfgInfo[25].ToString().Split(',')[1]);
            GasModeTest = temp == 0x55 ? false : temp == 0xAA ? true : false;
            temp = Convert.ToByte(array_CfgInfo[26].ToString().Split(',')[1]);
            SpeedSensorTest = temp == 0x55 || (temp == 0xAA ? false : temp == 0xEE ? false : false);

            //更新空载电流和车速传感器判断阈值
            if (array_CfgInfo.Count > 56)//旧版本无改配置项，采用默认值
            {
                No_load_Current = Convert.ToUInt16(array_CfgInfo[59].ToString().Split(',')[1]);
                SpeedSensorThData = Convert.ToUInt16(array_CfgInfo[60].ToString().Split(',')[1]);
                GasModeSpeed = Convert.ToUInt16(array_CfgInfo[61].ToString().Split(',')[1]);
            }
        }
        #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 = "";
            richTextBox_CfgFile.Text = "";
            GetDateList(false);
        }
        #endregion

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

            //装载配置文件
            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

        }

        private void toolStripMenuIte_PortSet_Click(object sender, EventArgs e)
        {
            portsettings_form.Show();
        }

        #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) || 
                        (PackageID == 0x0725) || (PackageID == 0x0720))
                    {
                        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);
                                if ((PackageID == 0x0710) || (PackageID == 0x0715) ||
                                   (PackageID == 0x0610) || (PackageID == 0x0615) ||
                                   (PackageID == 0x07FF))
                                { 
                                    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

        //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 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]);
                                    textBox_BikeSpeed.Text = ((float)DataTemp / 10f).ToString("0.0");

                                    //输出转速
                                    DataTemp = (ushort)(binary_data_1[5] * 256 + binary_data_1[4]);
                                    textBox_MotorSpeed.Text = Convert.ToString(DataTemp);

                                    //母线电压
                                    DataTemp = (ushort)(binary_data_1[9] * 256 + binary_data_1[8]);
                                    textBox_Vol.Text = Convert.ToString(DataTemp);

                                    //母线电流
                                    DataTemp = (ushort)(binary_data_1[11] * 256 + binary_data_1[10]);
                                    textBox_Cur.Text = Convert.ToString(DataTemp);

                                    //踏频
                                    DataTemp = (ushort)(binary_data_1[12]);
                                    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]);
                                    textBox_PCB.Text = Convert.ToString((int)(DataTemp - 40));

                                    //绕组温度
                                    DataTemp = (ushort)(binary_data_1[24]);
                                    textBox_Coil.Text = Convert.ToString((int)(DataTemp - 40));

                                    //MCU温度
                                    DataTemp = (ushort)(binary_data_1[25]);
                                    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 < 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_Ver.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_Ver.Text += " " + "ST" + " "; break;
                                        case (byte)'2':
                                            richTextBox_Ver.Text += " " + "APM" + " "; break;
                                        case (byte)'3':
                                            richTextBox_Ver.Text += " " + "HK" + " "; break;
                                        case (byte)'4':
                                            richTextBox_Ver.Text += " " + "GD" + " "; break;
                                        default: 
                                            richTextBox_Ver.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_Ver.Text += Convert.ToString(binary_data_1[46 + i], 16).PadLeft(2, '0').ToUpper();//MCU ID 的CRC32值
                                    }
                                    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;
                                        }
                                        if (binary_data_1[2 + i] == 'r')
                                        {
                                            binary_data_1[2 + i] = (byte)'.';
                                        }
                                        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;
                                    StepTestFlag = StepTestResult_Enum.StepTestResult_OK;
                                }));
                            }
                            break;
                        }
                    default: break;
                }
            }
            #endregion
            #region TE
            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
            #region //电池信息
            else if ((ID == 0x725) || (ID == 0x720))
            {
                label_BMS_COM.BackColor = Color.Green;
                label_BMS_COM.Text = "OK";
            }
            #endregion
        }
        #endregion

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

        }

        #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

        //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 = "---";
                }
            }
        }

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

        //开关灯
        private void LightProcess()
        {
            var CtrlCode = new byte[2];
            CtrlCode[0] = 0x00;
            if (button_LightCtl.Text == "开灯")
            {
                button_LightCtl.Text = "关灯";
                CtrlCode[1] = 0xF1;
                button_LightCtl.BackColor = Color.Yellow;
                button_LightCtl.ForeColor = Color.Black;
            }
            else
            {
                button_LightCtl.Text = "开灯";
                CtrlCode[1] = 0xF0;
                button_LightCtl.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
                button_LightCtl.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(48)))), ((int)(((byte)(113)))), ((int)(((byte)(185)))));
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, CtrlCode);
        }

        //开关灯按钮
        private void button_LightCtl_Click(object sender, EventArgs e)
        {
            LightProcess();
        }

        //电机启动/停止控制
        private void Walk_Process(byte GearSt)
        {
            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);
                //发送指令进入设定档位
                Code[0] = GearSt;
                if (button_LightCtl.Text == "关灯")
                    Code[1] = 0xF1;
                else
                    Code[1] = 0xF0;
                button_Walk.BackColor = Color.Yellow;
                button_Walk.ForeColor = Color.Black;
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, Code);
            }
            else
            {
                button_Walk.Text = "启动";
                //发送指令关闭档位模式
                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;
                button_Walk.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
                button_Walk.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(48)))), ((int)(((byte)(113)))), ((int)(((byte)(185))))); 
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1901, Code);
            }
        }
        //电机启动/停止按钮
        private void button_Walk_Click(object sender, EventArgs e)
        {
            Walk_Process(0x22);
        }

        //查询版本信息
        private void button_Check_Ver_Click(object sender, EventArgs e)
        {
            richTextBox_Ver.Text = "";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(200);
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
        }

        //按钮初始化
        private void label_Init()
        {
            radioButton_Light_OK.Checked = false;//灯电压确认按钮
            radioButton_Light_OK.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
            radioButton_Light_OK.ForeColor = System.Drawing.Color.FromArgb(((int)(((byte)(48)))), ((int)(((byte)(113)))), ((int)(((byte)(185)))));
            radioButton_Light_NG.Checked = false;
            radioButton_Light_NG.BackColor = System.Drawing.Color.FromArgb(((int)(((byte)(224)))), ((int)(((byte)(224)))), ((int)(((byte)(224)))));
            radioButton_Light_NG.ForeColor= System.Drawing.Color.FromArgb(((int)(((byte)(48)))), ((int)(((byte)(113)))), ((int)(((byte)(185)))));

            label_error_code.BackColor = Color.Green;//故障码
            label_error_code.Text = "OK";
            label_Sta_Clear.BackColor = Color.Red;//系统清除
            label_Sta_Clear.Text = "NG";
            label_Sta_Write.BackColor = Color.Red;//参数写入
            label_Sta_Write.Text = "NG";
            label_sta_light.BackColor = Color.Red;//灯电压
            label_sta_light.Text = "NG";

            label_sensor_vol.BackColor = Color.Red;//电压检测
            label_sensor_vol.Text = "NG";
            label_sensor_cur.BackColor = Color.Red;//电流检测
            label_sensor_cur.Text = "NG";
            label_sensor_speed.BackColor = Color.Red;//车速检测
            label_sensor_speed.Text = "NG";
            label_sensor_cadence.BackColor = Color.Red;//踏频检测
            label_sensor_cadence.Text = "NG";
            label_sensor_motor.BackColor = Color.Red;//电机转速检测
            label_sensor_motor.Text = "NG";
            label_sensor_PCB_temp.BackColor = Color.Red;//PCB温度检测
            label_sensor_PCB_temp.Text = "NG";
            label_sensor_coil_temp.BackColor = Color.Red;//绕组温度检测
            label_sensor_coil_temp.Text = "NG";
            label_sensor_MCU_temp.BackColor = Color.Red;//MCU温度检测
            label_sensor_MCU_temp.Text = "NG";
            label_Sensor_Break1.BackColor = Color.Red;//断电刹把
            label_Sensor_Break1.Text = "NG";
            label_Sensor_Break2.BackColor = Color.Red;//断电刹把
            label_Sensor_Break2.Text = "NG";

            label_Sensor_Gas.BackColor = Color.Red;//转把
            label_Sensor_Gas.Text = "NG";
            label_FW_Version.BackColor = Color.Red;//版本信息
            label_FW_Version.Text = "NG";

            label_BMS_COM.BackColor = Color.Red;//BMS通信
            label_BMS_COM.Text = "NG";

            label_Result.BackColor = Color.Red;//测试结果
            label_Result.Text = "不合格";

            richTextBox_Ver.Text = "";//版本信息
            richTextBox_TestRecord.Text = "";//测试过程记录

        }

        //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  
            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 + "/walkTest/errorlog/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/errorlog/" + DateNow);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/walkTest/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";
            }

        }

        //执行一次测试任务
        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";

            //公有变量
            var Code = new byte[32];//发送的指令数据
            ushort DataTemp;
            short DataTemp_Int16;
            string ResultPathName = "";

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

            Delay_ms(500);
            //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 Step1：发送指令，系统清除
            if (系统清除执行ToolStripMenuItem.Checked == true)
            {
                TestStep = TestStep_Enum.Step_SysClear;
                label_Step.Text = "系统清除，请等待！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送系统清除指令" + "\r\n";
                Array.Clear(Code, 0, 32);
                Code[0] = (byte)'C';
                Code[1] = (byte)'L';
                Code[2] = (byte)'E';
                Code[3] = (byte)'A';
                Code[4] = (byte)'R';
                SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2605, Code);
                Ack_Flag = false;
                Ack_Cnt = 0;
                StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
                while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
                if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
                {
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除成功" + "\r\n";
                    label_Sta_Clear.BackColor = Color.Green;
                    label_Sta_Clear.Text = "OK";
                }
                else//失败
                {
                    label_Step.Text = "系统清除失败，测试结束！";
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "系统清除失败，测试结束" + "\r\n";
                    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;
                }
                //系统清除完成后会重启，等待3s
                Delay_ms(2000);
            }
            else if (系统清除不执行ToolStripMenuItem.Checked == true)
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "不执行系统清除" + "\r\n";
                label_Sta_Clear.BackColor = Color.Yellow;
                label_Sta_Clear.Text = "N/A";
            }
            #endregion

            #region Step2：发送指令，依次写入参数
            TestStep = TestStep_Enum.Step_Write;
            label_Step.Text = "参数写入中，请等待！";

            #region Step2.1：写入电机型号和序列号
            string Mode = textBox_PDinfo.Text.Substring(0, textBox_PDinfo.Text.LastIndexOf(' ')).Trim();
            string SN = textBox_PDinfo.Text.Remove(0, textBox_PDinfo.Text.LastIndexOf(' ') + 1).Trim();

            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入电机型号" + "\r\n";
            Array.Clear(Code, 0, 32);
            for (ushort i = 0; i < ((Mode.Length > 16) ? 16 : Mode.Length); i++)
            {
                Code[i] = (byte)Mode[i];
            }
            if (Mode.Length < 16)
            {
                Code[Mode.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - Mode.Length - 1; i++)
                {
                    Code[Mode.Length + 1 + i] = 0x20;
                }
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2210, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机型号写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机型号写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入电机序列号" + "\r\n";
            Array.Clear(Code, 0, 32);
            for (ushort i = 0; i < ((SN.Length > 16) ? 16 : SN.Length); i++)
            {
                Code[i] = (byte)SN[i];
            }
            if (SN.Length < 16)
            {
                Code[SN.Length] = (byte)'.';
                for (ushort i = 0; i < 16 - SN.Length - 1; i++)
                {
                    Code[SN.Length + 1 + i] = 0x20;
                }
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2310, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机序列号写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机序列号写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            #endregion

            #region Step2.2：写入用户参数1
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入用户参数1" + "\r\n";
            Array.Clear(Code, 0, 32);
            //指拨模式
            Code[0] = Convert.ToByte(array_CfgInfo[25].ToString().Split(',')[1]);
            //启动模式
            Code[1] = Convert.ToByte(array_CfgInfo[1].ToString().Split(',')[1]);
            //停机时间
            DataTemp = Convert.ToUInt16(array_CfgInfo[2].ToString().Split(',')[1]);
            Code[2] = (byte)(DataTemp & 0xFF);
            Code[3] = (byte)(DataTemp >> 8);
            //限速
            Code[4] = Convert.ToByte(array_CfgInfo[3].ToString().Split(',')[1]);
            //下降速度
            Code[5] = Convert.ToByte(array_CfgInfo[4].ToString().Split(',')[1]);
            //前飞
            Code[6] = Convert.ToByte(array_CfgInfo[5].ToString().Split(',')[1]);
            //后飞
            Code[7] = Convert.ToByte(array_CfgInfo[6].ToString().Split(',')[1]);
            //限流
            Code[8] = Convert.ToByte(array_CfgInfo[7].ToString().Split(',')[1]);
            //温度预警
            Code[9] = (byte)(Convert.ToByte(array_CfgInfo[8].ToString().Split(',')[1]) + 40);
            //温度保护
            Code[10] = (byte)(Convert.ToByte(array_CfgInfo[9].ToString().Split(',')[1]) + 40);
            //无PBU
            Code[11] = Convert.ToByte(array_CfgInfo[10].ToString().Split(',')[1]);
            //轮胎周长
            Code[12] = Convert.ToByte(array_CfgInfo[11].ToString().Split(',')[1]);
            //电机系列号
            Code[13] = Convert.ToByte(array_CfgInfo[12].ToString().Split(',')[1]);
            //ECO助力增益
            Code[14] = Convert.ToByte(array_CfgInfo[13].ToString().Split(',')[1]);
            //ECO加速
            Code[15] = Convert.ToByte(array_CfgInfo[14].ToString().Split(',')[1]);
            //NORM助力增益
            Code[16] = Convert.ToByte(array_CfgInfo[15].ToString().Split(',')[1]);
            //NORM加速
            Code[17] = Convert.ToByte(array_CfgInfo[16].ToString().Split(',')[1]);
            //SPORT助力增益
            Code[18] = Convert.ToByte(array_CfgInfo[17].ToString().Split(',')[1]);
            //SPORT加速
            Code[19] = Convert.ToByte(array_CfgInfo[18].ToString().Split(',')[1]);
            //TURBO助力增益
            Code[20] = Convert.ToByte(array_CfgInfo[19].ToString().Split(',')[1]);
            //TURBO加速
            Code[21] = Convert.ToByte(array_CfgInfo[20].ToString().Split(',')[1]);
            //SMART助力增益
            Code[22] = Convert.ToByte(array_CfgInfo[21].ToString().Split(',')[1]);
            //SMART加速
            Code[23] = Convert.ToByte(array_CfgInfo[22].ToString().Split(',')[1]);
            //速度传感器信号个数
            Code[24] = Convert.ToByte(array_CfgInfo[23].ToString().Split(',')[1]);
            //踏频启动信号个数
            Code[25] = Convert.ToByte(array_CfgInfo[24].ToString().Split(',')[1]);
            //速度传感器
            Code[26] = Convert.ToByte(array_CfgInfo[26].ToString().Split(',')[1]);
            //周长微调
            Code[27] = (byte)Convert.ToInt16(array_CfgInfo[27].ToString().Split(',')[1]);
            //低压保护阈值
            DataTemp = Convert.ToUInt16(array_CfgInfo[28].ToString().Split(',')[1]);
            Code[28] = (byte)(DataTemp & 0xFF);
            Code[29] = (byte)(DataTemp >> 8);
            //推行限速
            DataTemp = Convert.ToByte(array_CfgInfo[29].ToString().Split(',')[1]);
            Code[30] = (byte)Convert.ToByte(DataTemp);
            //推行马达转速
            Code[31] = (byte)Convert.ToByte(array_CfgInfo[30].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1B20, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "用户参数1写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "用户参数1写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }

            #endregion

            #region Step2.3：写入用户参数2
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入用户参数2" + "\r\n";
            Array.Clear(Code, 0, 32);
            //俯仰角零偏
            DataTemp_Int16 = (short)(decimal.Parse(array_CfgInfo[34].ToString().Split(',')[1]) * 10);
            Code[0] = (byte)(DataTemp_Int16 & 0xFF);
            Code[1] = (byte)(DataTemp_Int16 >> 8);
            //横滚角零偏
            DataTemp_Int16 = (short)(decimal.Parse(array_CfgInfo[35].ToString().Split(',')[1]) * 10);
            Code[2] = (byte)(DataTemp_Int16 & 0xFF);
            Code[3] = (byte)(DataTemp_Int16 >> 8);
            //支持姿态传感器
            Code[4] = Convert.ToByte(array_CfgInfo[33].ToString().Split(',')[1]);
            //尾灯模式
            Code[5] = Convert.ToByte(array_CfgInfo[36].ToString().Split(',')[1]);
            //前灯电压
            Code[6] = Convert.ToByte(array_CfgInfo[37].ToString().Split(',')[1]);
            //后灯电压
            Code[7] = Convert.ToByte(array_CfgInfo[38].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x3120, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "用户参数2写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "用户参数2写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            #endregion

            #region Step2.4：写入马达参数
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入马达参数" + "\r\n";
            Array.Clear(Code, 0, 32);
            //额定功率
            DataTemp = Convert.ToUInt16(array_CfgInfo[41].ToString().Split(',')[1]);
            Code[0] = (byte)(DataTemp & 0xFF);
            Code[1] = (byte)(DataTemp >> 8);
            //额定转速
            DataTemp = Convert.ToUInt16(array_CfgInfo[42].ToString().Split(',')[1]);
            Code[2] = (byte)(DataTemp & 0xFF);
            Code[3] = (byte)(DataTemp >> 8);
            //定子电阻
            DataTemp = Convert.ToUInt16(array_CfgInfo[43].ToString().Split(',')[1]);
            Code[4] = (byte)(DataTemp & 0xFF);
            Code[5] = (byte)(DataTemp >> 8);
            //Lq
            DataTemp = Convert.ToUInt16(array_CfgInfo[44].ToString().Split(',')[1]);
            Code[6] = (byte)(DataTemp & 0xFF);
            Code[7] = (byte)(DataTemp >> 8);
            //Ld
            DataTemp = Convert.ToUInt16(array_CfgInfo[45].ToString().Split(',')[1]);
            Code[8] = (byte)(DataTemp & 0xFF);
            Code[9] = (byte)(DataTemp >> 8);
            //反电动势
            DataTemp = Convert.ToUInt16(array_CfgInfo[46].ToString().Split(',')[1]);
            Code[10] = (byte)(DataTemp & 0xFF);
            Code[11] = (byte)(DataTemp >> 8);
            //额定电压
            Code[12] = Convert.ToByte(array_CfgInfo[47].ToString().Split(',')[1]);
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1D10, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "马达参数写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "马达参数写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }

            #endregion

            #region Step2.5：写入生产信息
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入生产信息" + "\r\n";
            Array.Clear(Code, 0, 32);
            string MAC_Info = array_CfgInfo[50].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                Code[i] = (byte)MAC_Info[i];
            }
            MAC_Info = array_CfgInfo[51].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                Code[8 + i] = (byte)MAC_Info[i];
            }
            MAC_Info = array_CfgInfo[52].ToString().Split(',')[1];
            for (ushort i = 0; i < ((MAC_Info.Length > 8) ? 8 : MAC_Info.Length); i++)
            {
                Code[16 + i] = (byte)MAC_Info[i];
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2420, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "生产信息写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "生产信息写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            #endregion

            #region Step2.6：写入校验密钥
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入校验密钥" + "\r\n";
            Array.Clear(Code, 0, 32);
            if (array_CfgInfo[53].ToString().EndsWith(",") == false)
            {
                string KeyString = array_CfgInfo[53].ToString().Split(',')[1];
                for (ushort i = 0; i < ((KeyString.Length > 8) ? 8 : KeyString.Length); i++)
                {
                    Code[i] = (byte)KeyString[i];
                }
            }
            else
            {
                Code.Initialize();
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1108, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "校验密钥写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "校验密钥写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            #endregion

            #region Step2.7：写入自定义信息1、2、3
            //自定义信息1
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入自定义信息1" + "\r\n";
            Array.Clear(Code, 0, 32);
            if (array_CfgInfo[54].ToString().EndsWith(",") == false)
            {
                string UserInfo1String = array_CfgInfo[54].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo1String.Length > 16 ? 16 : UserInfo1String.Length); i++)
                {
                    Code[i] = (byte)UserInfo1String[i];
                }
            }
            else
            {
                Array.Clear(Code, 0, 16);
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1410, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息1写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息1写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            //自定义信息2
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入自定义信息2" + "\r\n";
            Array.Clear(Code, 0, 32);
            if (array_CfgInfo[55].ToString().EndsWith(",") == false)
            {
                string UserInfo2String = array_CfgInfo[55].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo2String.Length > 16 ? 16 : UserInfo2String.Length); i++)
                {
                    Code[i] = (byte)UserInfo2String[i];
                }
            }
            else
            {
                Array.Clear(Code, 0, 16);
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1610, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息2写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息2写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            //自定义信息3
            Delay_ms(200);
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "写入自定义信息3" + "\r\n";
            Array.Clear(Code, 0, 32);
            if (array_CfgInfo[56].ToString().EndsWith(",") == false)
            {
                string UserInfo3String = array_CfgInfo[56].ToString().Split(',')[1];
                for (ushort i = 0; i < (UserInfo3String.Length > 16 ? 16 : UserInfo3String.Length); i++)
                {
                    Code[i] = (byte)UserInfo3String[i];
                }
            }
            else
            {
                Array.Clear(Code, 0, 16);
            }
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x1810, Code);
            Ack_Flag = false;
            Ack_Cnt = 0;
            StepTestFlag = StepTestResult_Enum.StepTestResult_Testing;
            while (StepTestFlag == StepTestResult_Enum.StepTestResult_Testing) ;//等待测试结束
            if (StepTestFlag == StepTestResult_Enum.StepTestResult_OK)//成功
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息3写入成功" + "\r\n";
            }
            else//失败
            {
                label_Step.Text = "参数写入失败，测试结束！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "自定义信息3写入失败，测试结束" + "\r\n";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            #endregion

            //参数写入完成
            label_Sta_Write.BackColor = Color.Green;
            label_Sta_Write.Text = "OK";

            #endregion

            if (推行测试执行ToolStripMenuItem.Checked == true)
            {
                #region Step3：灯电压测试
                TestStep = TestStep_Enum.Step_Light;
                label_Step.Text = "灯电压测试，请确认电压！";
                button_LightCtl.Text = "开灯";
                LightProcess();
                radioButton_Light_OK.Checked = false;
                radioButton_Light_OK.BackColor = Color.Green;
                radioButton_Light_OK.ForeColor = Color.White;
                radioButton_Light_OK.Enabled = true;
                radioButton_Light_NG.Checked = false;
                radioButton_Light_NG.Enabled = true;
                radioButton_Light_NG.BackColor = Color.Red;
                radioButton_Light_NG.ForeColor = Color.White;
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送开灯指令，请确认灯电压是否正确……" + "\r\n";
                while ((radioButton_Light_OK.Checked == false) && (radioButton_Light_NG.Checked == false)) ;
                if (radioButton_Light_OK.Checked == true)
                {
                    label_sta_light.BackColor = Color.Green;
                    radioButton_Light_NG.BackColor = Color.Gray;
                    label_sta_light.Text = "OK";
                    radioButton_Light_OK.Enabled = false;
                    radioButton_Light_NG.Enabled = false;
                }
                else if (radioButton_Light_NG.Checked == true)
                {
                    label_sta_light.BackColor = Color.Red;
                    radioButton_Light_OK.BackColor = Color.Gray;
                    label_sta_light.Text = "NG";
                    label_Step.Text = "灯电压错误，测试结束！";
                    button_LightCtl.Text = "关灯";
                    LightProcess();
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "灯电压错误，测试结束" + "\r\n";
                    //关机
                    Code[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                    开ToolStripMenuItem.Checked = false;
                    关ToolStripMenuItem.Checked = true;
                    button_Start.Enabled = true;
                    radioButton_Light_OK.Enabled = false;
                    radioButton_Light_NG.Enabled = false;
                    Delay_ms(500);
                    //关闭串口
                    portsettings_form.closePort();
                    //存储测试数据
                    ErrorSaveLog();
                    return;
                }

                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "灯电压确认完成" + "\r\n";
                button_LightCtl.Text = "关灯";
                LightProcess();
                #endregion

                #region Step4：推行测试
                TestStep = TestStep_Enum.Step_Walk;
                label_Step.Text = "推行测试，电机开始自动运转！";
                button_Walk.Text = "启动";
                Walk_Process(0x22);
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机进入推行模式，请注意安全！" + "\r\n";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "传感器自动检测开始" + "\r\n";
                OK_cnt = 0;
                WalkProcess_Cnt = 0;
                while (WalkProcess_Cnt < 20)//开始判断传感器，超时20s
                {
                    //车速传感器
                    if (SpeedSensorTest == false)
                    {
                        if (label_sensor_speed.BackColor == Color.Red)
                        {
                            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过车速传感器测试" + "\r\n";
                            label_sensor_speed.BackColor = Color.Green;
                            label_sensor_speed.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    else
                    {
                        try
                        {
                            DataTemp = (ushort)(Convert.ToDecimal(textBox_BikeSpeed.Text) * 10);
                        }
                        catch (System.Exception ex)
                        {
                            MessageBox.Show(ex.Message);
                            label_Step.Text = "推行测试异常，测试结束！";
                            //关机
                            Code[0] = 0xF0;
                            SendCmd(0x7FF, 0x16, 0x2201, Code);
                            开ToolStripMenuItem.Checked = false;
                            关ToolStripMenuItem.Checked = true;
                            button_Start.Enabled = true;
                            Delay_ms(500);
                            //关闭串口
                            portsettings_form.closePort();
                            //存储测试数据
                            ErrorSaveLog();
                            return;
                        }
                        if ((DataTemp > (SpeedSensorThData - 50)) && (DataTemp < (SpeedSensorThData + 50)))
                        {
                            if (label_sensor_speed.BackColor == Color.Red)
                            {
                                label_sensor_speed.BackColor = Color.Green;
                                label_sensor_speed.Text = "OK";
                                OK_cnt++;
                            }
                        }
                    }
                    //马达转速
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_MotorSpeed.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp > (MotorRadeSpeed - 200)) && (DataTemp < (MotorRadeSpeed + 200)))
                    {
                        if (label_sensor_motor.BackColor == Color.Red)
                        {
                            label_sensor_motor.BackColor = Color.Green;
                            label_sensor_motor.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //母线电压
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_Vol.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp > (RateVoltage - 1000)) && (DataTemp < (RateVoltage + 1000)))
                    {
                        if (label_sensor_vol.BackColor == Color.Red)
                        {
                            label_sensor_vol.BackColor = Color.Green;
                            label_sensor_vol.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //母线电流
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_Cur.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp > No_load_Current - 600) && (DataTemp < No_load_Current + 600))
                    {
                        if (label_sensor_cur.BackColor == Color.Red)
                        {
                            label_sensor_cur.BackColor = Color.Green;
                            label_sensor_cur.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //踏频
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_Cadence.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp > (RateCadence - 20)) && (DataTemp < (RateCadence + 20)))
                    {
                        if (label_sensor_cadence.BackColor == Color.Red)
                        {
                            label_sensor_cadence.BackColor = Color.Green;
                            label_sensor_cadence.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //PCB温度
                    try
                    {
                        DataTemp_Int16 = Convert.ToInt16(textBox_PCB.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp_Int16 > -20) && (DataTemp_Int16 < 60))
                    {
                        if (label_sensor_PCB_temp.BackColor == Color.Red)
                        {
                            label_sensor_PCB_temp.BackColor = Color.Green;
                            label_sensor_PCB_temp.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //绕组温度
                    try
                    {
                        DataTemp_Int16 = Convert.ToInt16(textBox_Coil.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp_Int16 > -20) && (DataTemp_Int16 < 60))
                    {
                        if (label_sensor_coil_temp.BackColor == Color.Red)
                        {
                            label_sensor_coil_temp.BackColor = Color.Green;
                            label_sensor_coil_temp.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //MCU温度
                    try
                    {
                        DataTemp_Int16 = Convert.ToInt16(textBox_MCU.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if ((DataTemp_Int16 > -20) && (DataTemp_Int16 < 60))
                    {
                        if (label_sensor_MCU_temp.BackColor == Color.Red)
                        {
                            label_sensor_MCU_temp.BackColor = Color.Green;
                            label_sensor_MCU_temp.Text = "OK";
                            OK_cnt++;
                        }
                    }
                    //测试完成，退出
                    if (OK_cnt == 8)
                    {
                        break;
                    }
                }
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "传感器自动检测结束" + "\r\n";
                //断电开关1
                label_Step.Text = "请在10s内捏下断电刹把 1！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "断电刹把 1 检测开始，请捏下断电刹把 1" + "\r\n";
                WalkProcess_Cnt = 0;
                while (WalkProcess_Cnt < 15)//10s内判断电机是否停止
                {
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_MotorSpeed.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if (DataTemp < 100)
                    {
                        if (label_Sensor_Break1.BackColor == Color.Red)
                        {
                            label_Sensor_Break1.BackColor = Color.Green;
                            label_Sensor_Break1.Text = "OK";
                            OK_cnt++;
                        }
                        break;
                    }
                }
                label_Step.Text = "请松开断电刹把 1";
                WalkProcess_Cnt = 0;
                while (WalkProcess_Cnt < 10)//等待电机再次启动，如果超时提示错误
                {
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_MotorSpeed.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if (DataTemp > 300)//电机转速超过300rpm，再次启动测试
                        break;
                }
                if (WalkProcess_Cnt >= 10)//表示超时退出，电机未启动
                {
                    label_Step.Text = "推行测试异常，测试结束！";
                    //关机
                    Code[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                    开ToolStripMenuItem.Checked = false;
                    关ToolStripMenuItem.Checked = true;
                    button_Start.Enabled = true;
                    Delay_ms(500);
                    //关闭串口
                    portsettings_form.closePort();
                    //存储测试数据
                    ErrorSaveLog();
                    return;
                }
                //断电开关2
                label_Step.Text = "请在10s内捏下断电刹把 2！";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "断电刹把 2 检测开始，请捏下断电刹把 2" + "\r\n";
                WalkProcess_Cnt = 0;
                while (WalkProcess_Cnt < 15)//10s内判断电机是否停止
                {
                    try
                    {
                        DataTemp = Convert.ToUInt16(textBox_MotorSpeed.Text);
                    }
                    catch (System.Exception ex)
                    {
                        MessageBox.Show(ex.Message);
                        label_Step.Text = "推行测试异常，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                    if (DataTemp < 100)
                    {
                        if (label_Sensor_Break2.BackColor == Color.Red)
                        {
                            label_Sensor_Break2.BackColor = Color.Green;
                            label_Sensor_Break2.Text = "OK";
                            OK_cnt++;
                        }
                        break;
                    }
                }
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "断电刹把检测结束" + "\r\n";
                label_Step.Text = "请松开断电刹把 2！";
                button_Walk.Text = "停止";
                Walk_Process(0x00);
                Delay_ms(1000);
                //判断测试结果
                if (OK_cnt < 10)
                {
                    label_Step.Text = "推行测试异常，测试结束！";
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "推行测试失败，测试结束" + "\r\n";
                    //关机
                    Code[0] = 0xF0;
                    SendCmd(0x7FF, 0x16, 0x2201, Code);
                    开ToolStripMenuItem.Checked = false;
                    关ToolStripMenuItem.Checked = true;
                    button_Start.Enabled = true;
                    Delay_ms(500);
                    //关闭串口
                    portsettings_form.closePort();
                    //存储测试数据
                    ErrorSaveLog();
                    return;
                }
                //判断BMS通信是否正常
                if (BMS检测执行ToolStripMenuItem1.Checked == true)
                {
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "检测BMS通信状态" + "\r\n";
                    if (label_BMS_COM.Text != "OK")
                    {
                        label_Step.Text = "BMS通信异常，测试结束！";
                        richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "推行测试失败，测试结束" + "\r\n";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                }
                else if (BMS检测不执行ToolStripMenuItem1.Checked == true)
                {
                    label_BMS_COM.BackColor = Color.Yellow;
                    label_BMS_COM.Text = "N/A";
                }

                #endregion

                #region Step5：转把模式测试（非必需）
                if (GasModeTest == false)
                {
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "跳过指拨模式测试" + "\r\n";
                    label_Sensor_Gas.BackColor = Color.Green;
                    label_Sensor_Gas.Text = "OK";
                }
                else
                {
                    TestStep = TestStep_Enum.Step_GasMode;
                    label_Step.Text = "指拨模式测试，请在10s内转动指拨！";
                    button_Walk.Text = "启动";
                    Walk_Process(0x04);
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "指拨模式测试开始，请转动指拨" + "\r\n";
                    OK_cnt = 0;
                    WalkProcess_Cnt = 0;
                    while (WalkProcess_Cnt < 10)//10s内判断电机是否启动
                    {
                        try
                        {
                            DataTemp = Convert.ToUInt16(textBox_MotorSpeed.Text);
                        }
                        catch (System.Exception ex)
                        {
                            MessageBox.Show(ex.Message);
                            label_Step.Text = "推行测试异常，测试结束！";
                            //关机
                            Code[0] = 0xF0;
                            SendCmd(0x7FF, 0x16, 0x2201, Code);
                            开ToolStripMenuItem.Checked = false;
                            关ToolStripMenuItem.Checked = true;
                            button_Start.Enabled = true;
                            Delay_ms(500);
                            //关闭串口
                            portsettings_form.closePort();
                            //存储测试数据
                            ErrorSaveLog();
                            return;
                        }
                        if ((DataTemp > (GasModeSpeed - 100)) && (DataTemp < (GasModeSpeed + 100)))
                        {
                            label_Sensor_Gas.BackColor = Color.Green;
                            label_Sensor_Gas.Text = "OK";
                            OK_cnt++;
                            break;
                        }
                    }
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "指拨模式测试结束" + "\r\n";
                    Delay_ms(1000);
                    button_Walk.Text = "停止";
                    Walk_Process(0x00);
                    //判断测试结果
                    if (OK_cnt < 1)
                    {
                        label_Step.Text = "指拨模式测试异常，测试结束！";
                        richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "指拨模式测试失败，测试结束" + "\r\n";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                }
                #endregion
            }
            else
            {
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "不执行推行测试" + "\r\n";
                label_sta_light.BackColor = Color.Yellow;
                label_sta_light.Text = "N/A";
                label_sensor_cadence.BackColor = Color.Yellow;
                label_sensor_cadence.Text = "N/A";
                label_sensor_cur.BackColor = Color.Yellow;
                label_sensor_cur.Text = "N/A";
                label_sensor_vol.BackColor = Color.Yellow;
                label_sensor_vol.Text = "N/A";
                label_sensor_motor.BackColor = Color.Yellow;
                label_sensor_motor.Text = "N/A";
                label_sensor_coil_temp.BackColor = Color.Yellow;
                label_sensor_coil_temp.Text = "N/A";
                label_sensor_MCU_temp.BackColor = Color.Yellow;
                label_sensor_MCU_temp.Text = "N/A";
                label_sensor_PCB_temp.BackColor = Color.Yellow;
                label_sensor_PCB_temp.Text = "N/A";
                label_sensor_speed.BackColor = Color.Yellow;
                label_sensor_speed.Text = "N/A";
                label_Sensor_Gas.BackColor = Color.Yellow;
                label_Sensor_Gas.Text = "N/A";
                label_Sensor_Break1.BackColor = Color.Yellow;
                label_Sensor_Break1.Text = "N/A";
                label_Sensor_Break2.BackColor = Color.Yellow;
                label_Sensor_Break2.Text = "N/A";
                label_BMS_COM.BackColor = Color.Yellow;
                label_BMS_COM.Text = "N/A";
            }

            #region Step6：版本查询和确认
            TestStep = TestStep_Enum.Step_CheckVer;
            label_Step.Text = "版本查询和确认";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "发送指令查询版本信息" + "\r\n";
            richTextBox_Ver.Text = "";
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(200);
            SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
            Delay_ms(200);
            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_Ver.Lines[3].Split('：')[1];
                FW_Version_Result = FW_Version_Result.Split('_')[0] + richTextBox_Ver.Lines[4].Split('-')[2].Replace('V', '.') + "_" + FW_Version_Result.Split('_')[1];
                TE_FW_Ver_Result = richTextBox_Ver.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") + "->" + "版本信息错误" + "\r\n";
                label_Step.Text = "软件版本错误，测试结束！";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }
            else
            {
                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软件版本错误" + "\r\n";
                        label_Step.Text = "TE软件版本错误，测试结束！";
                        //关机
                        Code[0] = 0xF0;
                        SendCmd(0x7FF, 0x16, 0x2201, Code);
                        开ToolStripMenuItem.Checked = false;
                        关ToolStripMenuItem.Checked = true;
                        button_Start.Enabled = true;
                        Delay_ms(500);
                        //关闭串口
                        portsettings_form.closePort();
                        //存储测试数据
                        ErrorSaveLog();
                        return;
                    }
                }
                label_FW_Version.BackColor = Color.Green;
                label_FW_Version.Text = "OK";
                richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "版本信息正确" + "\r\n";
            }
            Delay_ms(1000);
            #endregion

            #region 按照产品信息设置测试文件路径
            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

            #region Step7：参数查询和保存
            TestStep = TestStep_Enum.Step_Save;
            label_Step.Text = "参数导出";
            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "开始导出电机内部参数" + "\r\n";
            LogSaveFileName = LogSavePath + "log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName + "\\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);
            Delay_ms(100);

            //查询版本信息
            //SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1200, null);
            //Delay_ms(100);

            //SendCmd((ushort)0x651, (byte)0x11, (ushort)0x1200, null);
            //Delay_ms(100);

            //查询用户字符串1
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1300, null);
            Delay_ms(100);

            //查询用户字符串2
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1500, null);
            Delay_ms(100);

            //查询用户字符串3
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1700, null);
            Delay_ms(100);

            //查询用户参数1
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1A00, null);
            Delay_ms(100);

            //查询马达参数
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1C00, null);
            Delay_ms(100);

            //查询历史信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1E00, null);
            Delay_ms(100);

            //查询生产信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x1F00, null);
            Delay_ms(100);

            //查询力矩传感器零点 Volans
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2000, null);
            Delay_ms(100);

            //查询运行信息
            SendData[0] = 0x00;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            SendData[0] = 0x01;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            SendData[0] = 0x02;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            SendData[0] = 0x03;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            SendData[0] = 0x04;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            SendData[0] = 0x33;
            SendData[1] = 0xF0;
            SendCmd((ushort)0x751, (byte)0x16, (ushort)0x2802, SendData);
            Delay_ms(100);

            //查询力矩传感器校正信息 Volans
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2900, null);
            Delay_ms(100);

            //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);
                Delay_ms(100);
            }

            //查询骑行信息
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x2E00, null);
            Delay_ms(100);

            //查询用户参数2
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3000, null);
            Delay_ms(100);

            //查询力矩传感器零点值 Pegasi
            SendData[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Delay_ms(100);

            SendData[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Delay_ms(100);

            SendData[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3201, SendData);
            Delay_ms(100);

            //查询校正系数 Pegasi
            SendData[0] = 1;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Delay_ms(100);

            SendData[0] = 2;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Delay_ms(100);

            SendData[0] = 3;
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3301, SendData);
            Delay_ms(100);

            //查询启动值 Pegasi
            SendCmd((ushort)0x751, (byte)0x11, (ushort)0x3500, null);
            Delay_ms(100);

            richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机参数导出完成" + "\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！";
                //关机
                Code[0] = 0xF0;
                SendCmd(0x7FF, 0x16, 0x2201, Code);
                开ToolStripMenuItem.Checked = false;
                关ToolStripMenuItem.Checked = true;
                button_Start.Enabled = true;
                Delay_ms(500);
                //关闭串口
                portsettings_form.closePort();
                //存储测试数据
                ErrorSaveLog();
                return;
            }

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

            //导出的参数上传服务器
            if (StartForm.myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/walkTest/log/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow);
                }
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow, ResultPathName) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow + "/" + ResultPathName);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow + "/" + ResultPathName);
                if (result == true)
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "电机配置参数上传服务器成功" + "\r\n";
            }

            //保存测试信息
            //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 + "\\测试页面" + ".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 + "/walkTest/log/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow);
                }
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow, ResultPathName) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow + "/" + ResultPathName);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/walkTest/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";
            }

            //保存测试记录
            LogSaveFileName = LogSavePath + "log\\" + DateTime.Now.ToString("yyyy-MM-dd").Replace("/", "-") + "\\" + ResultPathName + "\\测试记录" + ".txt";
            richTextBox_TestRecord.SaveFile(LogSaveFileName, RichTextBoxStreamType.PlainText);
            //测试记录上传服务器
            if (StartForm.myFtp.IsNetConnected == true)
            {
                string DateNow = DateTime.Now.ToString("yyyy-MM-dd");
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/walkTest/log/", DateNow) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow);
                }
                if (StartForm.myFtp.DirectoryExist(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow, ResultPathName) == false)
                {
                    StartForm.myFtp.MakeDir(StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow + "/" + ResultPathName);
                }
                bool result = StartForm.myFtp.UploadFile(LogSaveFileName, StartForm.myServerCfg.RootPath + "/walkTest/log/" + DateNow + "/" + ResultPathName);
                if (result == true)
                    richTextBox_TestRecord.Text += DateTime.Now.ToString("yyyy-MM-dd HH:mm:ss") + "->" + "测试记录上传服务器成功" + "\r\n";
            }

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

        //开始测试
        private void button_Start_Click(object sender, EventArgs e)
        {
            TestStart();
        }

        //测试子函数
        private void TestStart()
        {           
            //标签初始化
            label_Init();

            //检查设置
            if ((推行测试执行ToolStripMenuItem.Checked == false) && (推行测试不执行ToolStripMenuItem.Checked == false))
            {
                label_Step.Text = "请先选择是否执行\"推行测试\"！";
                label_Step.ForeColor = Color.Red;
                return;
            }
            if ((系统清除执行ToolStripMenuItem.Checked == false) && (系统清除不执行ToolStripMenuItem.Checked == false))
            {
                label_Step.Text = "请先选择是否执行\"系统清除\"！";
                label_Step.ForeColor = Color.Red;
                return;
            }
            if ((BMS检测执行ToolStripMenuItem1.Checked == false) && (BMS检测不执行ToolStripMenuItem1.Checked == false))
            {
                label_Step.Text = "请先选择是否执行\"BMS通信检测\"！";
                label_Step.ForeColor = Color.Red;
                return;
            }

            #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！";
                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
            TestStep = TestStep_Enum.Step_Init;
            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();
        }

        //1s计时
        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;
                    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 > 5)
                {
                    MC_RunInfo_Clear();
                    MC_RunInfo_Refresh_Cnt = 0;
                }
            }
            else
            {
                MC_RunInfo_Refresh_Cnt = 0;
            }
            MC_RunInfo_Refresh = false;

            //等待反馈指令
            if (Ack_Flag == false)
            {
                Ack_Cnt++;
                if (Ack_Cnt > 2)
                {
                    Ack_Flag = true;
                    StepTestFlag = StepTestResult_Enum.StepTestResult_Fail;
                }
            }

            //推行测试计时
            if ((TestStep == TestStep_Enum.Step_Walk) || (TestStep == TestStep_Enum.Step_GasMode))
            {
                WalkProcess_Cnt++;
            }
        }

        //打开系统开关
        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;
            }

        }

        //关闭系统开关
        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;
            }
        }

        //清除流水号
        private void label8_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 richTextBox_TestRecord_TextChanged(object sender, EventArgs e)
        {
            richTextBox_TestRecord.SelectionStart = richTextBox_TestRecord.Text.Length;
            richTextBox_TestRecord.ScrollToCaret();
        }

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

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

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

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

        private void BMS检测执行ToolStripMenuItem1_Click(object sender, EventArgs e)
        {
            BMS检测执行ToolStripMenuItem1.Checked = true;
            BMS检测不执行ToolStripMenuItem1.Checked = false;
            label_TestFunsUpdate();
        }

        private void BMS检测不执行ToolStripMenuItem1_Click(object sender, EventArgs e)
        {
            StartForm.EnterForm1.ShowDialog();
            if ((StartForm.EnterForm1.textBox_User.Text == "PT") && (StartForm.EnterForm1.textBox_Passwd.Text == "123456"))
            {
                BMS检测不执行ToolStripMenuItem1.Checked = true;
                BMS检测执行ToolStripMenuItem1.Checked = false;
                label_TestFunsUpdate();
            }
            else
            {
                MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        private void 推行测试执行ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            推行测试执行ToolStripMenuItem.Checked = true;
            推行测试不执行ToolStripMenuItem.Checked = false;
            label_TestFunsUpdate();
        }

        private void 推行测试不执行ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            StartForm.EnterForm1.ShowDialog();
            if ((StartForm.EnterForm1.textBox_User.Text == "PT") && (StartForm.EnterForm1.textBox_Passwd.Text == "123456"))
            {
                推行测试不执行ToolStripMenuItem.Checked = true;
                推行测试执行ToolStripMenuItem.Checked = false;
                label_TestFunsUpdate();
            }
            else
            {
                MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        private void 系统清除执行ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            系统清除执行ToolStripMenuItem.Checked = true;
            系统清除不执行ToolStripMenuItem.Checked = false;
            label_TestFunsUpdate();
        }

        private void 系统清除不执行ToolStripMenuItem_Click(object sender, EventArgs e)
        {
            StartForm.EnterForm1.ShowDialog();
            if ((StartForm.EnterForm1.textBox_User.Text == "PT") && (StartForm.EnterForm1.textBox_Passwd.Text == "123456"))
            {
                系统清除执行ToolStripMenuItem.Checked = false;
                系统清除不执行ToolStripMenuItem.Checked = true;
                label_TestFunsUpdate();
            }
            else
            {
                MessageBox.Show("密码错误", "提示", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        private void label_TestFunsUpdate()
        {
            label_TestFun.Text = "测试功能：";
            if (系统清除执行ToolStripMenuItem.Checked == true)
                label_TestFun.Text += "系统清除  ";
            label_TestFun.Text += "参数写入  ";
            if(推行测试执行ToolStripMenuItem.Checked==true)
                label_TestFun.Text += "推行测试  ";
            if(BMS检测执行ToolStripMenuItem1.Checked==true)
                label_TestFun.Text += "BMS通信检测  ";
        }
    }
}