import CommonConstants from '../common/constants/CommonConstants'
import RobotErrorHandleRequest from '../common/util/request/RobotErrorHandleRequest'
import MechanicalArmDebuggingRequest from '../common/util/request/MechanicalArmDebuggingRequest'
import RobotInfo from '../model/RobotInfo'
import RequestParam from '../viewmodel/RobotErrorHandle/RequestParam'
import router from '@ohos.router'
@Entry
@Component
export struct RobotErrorHandle {

  @State robots: RobotInfo[] = CommonConstants.ROBOTS

  @State list: Resource[] = [$r('app.media.car_preview'), $r('app.media.car_preview')]
  @State selectRobot: number = 0
  @State HingingLevel: number = 0
  @State HingingIndex: number = 0
  @State HingingString: string = '原位'
  @State colorArray: number[] = [1,1,1,1,1,1,1,1,1,1,1,1,1,1]
  @State clickStatus: number[] = [1,1,1,1,1,1,1,1,1,1,1,1,1,1]
  @State reminds:string='1'
  @State robotArray: Array<SelectOption> = []
  aboutToAppear(): void {
    if (this.robots && this.robots.length > 0) {
      for (const robot of this.robots ) {
        let option: SelectOption = { value: robot.robotCode ? robot.robotCode : ''}
        this.robotArray.push(option)
      }
    }
  }

  remindController: CustomDialogController = new CustomDialogController({
    builder: RemindDialog({
      remind: this.reminds,}
    ),
  })

  RobotSingleMoveController: CustomDialogController = new CustomDialogController({
    builder: RobotSingleMoveDialog({
      robots: this.robots,
      selectRobot: this.selectRobot,
    }
    ),
    alignment: DialogAlignment.Center,
    autoCancel: true,
    customStyle: true,
  })

  setRobotLocationController: CustomDialogController = new CustomDialogController({
    builder: SetRobotLocationDialog({
      robots: this.robots,
      selectRobot: this.selectRobot,
    }),
    alignment: DialogAlignment.Center,
    autoCancel: true,
    customStyle: true,
  })

  /*handleMoveErrorController: CustomDialogController = new CustomDialogController({
    builder: HandleMoveErrorDialog({
      robots: this.robots,
      selectRobot: this.selectRobot,
    }),
    alignment: DialogAlignment.Center,
    autoCancel: true,
    customStyle: true,
  })*/

  build() {
    Column() {
      Row() {
        Row() {
          Image($r('app.media.return'))
            .height(px2vp(48))
            .width(px2vp(48))
            .onClick(async () => {
              router.back()
            })
        }
        .width('20%')

        Row() {
          Text('机器人控制')
            .padding(10)
            .height('100%')
            .fontSize($r('app.float.title_font_size'))
        }
        .justifyContent(FlexAlign.End)
        .width('40%')

        Row() {
          Text('机器人：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
            .textAlign(TextAlign.End)
          Select(this.robotArray)
            .selected(this.selectRobot)
            .value(this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].robotCode ? this.robots[this.selectRobot].robotCode : '')
            .font({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium})
            .fontColor($r('app.color.black_100'))
            .borderRadius($r('app.float.general_border_radius'))
            .width('40%')
            .height('100%')
            .margin({right: '5%'})
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .selectedOptionFontColor($r('app.color.blue_100'))
            .selectedOptionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Bold})
            .optionFontColor($r('app.color.black_100'))
            .optionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Medium})
            .menuAlign(MenuAlignType.START, {dx:0, dy:0})
            .onSelect((index: number) => {
              this.selectRobot = index
            })
        }
        .width('40%')
        .height('100%')
        .justifyContent(FlexAlign.End)
      }
      .width('100%')
      .height('8%')
      .padding({ left: px2vp(24) })
      .alignItems(VerticalAlign.Center)
      .justifyContent(FlexAlign.Start)

      Row(){
        Column() {
          Image($r('app.media.robot_move'))
            .width($r('app.float.general_icon_size'))
            .height($r('app.float.general_icon_size'))
          Text('位移')
            .fontSize($r('app.float.set_card_font_size'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('10%')
        .height('100%')

        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})

        Row() {
          Column() {
            Text('设置小车位置')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.coordinate_edit'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[0] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[0] = 2
          delayExecution(()=>{
            this.colorArray[0] = 1
          }, 100)
          this.setRobotLocationController.open()
        })

        Row() {
          Column() {
            Text('查询小车位置')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.robot_list'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[1] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[1] = 2
          delayExecution(()=>{
            this.colorArray[1] = 1
          }, 100)
          if (this.clickStatus[1] == 1) {
            this.clickStatus[1] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[1] = 1
            }, 2000)
            console.log('hhtest','执行函数：查询小车')
            let res: RgvInfo = await RobotErrorHandleRequest.get('/api/v1/wcs/rgv/' + this.robots[this.selectRobot].robotCode, {}) as RgvInfo
            if(res) {
              this.reminds = this.robots[this.selectRobot].robotCode+'小车位置：' + 'x:' + (res.x ? res.x : '') + ' y:' + (res.y ? res.y : '');
              this.remindController.open()
              delayExecution(() => {
                console.log('hhtest', '状态修改')
                this.remindController.close()
              }, 2000)
            }
          }
        })

        Row() {
          Column() {
            Text('查询小车状态')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.search_state'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[12] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[12] = 2
          delayExecution(()=>{
            this.colorArray[12] = 1
          }, 100)
          if (this.clickStatus[12] == 1) {
            this.clickStatus[12] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[12] = 1
            }, 2000)
            console.log('hhtest','执行函数：查询小车')
            let res: RgvInfo = await RobotErrorHandleRequest.get('/api/v1/wcs/rgv/' + this.robots[this.selectRobot].robotCode, {}) as RgvInfo
            let status:string = (res.status? res.status : '')
            if(status==='0')
            {
              this.reminds=this.robots[this.selectRobot].robotCode+'小车状态：静止'
            }
            else if (status==='1')
            {
              this.reminds=this.robots[this.selectRobot].robotCode+'小车状态：任务或充电'
            }
            else if (status==='2')
            {
              this.reminds=this.robots[this.selectRobot].robotCode+'小车状态：故障'
            }
            else{
              this.reminds=this.robots[this.selectRobot].robotCode+'小车状态：故障'
            }
            this.remindController.open()
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.remindController.close()
            }, 2000)
          }
        })

        Row() {
          Column() {
            Text('单步移动小车')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.single_move'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[13] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[13] = 2
          delayExecution(()=>{
            this.colorArray[13] = 1
          }, 100)
          this.RobotSingleMoveController.open()
        })


      }
      .height('22%')
      .width('100%')

      /* */
      Row(){
        Column() {
          Image($r('app.media.hanging_basket'))
            .width($r('app.float.general_icon_size'))
            .height($r('app.float.general_icon_size'))
          Text('吊篮')
            .fontSize($r('app.float.set_card_font_size'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('10%')
        .height('100%')
        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})

        Row() {
          Column() {
            Text('移动吊盘')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')
          Column() {
            Image($r('app.media.hanging_basket_up'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[3] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[3] = 2
          delayExecution(()=>{
            this.colorArray[3] = 1
          }, 100)
          if (this.clickStatus[3] == 1) {
            this.clickStatus[3] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[3] = 1
            }, 2000)
            console.log('hhtest','执行函数：移动吊盘')
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/moveBasket', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              level: this.HingingLevel.toString(),
            } as RequestParam)
            console.log('移动吊盘：' + res.toString())
            this.reminds = '移动吊盘'
            this.remindController.open()
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.remindController.close()
            }, 2000)
          }
        })

        Row(){
          Text('层数：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
            .textAlign(TextAlign.End)
          // TextInput({ placeholder: '请输入数字', text: this.HingingLevel + ''})
          //   .placeholderColor($r('app.color.login_text_input_placeholder_color'))
          //   .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
          //   .fontColor($r('app.color.login_text_input_font_color'))
          //   .fontWeight(FontWeight.Medium)
          //   .type(InputType.Number)
          //   .maxLength(6)
          //   .fontSize($r('app.float.fontSize_24'))
          //   .width('60%')
          //   .height('100%')
          //   .opacity($r('app.float.general_font_opacity'))
          //   .borderRadius($r('app.float.general_border_radius'))
          //   .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          //   .onChange((value: string) => {
          //     this.HingingLevel = parseInt(value)
          //   })
          Select([
            {value:"原位"},
            {value:"第一层"},
            {value:"第二层"},
            {value:"第三层"},
            {value:"第四层"},
            {value:"第五层"},
            {value:"第六层"},
            {value:"抽屉位"},
          ])
            .selected(this.HingingIndex)
            .value(this.HingingString)
            .font({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium})
            .fontColor($r('app.color.black_100'))
            .borderRadius($r('app.float.general_border_radius'))
            .width('80%')
            .height('100%')
            .margin({right: '5%'})
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .selectedOptionFontColor($r('app.color.blue_100'))
            .selectedOptionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Bold})
            .optionFontColor($r('app.color.black_100'))
            .optionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Medium})
            .menuAlign(MenuAlignType.START, {dx:0, dy:0})
            .onSelect((index: number,text:string) => {
              if(index!=7){
                this.HingingLevel = index
              }else{
                this.HingingLevel = 128
              }
              this.HingingString = text
              this.HingingIndex = index
            })
        }
        .width('20%')
        .height('30%')

        Row() {
          Column() {
            Text('抓夹张开')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.open_zhuajia'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[4] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%',left:"23"})
        .onClick(async ()=>{
          this.colorArray[4] = 2
          delayExecution(()=>{
            this.colorArray[4] = 1
          }, 100)
          if (this.clickStatus[4] == 1) {
            this.clickStatus[4] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[4] = 1
            }, 2000)
            console.log('hhtest', '执行函数：张开抓夹')
            // 张开抓夹
            let res: object =  await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/controlClip', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              action: '1',
            } as RequestParam)
            console.log('抓夹张开：' + res.toString())
            this.reminds = '抓夹张开'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
          }
        })
        Row() {
          Column() {
            Text('抓夹闭合')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.close_zhuajia'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[5] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[5] = 2
          delayExecution(()=>{
            this.colorArray[5] = 1
          }, 100)
          if (this.clickStatus[5] == 1) {
            this.clickStatus[5] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[5] = 1
            }, 2000)
            this.reminds = '抓夹闭合'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
            // 闭合抓夹
            console.log('hhtest', '执行函数：闭合抓夹')
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/controlClip', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              action: '2',
            } as RequestParam)
            console.log('抓夹闭合：' + res.toString())
            this.reminds = '抓夹闭合'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
          }
        })
      }
      .height('22%')
      .width('100%')

      Row(){
        Column() {
          Image($r('app.media.robot_battery'))
            .width($r('app.float.general_icon_size'))
            .height($r('app.float.general_icon_size'))
          Text('电源')
            .fontSize($r('app.float.set_card_font_size'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('10%')
        .height('100%')
        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})

        Row() {
          Column() {
            Text('电机开机')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.electrical_machinery_on'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[6] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[6] = 2
          delayExecution(()=>{
            this.colorArray[6] = 1
          }, 100)
          if (this.clickStatus[6] == 1) {
            this.clickStatus[6] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[6] = 1
            }, 2000)
            console.log('hhtest', '执行函数：电机开机---')
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOn', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              option: 'motor'
            } as RequestParam)
            console.log('机器人开机：' + res.toString());
            delayExecution(async () => {
              res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOn', {
                rgvNo: this.robots[this.selectRobot].robotCode,
                option: 'mainPower'
              } as RequestParam);
              console.log('机器人开机：' + res.toString());
              res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOn', {
                rgvNo: this.robots[this.selectRobot].robotCode,
                option: 'mcu'
              } as RequestParam);
              console.log('机器人开机：' + res.toString());
            }, 5000);
            this.reminds = '机器人开机'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
          }
        })

        Row() {
          Column() {
            Text('电机关机')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.electrical_machinery_off'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[7] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[7] = 2
          delayExecution(()=>{
            this.colorArray[7] = 1
          }, 100)
          if (this.clickStatus[7] == 1) {
            this.clickStatus[7] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[7] = 1
            }, 2000)
            console.log('hhtest', '执行函数：电机关机---')
            let res1: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/TurnChargingSwitch', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              option: 'off'
            } as RequestParam);
            console.log('机器人关机：' + res1.toString());
            delayExecution(async () => {
              let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOff', {
                rgvNo: this.robots[this.selectRobot].robotCode,
                option: 'motor'
              } as RequestParam);
              console.log('机器人关机：' + res.toString());
              delayExecution(async () => {
                res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOff', {
                  rgvNo: this.robots[this.selectRobot].robotCode,
                  option: 'mainPower'
                } as RequestParam);
                console.log('机器人关机：' + res.toString());
                res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/rgvPowerOff', {
                  rgvNo: this.robots[this.selectRobot].robotCode,
                  option: 'mcu'
                } as RequestParam);
                console.log('机器人关机：' + res.toString());
                this.reminds = '机器人关机';
                this.remindController.open();
                delayExecution(() => {
                  this.remindController.close();
                }, 2000);
              }, 5000);
            }, 5000);
          }
        })

        Row() {
          Column() {
            Text('开始充电')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.robot_charge_connect'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[8] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[8] = 2
          delayExecution(()=>{
            this.colorArray[8] = 1
          }, 100)
          if (this.clickStatus[8] == 1) {
            this.clickStatus[8] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[8] = 1
            }, 2000)
            console.log('hhtest', '执行函数：开始充电---')
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/TurnChargingSwitch', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              option: 'on'
            } as RequestParam)
            console.log('手动充电：' + res.toString())
            this.reminds = '充电开始'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
          }
        })

        Row() {
          Column() {
            Text('停止充电')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.robot_charge_disconnect'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[9] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[9] = 2
          delayExecution(()=>{
            this.colorArray[9] = 1
          }, 100)
          if (this.clickStatus[9] == 1) {
            this.clickStatus[9] = 2
            delayExecution(() => {
              console.log('hhtest', '状态修改')
              this.clickStatus[9] = 1
            }, 2000)
            console.log('hhtest', '执行函数：停止充电---')
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/TurnChargingSwitch', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              option: 'off'
            } as RequestParam)
            console.log('手动充电结束：' + res.toString())
            this.reminds = '充电结束'
            this.remindController.open()
            delayExecution(()=>{
              this.remindController.close()
            }, 2000)
          }
        })
      }
      .height('22%')
      .width('100%')

      Row(){
        Column() {
          Image($r('app.media.open_close_door'))
            .width($r('app.float.general_icon_size'))
            .height($r('app.float.general_icon_size'))
          Text('开关门')
            .fontSize($r('app.float.set_card_font_size'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('10%')
        .height('100%')
        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})

        Row() {
          Column() {
            Text('充电室开门')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.open_door'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[10] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[10] = 2
          delayExecution(()=>{
            this.colorArray[10] = 1
          }, 100)
          if (this.clickStatus[10] == 1) {
            this.clickStatus[10] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[10] = 1
            }, 2000)
            console.log('hhtest','执行函数：充电室开门')
            let res: object = await MechanicalArmDebuggingRequest.post('/api/v1/device/setup', {
              deviceNo: "EC2A-IM24R00",
              data: {
                output: "g0b20:1"
              }
            } as EtherCATInfo)
            console.log('http：' + res.toString())
            this.reminds = '充电室开门'
            this.remindController.open()
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.remindController.close()
            }, 2000)

          }
        })

        Row() {
          Column() {
            Text('充电室关门')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.close_door'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[11] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[11] = 2
          delayExecution(()=>{
            this.colorArray[11] = 1
          }, 100)
          if (this.clickStatus[11] == 1) {
            this.clickStatus[11] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[11] = 1
            }, 2000)
            console.log('hhtest','执行函数：充电室关门')
            let res: object = await MechanicalArmDebuggingRequest.post('/api/v1/device/setup', {
              deviceNo: "EC2A-IM24R00",
              data: {
                output: "g0b20:0"
              }
            } as EtherCATInfo)
            console.log('http：' + res.toString())
            this.reminds = '充电室关门'
            this.remindController.open()
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.remindController.close()
            }, 2000)

          }
        })

        Row() {
          Column() {
            Text('清除错误')
              .fontSize($r('app.float.robot_set_font_size'))
              .fontWeight(FontWeight.Medium)
              .margin({left: '10%'})
          }
          .width('70%')

          Column() {
            Image($r('app.media.robot_clean'))
              .width('55px')
              .height('55px')
          }
          .width('30%')
        }
        .width('20%')
        .height('60%')
        .backgroundColor(this.colorArray[2] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .alignItems(VerticalAlign.Center)
        .justifyContent(FlexAlign.End)
        .borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%' })
        .onClick(async ()=>{
          this.colorArray[2] = 2
          delayExecution(()=>{
            this.colorArray[2] = 1
          }, 100)
          if (this.clickStatus[2] == 1) {
            this.clickStatus[2] = 2
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.clickStatus[2] = 1
            }, 2000)
            console.log('hhtest','执行函数：清除错误')
            let res: ErrorMessage = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/clearRgvError', {
              rgvNo: this.robots[this.selectRobot].robotCode,
            } as RequestParam)
            console.log('清除错误：' + res.toString())
            this.reminds = '清除错误'
            this.remindController.open()
            delayExecution(()=>{
              console.log('hhtest','状态修改')
              this.remindController.close()
            }, 2000)

          }
        })
      }
      .height('22%')
      .width('100%')

    }
    .backgroundColor($r('app.color.white_f1f3f5'))
    .width('100%')
    .height('100%')
  }
}

@CustomDialog
struct RemindDialog {
  controller: CustomDialogController
  @Link remind: string
  build() {
    Column() {
      Text(this.remind)
        .fontSize(20)
        .margin({ top: 10, bottom: 10 })
    }
  }
}

@CustomDialog
struct RobotSingleMoveDialog {
  controller: CustomDialogController

  @Link robots: RobotInfo[]
  @Link selectRobot: number
  @State isInputEnabled: boolean = false;
  @State plusXDirection:number = 0
  @State plusYDirection:number =0
  @State minusXDirection:number =0
  @State minusYDirection:number =0
  @State moveColorArray: number[] = [1,1,1,1]
  build() {
    Column() {
      Row(){
        Text('小车单步移动控制')
          .fontWeight(FontWeight.Medium)
          .fontSize($r('app.float.fontSize_30'))
          .focusable(true)
          .defaultFocus(true)
      }
      .height('20%')
      Row() {
        Row() {
          Text('X轴')
            .fontSize($r('app.float.fontSize_30'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('15%')
        .height('90%')
        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})
        Row() {
          Text('正方向移动')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .height('100%')
            .textAlign(TextAlign.End)
        }.borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%',left:'3%' })
        .justifyContent(FlexAlign.Center)
        .width('20%')
        .height('90%')
        .backgroundColor(this.moveColorArray[0] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .onClick(async ()=>{
          this.moveColorArray[0] = 2
          delayExecution(()=>{
            this.moveColorArray[0] = 1
          }, 100)
          let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/singleStepMoveRgv', {
            rgvNo: this.robots[this.selectRobot].robotCode,
            direction: 'x+',
            len:this.plusXDirection.toString(),
          } as RobotSingleMovePost)
          console.log('小车X正向移动：' + res.toString())
        })
        Row() {
          TextInput({ placeholder: '请输入数字', text: this.plusXDirection + '' })
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('10%')
            .height('50%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.plusXDirection = parseInt(value)
            })
          Text('步')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .height('100%')
            .textAlign(TextAlign.End)
        }

        Row() {
          Text('负方向移动')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .height('100%')
            .textAlign(TextAlign.End)
        }.borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%',left:'3%' })
        .justifyContent(FlexAlign.Center)
        .width('20%')
        .height('90%')
        .backgroundColor(this.moveColorArray[1] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .onClick(async ()=>{
          this.moveColorArray[1] = 2
          delayExecution(()=>{
            this.moveColorArray[1] = 1
          }, 100)
          let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/singleStepMoveRgv', {
            rgvNo: this.robots[this.selectRobot].robotCode,
            direction: 'x-',
            len:this.minusXDirection.toString(),
          } as RobotSingleMovePost)
          console.log('小车X负向移动：' + res.toString())
        })
        Row() {
          TextInput({ placeholder: '请输入数字', text: this.minusXDirection + '' })
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('10%')
            .height('50%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.minusXDirection = parseInt(value)
            })
          Text('步')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .height('100%')
            .textAlign(TextAlign.End)
        }
      }.width('90%')
      .height('30%')
      .justifyContent(FlexAlign.Start)
      Row() {
        Row() {
          Text('Y轴')
            .fontSize($r('app.float.fontSize_30'))
            .fontColor($r('app.color.general_font_color'))
            .opacity($r('app.float.general_font_opacity'))
            .fontWeight(FontWeight.Medium)
        }
        .borderRadius($r('app.float.general_border_radius'))
        .justifyContent(FlexAlign.Center)
        .width('15%')
        .height('90%')
        Divider().vertical(true).color($r('app.color.black_100')).height('80%')
          .margin({right: '2%'})
        Row() {
          Text('正方向移动')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .height('100%')
            .textAlign(TextAlign.End)
        }.borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%',left:'3%' })
        .justifyContent(FlexAlign.Center)
        .width('20%')
        .height('90%')
        .backgroundColor(this.moveColorArray[2] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .onClick(async ()=>{
          this.moveColorArray[2] = 2
          delayExecution(()=>{
            this.moveColorArray[2] = 1
          }, 100)
          let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/singleStepMoveRgv', {
            rgvNo: this.robots[this.selectRobot].robotCode,
            direction: 'y+',
            len:this.plusYDirection.toString(),
          } as RobotSingleMovePost)
          console.log('小车Y正向移动：' + res.toString())
        })
        Row() {
          TextInput({ placeholder: '请输入数字', text: this.plusYDirection + '' })
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('10%')
            .height('50%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.plusYDirection = parseInt(value)
            })
          Text('步')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .height('100%')
            .textAlign(TextAlign.End)
        }

        Row() {
          Text('负方向移动')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .height('100%')
            .textAlign(TextAlign.End)
        }.borderRadius($r('app.float.process_call_image_radius'))
        .margin({right: '2%',left:'3%' })
        .justifyContent(FlexAlign.Center)
        .width('20%')
        .height('90%')
        .backgroundColor(this.moveColorArray[3] == 1 ? $r('app.color.process_divider_white_color') : $r('app.color.process_nameplate_grey_color'))
        .onClick(async ()=>{
          this.moveColorArray[3] = 2
          delayExecution(()=>{
            this.moveColorArray[3] = 1
          }, 100)
          let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/singleStepMoveRgv', {
            rgvNo: this.robots[this.selectRobot].robotCode,
            direction: 'y-',
            len:this.minusYDirection.toString(),
          } as RobotSingleMovePost)
          console.log('小车Y负向移动：' + res.toString())
        })
        Row() {
          TextInput({ placeholder: '请输入数字', text: this.minusYDirection + '' })
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('10%')
            .height('50%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.minusYDirection = parseInt(value)
            })
          Text('步')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .height('100%')
            .textAlign(TextAlign.End)
        }
      }.width('90%')
      .height('30%')
      .justifyContent(FlexAlign.Start)
    } .width('50%')
    .height('30%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceEvenly)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

//设置车位置弹窗
@CustomDialog
struct SetRobotLocationDialog {
  controller: CustomDialogController

  @Link robots: RobotInfo[]
  @Link selectRobot: number

  @State robotX: number = 0
  @State robotY: number = 0
  @State tempSelect: number = 1
  @State robotArray: Array<SelectOption> = []
  aboutToAppear(): void {
    this.tempSelect = this.selectRobot
    if (this.robots && this.robots.length > 0) {
      for (const robot of this.robots ) {
        let option: SelectOption = { value: robot.robotCode ? robot.robotCode : ''}
        this.robotArray.push(option)
      }
    }
  }

  build() {
    Column() {
      Row(){
        Text('设置位置')
          .fontWeight(FontWeight.Medium)
          .fontSize($r('app.float.fontSize_50'))
      }
      .height('20%')

      Row() {
        Text('机器人：')
          .fontWeight(FontWeight.Medium)
          .fontSize($r('app.float.fontSize_18'))
          .width('20%')
          .height('100%')
          .textAlign(TextAlign.End)
        Select(this.robotArray)
          .selected(this.selectRobot)
          .value(this.robots && this.robots[this.selectRobot] && this.robots[this.selectRobot].robotCode ? this.robots[this.selectRobot].robotCode : '')
          .font({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium})
          .fontColor($r('app.color.black_100'))
          .borderRadius($r('app.float.general_border_radius'))
          .width('60%')
          .height('100%')
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .selectedOptionFontColor($r('app.color.blue_100'))
          .selectedOptionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Bold})
          .optionFontColor($r('app.color.black_100'))
          .optionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Medium})
          .menuAlign(MenuAlignType.START, {dx:0, dy:0})
          .onSelect((index: number) => {
            console.log('hhtest', index);
            this.tempSelect = index
          })
      }
      .width('80%')
      .height('15%')
      .justifyContent(FlexAlign.Center)

      Row(){
        Text('X轴：')
          .fontWeight(FontWeight.Medium)
          .fontSize($r('app.float.fontSize_18'))
          .width('20%')
          .height('100%')
          .textAlign(TextAlign.End)
        TextInput({ placeholder: '请输入数字', text: this.robotX + ''})
          .placeholderColor($r('app.color.login_text_input_placeholder_color'))
          .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
          .fontColor($r('app.color.login_text_input_font_color'))
          .fontWeight(FontWeight.Medium)
          .type(InputType.Number)
          .maxLength(6)
          .fontSize($r('app.float.fontSize_24'))
          .width('60%')
          .height('100%')
          .opacity($r('app.float.general_font_opacity'))
          .borderRadius($r('app.float.general_border_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onChange((value: string) => {
            this.robotX = parseInt(value)
          })
      }
      .width('80%')
      .height('15%')
      .justifyContent(FlexAlign.Center)

      Row(){
        Text('Y轴：')
          .fontWeight(FontWeight.Medium)
          .fontSize($r('app.float.fontSize_18'))
          .width('20%')
          .height('100%')
          .textAlign(TextAlign.End)
        TextInput({ placeholder: '请输入数字', text: this.robotY + ''})
          .placeholderColor($r('app.color.login_text_input_placeholder_color'))
          .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
          .fontColor($r('app.color.login_text_input_font_color'))
          .fontWeight(FontWeight.Medium)
          .type(InputType.Number)
          .maxLength(6)
          .fontSize($r('app.float.fontSize_24'))
          .width('60%')
          .height('100%')
          .opacity($r('app.float.general_font_opacity'))
          .borderRadius($r('app.float.general_border_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onChange((value: string) => {
            this.robotY = parseInt(value)
          })
      }
      .width('80%')
      .height('15%')
      .justifyContent(FlexAlign.Center)

      Row() {
        Button('取消')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.robot_set_card_blue'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_coord_card_grey'))
          .onClick(() => {
            this.controller?.close()
          })
        Row()
          .width('2.5%')
        Button('确认')
          .fontSize($r('app.float.robot_set_font_size'))
          .fontWeight(FontWeight.Medium)
          .fontColor($r('app.color.general_font_white_color'))
          .width('32%')
          .height('50%')
          .borderRadius($r('app.float.robot_set_radius'))
          .backgroundColor($r('app.color.robot_set_card_blue'))
          .onClick(async() => {
            this.selectRobot = this.tempSelect
            let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/newposition', {
              rgvNo: this.robots[this.selectRobot].robotCode,
              x: this.robotX.toString(),
              y: this.robotY.toString()
            } as RequestParam)
            console.log('设置机器人位置：' + res.toString())
            if (this.controller != undefined) {
              this.controller.close()
            }
          })
      }
      .justifyContent(FlexAlign.Center)
      .height('25%')
      .width('100%')

    }
    .width('48%')
    .height('74%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceBetween)
    .borderRadius($r('app.float.general_border_radius'))
  }
}

//处理移动错误弹窗
/*@CustomDialog
struct HandleMoveErrorDialog {
  controller: CustomDialogController

  @Link robots: RobotInfo[]
  @Link selectRobot: number

  @State robotX: number = 0
  @State robotY: number = 0
  @State tempSelect: number = 1
  @State robotArray: Array<SelectOption> = []
  // 料箱
  @State boxArray: Array<SelectOption> = []
  @State boxCode: string = ''
  @State boxX: string = ''
  @State boxY: string = ''
  async aboutToAppear() {
    this.tempSelect = this.selectRobot
    if (this.robots && this.robots.length > 0) {
      for (const robot of this.robots ) {
        let option: SelectOption = { value: robot.robotCode ? robot.robotCode : ''}
        this.robotArray.push(option)
      }
    }

    let res : Array<BoxInfo> = await RobotErrorHandleRequest.get('/api/v1/wcs/boxs', {})
    if (res && res.length > 0) {
      for (const box of res ) {
        let option: SelectOption = { value: box.no ? box.no : '' }
        this.boxArray.push(option)
      }
    }
  }

  build() {
    Row() {
      Column() {
        Row(){
          Text('查询料箱应在位置')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_50'))
        }
        .height('20%')

        Row() {
          Text('选择料箱：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('30%')
            .height('100%')
          Select(this.boxArray)
            .value(this.boxCode)
            .font({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium})
            .fontColor($r('app.color.black_100'))
            .borderRadius($r('app.float.general_border_radius'))
            .width('50%')
            .height('100%')
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .selectedOptionFontColor($r('app.color.blue_100'))
            .selectedOptionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Bold})
            .optionFontColor($r('app.color.black_100'))
            .optionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Medium})
            .menuAlign(MenuAlignType.START, {dx:0, dy:0})
            .onSelect(async (index: number) => {
              this.boxCode = this.boxArray[index].value.toString()
              if (this.boxCode && this.boxCode.length > 0) {
                let res: BoxLocation = await RobotErrorHandleRequest.get('/api/v1/wcs/box/state/' + this.boxCode, {}) as BoxLocation
                if (res && res.pos && res.pos.length > 0 && res.pos.includes('-')) {
                  let strArray: string[] = res.pos.split('-')
                  if (strArray.length === 2) {
                    this.boxX = strArray[0]
                    this.boxY = strArray[1]
                  }
                }
              }
            })
        }
        .width('80%')
        .height('20%')
        .justifyContent(FlexAlign.Center)

        Row(){
          Text('X轴：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
          Text(this.boxX)
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .width('60%')
            .height('100%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
        }
        .width('80%')
        .height('20%')
        .justifyContent(FlexAlign.Center)

        Row(){
          Text('Y轴：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
          Text(this.boxY)
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_24'))
            .width('60%')
            .height('100%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
        }
        .width('80%')
        .height('20%')
        .justifyContent(FlexAlign.Center)
      }
      .height('100%')
      .width('49.5%')
      .justifyContent(FlexAlign.SpaceEvenly)
      Column(){
        Divider().vertical(true).color($r('app.color.black_100'))
          .height('100%')
      }
      .width('1%')
      .height('100%')
      Column() {
        Row(){
          Text('设置位置')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_50'))
        }
        .height('20%')

        Row() {
          Text('机器人：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
            .textAlign(TextAlign.End)
          Select(this.robotArray)
            .selected(this.tempSelect)
            .value(this.robots && this.robots[this.tempSelect] && this.robots[this.tempSelect].robotCode ? this.robots[this.tempSelect].robotCode : '')
            .font({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium})
            .fontColor($r('app.color.black_100'))
            .borderRadius($r('app.float.general_border_radius'))
            .width('60%')
            .height('100%')
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .selectedOptionFontColor($r('app.color.blue_100'))
            .selectedOptionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Bold})
            .optionFontColor($r('app.color.black_100'))
            .optionFont({size: $r('app.float.fontSize_16'), weight: FontWeight.Medium})
            .menuAlign(MenuAlignType.START, {dx:0, dy:0})
            .onSelect((index: number) => {
              this.tempSelect = index
            })
        }
        .width('80%')
        .height('15%')
        .justifyContent(FlexAlign.Center)

        Row(){
          Text('X轴：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
            .textAlign(TextAlign.End)
          TextInput({ placeholder: '请输入数字', text: this.robotX + ''})
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('60%')
            .height('100%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.robotX = parseInt(value)
            })
        }
        .width('80%')
        .height('15%')
        .justifyContent(FlexAlign.Center)

        Row(){
          Text('Y轴：')
            .fontWeight(FontWeight.Medium)
            .fontSize($r('app.float.fontSize_18'))
            .width('20%')
            .height('100%')
            .textAlign(TextAlign.End)
          TextInput({ placeholder: '请输入数字', text: this.robotY + ''})
            .placeholderColor($r('app.color.login_text_input_placeholder_color'))
            .placeholderFont({ size: $r('app.float.robot_set_font_size'), weight: FontWeight.Medium })
            .fontColor($r('app.color.login_text_input_font_color'))
            .fontWeight(FontWeight.Medium)
            .type(InputType.Number)
            .maxLength(6)
            .fontSize($r('app.float.fontSize_24'))
            .width('60%')
            .height('100%')
            .opacity($r('app.float.general_font_opacity'))
            .borderRadius($r('app.float.general_border_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onChange((value: string) => {
              this.robotY = parseInt(value)
            })
        }
        .width('80%')
        .height('15%')
        .justifyContent(FlexAlign.Center)

        Row() {
          Button('取消')
            .fontSize($r('app.float.robot_set_font_size'))
            .fontWeight(FontWeight.Medium)
            .fontColor($r('app.color.robot_set_card_blue'))
            .width('32%')
            .height('50%')
            .borderRadius($r('app.float.robot_set_radius'))
            .backgroundColor($r('app.color.robot_set_coord_card_grey'))
            .onClick(() => {
              this.controller?.close()
            })
          Row()
            .width('2.5%')
          Button('确认')
            .fontSize($r('app.float.robot_set_font_size'))
            .fontWeight(FontWeight.Medium)
            .fontColor($r('app.color.general_font_white_color'))
            .width('32%')
            .height('50%')
            .borderRadius($r('app.float.robot_set_radius'))
            .backgroundColor($r('app.color.robot_set_card_blue'))
            .onClick(async() => {
              this.selectRobot = this.tempSelect
              let res: object = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/newposition', {
                rgvNo: this.robots[this.selectRobot].robotCode,
                x: this.robotX.toString(),
                y: this.robotY.toString()
              } as RequestParam)
              console.log('设置机器人位置：' + res.toString())
              res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/clearRgvError', {
                rgvNo: this.robots[this.selectRobot].robotCode,
              } as RequestParam)
              console.log('清除错误：' + res.toString())
              res = await RobotErrorHandleRequest.post('/api/v1/wcs/rgv/clearRgvError', {
                rgvNo: this.robots[this.selectRobot].robotCode,
              } as RequestParam)
              console.log('清除错误：' + res.toString())

              if (this.controller != undefined) {
                this.controller.close()
              }
            })
        }
        .justifyContent(FlexAlign.Center)
        .height('25%')
        .width('100%')
      }
      .height('100%')
      .width('49.5%')
      .justifyContent(FlexAlign.SpaceBetween)
    }
    .width('80%')
    .height('74%')
    .backgroundColor($r('app.color.page_general_background'))
    .justifyContent(FlexAlign.SpaceBetween)
    .borderRadius($r('app.float.general_border_radius'))
  }
}*/
/*function delayExecution(callback: Function, delay: number) {
  setTimeout(() => {
    callback();
  }, delay);
}*/
function delayExecution(callback: Function, delay: number) {
  let timerId = setInterval(() => {
    clearInterval(timerId);
    callback();
  }, delay);
}


class ErrorMessage{
  code?:string
  message?:string
  data?:string
}

class RgvInfo{
  id?:string
  x?:string
  y?:string
  status?:string
  auto?:string
  dx?:string
  dy?:string
  mv?:string
  batlevel?:string
  charging?:string
  errCode?:string
  cmd?:string
  load?:string
  boxNo?:string
  regTime?:string
  traMiles?:string
  chargeCount?:string
  forward?:string
  ts?:string
}

class DeviceData {
  output?: string;
}

class EtherCATInfo{
  deviceNo?:string
  data?:DeviceData;
}

class RobotSingleMovePost{
  rgvNo?:string
  direction?:string;
  len?:string;
}