// DevOptDlg.cpp : 实现文件
//

#include "stdafx.h"
#include "KcCtrl.h"
#include "KcOperDlg.h"
#include "KcProtocol.h"
#include "afxdialogex.h"


// CDevOptDlg 对话框

IMPLEMENT_DYNAMIC(CKcOperDlg, CDialogEx)

CKcOperDlg::CKcOperDlg(CWnd* pParent /*=NULL*/)
	: CDialogEx(IDD_CK_OPT_DLG, pParent)
{

}

CKcOperDlg::~CKcOperDlg()
{
}

void CKcOperDlg::DoDataExchange(CDataExchange* pDX)
{
	CDialogEx::DoDataExchange(pDX);
}


BEGIN_MESSAGE_MAP(CKcOperDlg, CDialogEx)
	ON_BN_CLICKED(IDC_BTN_0xAF, &CKcOperDlg::OnBnClickedBtn0xaf)
	ON_BN_CLICKED(IDC_BTN_0xB0, &CKcOperDlg::OnBnClickedBtn0xb0)
	ON_BN_CLICKED(IDC_BTN_0xB1, &CKcOperDlg::OnBnClickedBtn0xb1)
	ON_BN_CLICKED(IDC_BTN_0x02, &CKcOperDlg::OnBnClickedBtn0x02)
	ON_BN_CLICKED(IDC_BTN_0x03, &CKcOperDlg::OnBnClickedBtn0x03)
	ON_BN_CLICKED(IDC_BTN_0x14, &CKcOperDlg::OnBnClickedBtn0x14)
	ON_BN_CLICKED(IDC_BTN_0x17, &CKcOperDlg::OnBnClickedBtn0x17)
	ON_BN_CLICKED(IDC_BTN_0xB2, &CKcOperDlg::OnBnClickedBtn0xb2)
	ON_BN_CLICKED(IDC_BTN_0xAE, &CKcOperDlg::OnBnClickedBtn0xae)
	ON_BN_CLICKED(IDC_BTN_0x1F, &CKcOperDlg::OnBnClickedBtn0x1f)
END_MESSAGE_MAP()


// CDevOptDlg 消息处理程序
void CKcOperDlg::OnBnClickedBtn0xaf()
{
	//构造请求报文
	CKcProtocol   protocol;
	unsigned char acMsgContent[1024];
	int           nMsgLength;
	protocol.BuildRequestMessage(0xAF, acMsgContent, nMsgLength);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(),theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return ;
	}

	int lRto          = 3000;//重传时间，单位毫秒
	int lRtoCnt       = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize  = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize > 0)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret = protocol.Analysis0xAFMessage(acRecv, recvSize);
		theApp.SendMsg2Platform("OPENTCS", AGV_STATUS_RPT, ret);
	}
	else
	{
		//std::cout << "Received: failed." << recvSize << std::endl;
	}
}


void CKcOperDlg::OnBnClickedBtn0xb0()
{
	//构造请求报文
	CKcProtocol   protocol;
	unsigned char acMsgContent[1024];
	int           nMsgLength;
	protocol.BuildRequestMessage(0xB0, acMsgContent, nMsgLength);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize > 0)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret = protocol.Analysis0xB0Message(acRecv, recvSize);
		theApp.SendMsg2Platform("OPENTCS", 0xB0, ret);
	}
	else
	{
		//std::cout << "Received: failed." << recvSize << std::endl;
	}
}

void CKcOperDlg::OnBnClickedBtn0x17()
{
	//构造请求报文
	CKcProtocol   protocol;
	unsigned char acMsgContent[1024];
	int           nMsgLength;
	protocol.BuildRequestMessage(0x17, acMsgContent, nMsgLength);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize > 0)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret = protocol.Analysis0x17Message(acRecv, recvSize);
		theApp.SendMsg2Platform("OPENTCS", 0x17, ret);
	}
	else
	{
		//std::cout << "Received: failed." << recvSize << std::endl;
	}
}


void CKcOperDlg::OnBnClickedBtn0xb1()
{
	// TODO: 在此添加控件通知处理程序代码
}


void CKcOperDlg::OnBnClickedBtn0x02()
{
	Json::Value  param;

	param["varCount"] = 1;

	Json::Value  value;
	Json::Value  value_item;

	value_item["name"] = "NaviControl";
	value_item["count"] = 1;

	Json::Value  member;
	Json::Value  member_item;
	member_item["offset"] = 0;
	member_item["length"] = 1;
	member.append(member_item);

	value_item["member"] = member;
	value.append(value_item);
	param["var"] = value;


	Build0x02Message(param);
}


void CKcOperDlg::OnBnClickedBtn0x03()
{
	Json::Value  param;

	param["var_count"]   = 1;

	Json::Value  value;
	Json::Value  value_item;

	value_item["name"]    = "NaviControl";
	value_item["count"]   = 1;

	Json::Value  member;
	Json::Value  member_item;
	member_item["offset"] = 0;
	member_item["length"] = 1;
	member_item["value"]  = 1;
	member.append(member_item);

	value_item["member"] = member;
	value.append(value_item);
	param["var"] = value;


	//Json::FastWriter  writer;
	//string strJson = writer.write(param);
	//AfxMessageBox(strJson.c_str());


	Build0x03Message(param);
}


void CKcOperDlg::OnBnClickedBtn0x14()
{
	Json::Value  param;

	param["angle"] = 1.0;
	param["x"]     = 3.0;
	param["y"]     = 2.0;

	Build0x14Message(param);
}





void CKcOperDlg::OnBnClickedBtn0xb2()
{
	Json::Value  param;

	int nType = 3;
	if (1 == nType)
	{
		param["paramSize"] = 4;
		param["actionParallelManner"] = 2;
		param["actionType"] = 1;

		Json::Value  paramData;
		Json::Value  dataItem;
		dataItem["isStopImmediately"] = 1;
		paramData.append(dataItem);
		param["paramData"] = paramData;
	}
	else if(2 == nType)
	{
		param["paramSize"] = 8;
		param["actionParallelManner"] = 2;
		param["actionType"] = 2;

		Json::Value  paramData;
		Json::Value  dataItem;
		dataItem["orderId"] = 1;
		dataItem["taskKey"] = 1;
		paramData.append(dataItem);
		param["paramData"] = paramData;
	}
	else if (3 == nType)
	{
		param["paramSize"] = 8;
		param["actionParallelManner"] = 2;
		param["actionType"] = 3;

		Json::Value  paramData;
		Json::Value  dataItem;
		dataItem["orderId"] = 1;
		dataItem["isStopImmediately"] = 1;
		paramData.append(dataItem);
		param["paramData"] = paramData;
	}
	
		
	Build0xB2Message(param);

}



void CKcOperDlg::Build0xAEMessage(Json::Value  param)
{
	
	unsigned char acMsgContent[1024] = { 0 };
	int nMsgLength = 0;
	CKcProtocol   protocol;

	protocol.BuildRequestMessage(0xAE, acMsgContent, nMsgLength, param);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize == 28)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret ;
		ret["state"] = 1;
		theApp.SendMsg2Platform("OPENTCS", 0xAE, ret);   //下发成功
	}
	else
	{
		Json::Value  ret;
		ret["state"] = 0;
		theApp.SendMsg2Platform("OPENTCS", 0xAE, ret);   //下发失败
	}


}

void CKcOperDlg::Build0xB2Message(Json::Value  param)
{

	unsigned char acMsgContent[1024] = { 0 };
	int nMsgLength = 0;
	CKcProtocol   protocol;

	protocol.BuildRequestMessage(0xB2, acMsgContent, nMsgLength, param);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize == 28)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret;
		ret["state"] = 1;
		theApp.SendMsg2Platform("OPENTCS", 0xB2, ret);   //下发成功
	}
	else
	{
		Json::Value  ret;
		ret["state"] = 0;
		theApp.SendMsg2Platform("OPENTCS", 0xB2, ret);   //下发失败
	}


}

void CKcOperDlg::Build0x02Message(Json::Value  param)
{

	unsigned char acMsgContent[1024] = { 0 };
	int nMsgLength = 0;
	CKcProtocol   protocol;

	protocol.BuildRequestMessage(0x02, acMsgContent, nMsgLength, param);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize >= 28)
	{
		Json::Value  ret = protocol.Analysis0x02Message(acRecv, recvSize);
		theApp.SendMsg2Platform("OPENTCS", 0x02, ret);
		//Json::Value  ret;
		//ret["state"] = 1;
		//theApp.SendMsg2Platform("OPENTCS", 0x02, ret);   //下发成功
	}
	else
	{
		Json::Value  ret;
		ret["state"] = 0;
		theApp.SendMsg2Platform("OPENTCS", 0x02, ret);   //下发失败
	}


}




void CKcOperDlg::Build0x14Message(Json::Value  param)
{

	unsigned char acMsgContent[1024] = { 0 };
	int nMsgLength = 0;
	CKcProtocol   protocol;

	protocol.BuildRequestMessage(0x14, acMsgContent, nMsgLength, param);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize >= 28)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret;
		ret["state"] = 1;
		theApp.SendMsg2Platform("OPENTCS", 0x14, ret);   //下发成功
	}
	else
	{
		Json::Value  ret;
		ret["state"] = 0;
		theApp.SendMsg2Platform("OPENTCS", 0x14, ret);   //下发失败
	}


}



void CKcOperDlg::Build0x03Message(Json::Value  param)
{

	unsigned char acMsgContent[1024] = { 0 };
	int nMsgLength = 0;
	CKcProtocol   protocol;

	protocol.BuildRequestMessage(0x03, acMsgContent, nMsgLength, param);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize == 28)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		Json::Value  ret;
		ret["state"] = 1;
		theApp.SendMsg2Platform("OPENTCS", 0x03, ret);   //下发成功
	}
	else
	{
		Json::Value  ret;
		ret["state"] = 0;
		theApp.SendMsg2Platform("OPENTCS", 0x03, ret);   //下发失败
	}


}

void CKcOperDlg::OnBnClickedBtn0xae()
{
	//模拟数据报文
	Json::Value  param;

	param["orderId"]   = 1;
	param["taskKey"]   = 1;
	param["pointSize"] = 2;
	param["pathSize"]  = 1;

	Json::Value  pointInfo;
	Json::Value  pointItem;
	pointItem["pointSerialNumber"] = 0;
	pointItem["pointId"] = 1;
	pointItem["frontAngle"] = 0;
	pointItem["isFrontAngle"] = 0;
	pointInfo.append(pointItem);
	pointItem["pointSerialNumber"] = 2;
	pointItem["pointId"] = 2;
	pointItem["frontAngle"] = 0;
	pointItem["isFrontAngle"] = 0;
	pointInfo.append(pointItem);

	param["point"] = pointInfo;


	Json::Value  pathInfo;
	Json::Value  pathItem;
	pathItem["pathSerialNumber"] = 1;
	pathItem["pathId"]           = 12;
	pathItem["pathActionSize"]   = 0;
	pathItem["pathActionSize"] = 0;
	pathItem["maximumSpeed"]   = 1.0;
	pathItem["maximumAngularVelocity"] = 1.0;
	pathItem["isFixedAngle"] = 0;
	pathItem["fixedAngle"] = 0;
	pathItem["drivePosture"] = 0;
	pathInfo.append(pathItem);
	param["path"] = pathInfo;

	Build0xAEMessage(param);
}


void CKcOperDlg::OnBnClickedBtn0x1f()
{
	//构造请求报文
	CKcProtocol   protocol;
	unsigned char acMsgContent[1024];
	int           nMsgLength;
	protocol.BuildRequestMessage(0x1F, acMsgContent, nMsgLength);

	if (!m_udpClent.Connect(theApp.m_strControllerIp.GetBuffer(), theApp.m_nControllerPort))
	{
		std::cout << "Connect error." << std::endl;
		return;
	}

	int lRto = 3000;//重传时间，单位毫秒
	int lRtoCnt = 3;//最大重传次数
	unsigned char acRecv[1024] = { 0 };//接收数据缓冲区
	int lRecvbufSize = sizeof(acRecv);//接收缓冲区大小

	int recvSize = m_udpClent.SendAndRecv((const char *)acMsgContent, nMsgLength, (char *)acRecv, lRecvbufSize, lRto, lRtoCnt);
	if (recvSize > 0)
	{
		//std::cout << "Received: " << acRecv << std::endl;
		//Json::Value  ret = protocol.Analysis0xAFMessage(acRecv, recvSize);

		Json::Value  ret;
		ret["state"] = 1;
		theApp.SendMsg2Platform("OPENTCS", 0x1F, ret);
	}
	else
	{
		//std::cout << "Received: failed." << recvSize << std::endl;
	}
}