using Modbus.Device;
using System;
using System.Collections.Generic;
using System.Drawing;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Net.Sockets;
using System.Resources;
using System.Threading;
using System.Threading.Tasks;
using System.Windows.Forms;
using 全自动水压检测仪;
using 全自动水压检测仪.Data;

namespace P_RTU_TEST_WinForm
{
    public partial class MainForm : Form
    {


        // 设备通信相关
        private IModbusMaster _master;
        private TcpClient _client = new TcpClient();
        // 在类开头部分添加
        private string _productModel = ""; // 存储产品批号
        private TextBox txtProductModel; // 产品批号输入框
                                         // 在类开头部分添加

        private int _calculationCount = 1; // 默认计算1次
        private TextBox txtCalcCount; // 计算次数输入框
        private Button btnStartCalc; // 开始计算按钮
        private List<List<double>> _allTestResults = new List<List<double>>(); // 存储所有测试结果


        private TcpClient _tcpClient => ModbusResourceManager.Instance.TcpClient;
        private IModbusMaster _modbusMaster => ModbusResourceManager.Instance.ModbusMaster;
        Function ma;
        DataChange c;


        // 测试相关
        private Thread _testThread;
        private bool _isTesting = false;
        private List<double> _distanceValues = new List<double>();
        private Label label5;
        private DateTime _testStartTime;

        // UI更新委托
        delegate void UpdateUIDelegate(string message);
        delegate void UpdateStatsDelegate();
        public MainForm()
        {
            InitializeComponent();


            // 添加产品批号标签和输入框
            Label lblProductModel = new Label()
            {
                Text = "产品批号:",
                Location = new Point(366, 15),
                Size = new Size(68, 15)
            };

            txtProductModel = new TextBox()
            {
                Location = new Point(366, 31),
                Size = new Size(100, 25),
                TabIndex = 6
            };


            // 添加计算次数标签和输入框
            Label lblCalcCount = new Label()
            {
                Text = "计算次数:",
                Location = new Point(472, 15),
                Size = new Size(68, 15)
            };

            txtCalcCount = new TextBox()
            {
                Location = new Point(472, 31),
                Size = new Size(60, 25),
                TabIndex = 7,
                Text = "1" // 默认值
            };
            // 添加开始计算按钮
            btnStartCalc = new Button()
            {
                Text = "开始计算",
                Location = new Point(538, 29),
                Size = new Size(75, 23),
                TabIndex = 8,
                Enabled = true
            };
            // 添加到窗体
            this.Controls.Add(lblProductModel);
            this.Controls.Add(txtProductModel);
            this.Controls.Add(lblCalcCount);
            this.Controls.Add(txtCalcCount);
            this.Controls.Add(btnStartCalc);


            InitializeDataGridView();
            SetupEventHandlers();

            // 设置默认值
            txtIP.Text = "192.168.1.210";
            txtPort.Text = "502";
            txtTestTime.Text = "10";



        }




        private void InitializeDataGridView()
        {
            // 设置DataGridView的列
            dataGridView1.Columns.Clear();
            dataGridView1.Columns.Add("Timestamp", "时间戳");
            dataGridView1.Columns.Add("speed", "转速");
            dataGridView1.Columns.Add("Distance", "距离值 (mm)");

            // 设置列宽度
            dataGridView1.Columns["Timestamp"].Width = 150;
            dataGridView1.Columns["speed"].Width = 130;
            dataGridView1.Columns["Distance"].Width = 140;

            // 设置只读
            dataGridView1.ReadOnly = true;

            // 允许排序
            dataGridView1.AllowUserToOrderColumns = false;

            // 设置选择模式
            dataGridView1.SelectionMode = DataGridViewSelectionMode.FullRowSelect;
            dataGridView1.MultiSelect = false;
        }

        private void SetupEventHandlers()
        {
            btnConnect.Click += BtnConnect_Click;
            btnDisconnect.Click += BtnDisconnect_Click;
            btnStartTest.Click += BtnStartTest_Click;
            btnStopTest.Click += BtnStopTest_Click;
            btnExportData.Click += BtnExportData_Click;
            btnClearData.Click += BtnClearData_Click;
            btnStartCalc.Click += BtnStartCalc_Click; // 添加开始计算事件

            // 窗体关闭事件
            this.FormClosing += MainForm_FormClosing;
        }

        private void BtnStartCalc_Click(object sender, EventArgs e)
        {
            if (!_client.Connected || _master == null)
            {
                MessageBox.Show("请先连接设备！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }

            int testTime;
            if (!int.TryParse(txtTestTime.Text, out testTime) || testTime <= 0)
            {
                MessageBox.Show("请输入有效的测试时间（秒）！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }

            // 获取计算次数
            if (!int.TryParse(txtCalcCount.Text, out _calculationCount) || _calculationCount <= 0)
            {
                MessageBox.Show("请输入有效的计算次数！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }

            // 清空之前的数据
            ClearData();
            _allTestResults.Clear(); // 清空历史结果

            // 开始计算
            StartMultipleTests(testTime);
        }

        private void StartMultipleTests(int testTimeSeconds)
        {
            if (_isTesting) return;

            _isTesting = true;
            _testStartTime = DateTime.Now;

            // 设置控件状态
            btnStartTest.Enabled = false;
            btnStartCalc.Enabled = false;
            btnStopTest.Enabled = true;
            btnExportData.Enabled = false;
            btnClearData.Enabled = false;
            txtTestTime.Enabled = false;
            txtCalcCount.Enabled = false;

            LogMessage($"开始计算，总共 {_calculationCount} 次测试");

            // 启动计算线程
            _testThread = new Thread(() => RunMultipleTests(testTimeSeconds));
            _testThread.Start();
        }

        private void RunMultipleTests(int testTimeSeconds)
        {
            try
            {
                for (int i = 0; i < _calculationCount && _isTesting; i++)
                {
                    LogMessage($"第 {i + 1}/{_calculationCount} 次测试开始...");

                    // 执行单次测试
                    List<double> singleTestResults = RunSingleTest(testTimeSeconds, i + 1);

                    if (singleTestResults.Count > 0)
                    {
                        _allTestResults.Add(singleTestResults);

                        // 显示本次测试的统计结果
                        double min = GetMinDistanceFromList(singleTestResults);
                        double max = GetMaxDistanceFromList(singleTestResults);
                        double jitter = max - min;

                        LogMessage($"第 {i + 1} 次测试结果: 最小值={min:F6}mm, 最大值={max:F6}mm, 抖动值={jitter:F6}mm");
                    }

                    // 如果不是最后一次，弹出确认对话框，用户选择“是”继续下一次，“否”停止后续测试
                    if (i < _calculationCount - 1 && _isTesting)
                    {
                        bool userWantsContinue = true;

                        // 在UI线程上显示对话框并获取选择
                        if (this.InvokeRequired)
                        {
                            this.Invoke(new Action(() =>
                            {
                                var dr = MessageBox.Show($"第 {i + 1} 次测试已完成。是否继续进行第 {i + 2} 次测试？", "继续测试确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
                                userWantsContinue = (dr == DialogResult.Yes);
                            }));
                        }
                        else
                        {
                            var dr = MessageBox.Show($"第 {i + 1} 次测试已完成。是否继续进行第 {i + 2} 次测试？", "继续测试确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
                            userWantsContinue = (dr == DialogResult.Yes);
                        }

                        if (!userWantsContinue)
                        {
                            LogMessage("用户选择停止后续测试");
                            _isTesting = false;
                            break;
                        }

                        // 可选短暂停顿
                        Thread.Sleep(1000); // 测试间隔1秒
                    }
                }

                // 所有测试完成后，在主线程中停止测试并生成报表
                if (InvokeRequired)
                {
                    Invoke(new Action(() =>
                    {
                        StopTest();
                        GenerateMultipleTestReport(); // 生成多次测试报表
                    }));
                }
                else
                {
                    StopTest();
                    GenerateMultipleTestReport();
                }
            }
            catch (Exception ex)
            {
                LogMessage($"多次测试过程中发生错误: {ex.Message}");
            }
        }

        private List<double> RunSingleTest(int testTimeSeconds, int testNumber)
        {
            List<double> testDistances = new List<double>();
            DateTime endTime = DateTime.Now.AddSeconds(testTimeSeconds);

            try
            {
                // 配置设备为输出位置1
                _master.WriteSingleRegister(1, 24, 0);

                while (_isTesting && DateTime.Now < endTime)
                {
                    // 读取距离数据
                    ushort[] data = _master.ReadInputRegisters(1, 0, 2);

                    // PLC连接和读取转速
                    try
                    {
                        string plcIp = "192.168.1.5";
                        bool initSuccess = ModbusResourceManager.Instance.Init(plcIp, 502);
                        if (initSuccess && _tcpClient != null && _tcpClient.Connected)
                        {
                            c = new DataChange();
                            var registers = _modbusMaster.ReadHoldingRegisters(1, 118, 2);
                            float floatValue1 = c.UshortToFloat(registers[1], registers[0]);

                            this.Invoke(new Action(() =>
                            {
                                label5.Text = $"第{testNumber}次转速: {floatValue1:F2} RPM";
                            }));
                        }
                    }
                    catch { }

                    if (data.Length >= 2)
                    {
                        double distance = MergeUShortToInt(data[0], data[1]) / 1000.0 / 1000;
                        testDistances.Add(distance);

                        // 更新UI
                        UpdateUIWithDistance(DateTime.Now, distance, $"第{testNumber}次测试");
                    }

                    Thread.Sleep(10);
                }
            }
            catch (Exception ex)
            {
                LogMessage($"第{testNumber}次测试错误: {ex.Message}");
            }

            return testDistances;
        }

        private double GetMinDistanceFromList(List<double> distances)
        {
            if (distances.Count == 0) return 0;
            double min = distances[0];
            foreach (double value in distances)
            {
                if (value < min) min = value;
            }
            return min;
        }

        private double GetMaxDistanceFromList(List<double> distances)
        {
            if (distances.Count == 0) return 0;
            double max = distances[0];
            foreach (double value in distances)
            {
                if (value > max) max = value;
            }
            return max;
        }

        private void BtnConnect_Click(object sender, EventArgs e)
        {
            try
            {
                string ipAddress = txtIP.Text.Trim();
                int port;

                if (!int.TryParse(txtPort.Text, out port))
                {
                    MessageBox.Show("端口号格式不正确！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                    return;
                }

                LogMessage($"正在连接设备 {ipAddress}:{port}...");

                // 连接设备
                _client = new TcpClient();
                _client.Connect(ipAddress, port);
                _master = ModbusIpMaster.CreateIp(_client);

                LogMessage("设备连接成功！");

                // 设置控件状态
                btnConnect.Enabled = false;
                btnDisconnect.Enabled = true;
                btnStartTest.Enabled = true;
                txtIP.Enabled = false;
                txtPort.Enabled = false;
            }
            catch (Exception ex)
            {
                LogMessage($"连接失败: {ex.Message}");
                MessageBox.Show($"连接失败: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
            }
        }

        private void BtnDisconnect_Click(object sender, EventArgs e)
        {
            try
            {
                if (_isTesting)
                {
                    StopTest();
                }

                if (_client != null && _client.Connected)
                {
                    _client.Close();
                    LogMessage("设备已断开连接");
                }

                // 重置控件状态
                btnConnect.Enabled = true;
                btnDisconnect.Enabled = false;
                btnStartTest.Enabled = false;
                txtIP.Enabled = true;
                txtPort.Enabled = true;

            }
            catch (Exception ex)
            {
                LogMessage($"断开连接时发生错误: {ex.Message}");
            }
        }

        private void BtnStartTest_Click(object sender, EventArgs e)
        {
            if (!_client.Connected || _master == null)
            {
                MessageBox.Show("请先连接设备！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }

            int testTime;
            if (!int.TryParse(txtTestTime.Text, out testTime) || testTime <= 0)
            {
                MessageBox.Show("请输入有效的测试时间（秒）！", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                return;
            }

            // 清空之前的数据
            ClearData();

            // 开始测试
            StartTest(testTime);
        }

        private void BtnStopTest_Click(object sender, EventArgs e)
        {
            StopTest();
        }

        private void BtnExportData_Click(object sender, EventArgs e)
        {
            if (_distanceValues.Count == 0 || dataGridView1.Rows.Count == 0)
            {
                MessageBox.Show("没有数据可以导出！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                return;
            }

            SaveFileDialog saveFileDialog = new SaveFileDialog
            {
                Filter = "CSV文件 (*.csv)|*.csv|文本文件 (*.txt)|*.txt|所有文件 (*.*)|*.*",
                Title = "导出测试数据",
                FileName = $"距离测试数据_{DateTime.Now:yyyyMMdd_HHmmss}.csv"
            };

            if (saveFileDialog.ShowDialog() == DialogResult.OK)
            {
                try
                {
                    using (StreamWriter sw = new StreamWriter(saveFileDialog.FileName, false, System.Text.Encoding.UTF8))
                    {
                        // 写入标题行 - 修改为包含转速
                        sw.WriteLine("序号,时间戳,转速(RPM),距离值(mm)");

                        // 写入数据 - 修改这里
                        for (int i = 0; i < dataGridView1.Rows.Count; i++)
                        {
                            if (i < _distanceValues.Count)
                            {
                                string timestamp = dataGridView1.Rows[i].Cells["Timestamp"].Value?.ToString() ?? "";
                                string speed = dataGridView1.Rows[i].Cells["speed"].Value?.ToString() ?? "--";

                                // 只写入数据，不需要其他修改
                                sw.WriteLine($"{i + 1},{timestamp},{speed},{_distanceValues[i]:F6}");
                            }
                        }

                        // 写入统计信息 - 这部分可以保持原样，或者选择性添加
                        sw.WriteLine();
                        sw.WriteLine("统计信息");
                        sw.WriteLine($"测试开始时间,{_testStartTime:yyyy-MM-dd HH:mm:ss}");
                        sw.WriteLine($"测试持续时间,{txtTestTime.Text}秒");
                        sw.WriteLine($"数据总数,{_distanceValues.Count}");
                        sw.WriteLine($"最小距离,{GetMinDistance():F6} mm");
                        sw.WriteLine($"最大距离,{GetMaxDistance():F6} mm");
                        sw.WriteLine($"距离抖动值,{GetJitter():F6} mm");
                    }

                    LogMessage($"数据已成功导出到: {saveFileDialog.FileName}");
                    MessageBox.Show("数据导出成功！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Information);
                }
                catch (Exception ex)
                {
                    MessageBox.Show($"导出失败: {ex.Message}", "错误", MessageBoxButtons.OK, MessageBoxIcon.Error);
                }
            }
        }
        private void BtnClearData_Click(object sender, EventArgs e)
        {
            if (_isTesting)
            {
                MessageBox.Show("请先停止测试！", "提示", MessageBoxButtons.OK, MessageBoxIcon.Warning);
                return;
            }

            ClearData();
            LogMessage("数据已清空");
        }

        private void MainForm_FormClosing(object sender, FormClosingEventArgs e)
        {
            StopTest();

            if (_client != null && _client.Connected)
            {
                _client.Close();
            }
        }

        private void StartTest(int testTimeSeconds)
        {
            if (_isTesting) return;

            _isTesting = true;
            _testStartTime = DateTime.Now;

            // 设置控件状态
            btnStartTest.Enabled = false;
            btnStopTest.Enabled = true;
            btnExportData.Enabled = false;
            btnClearData.Enabled = false;
            txtTestTime.Enabled = false;

            // 启动测试线程
            _testThread = new Thread(() => RunTest(testTimeSeconds));
            _testThread.Start();
            LogMessage($"测试开始，持续时间: {testTimeSeconds}秒");
        }

        private void StopTest()
        {
            if (!_isTesting) return;

            _isTesting = false;

            if (_testThread != null && _testThread.IsAlive)
            {
                _testThread.Join(1000); // 等待线程结束
            }
            ModbusResourceManager.Instance.ReleaseResource();

            // 计算并显示统计信息
            CalculateAndDisplayStats();

            // 重置控件状态
            btnStartTest.Enabled = true;
            btnStartCalc.Enabled = true;
            btnStopTest.Enabled = false;
            btnExportData.Enabled = true;
            btnClearData.Enabled = true;
            txtTestTime.Enabled = true;
            txtCalcCount.Enabled = true;

            LogMessage("测试已停止");
        }

        private void AutoExportReport()
        {
            // 如果是多次测试，不调用自动报表，由GenerateMultipleTestReport生成
            if (_calculationCount > 1)
            {
                LogMessage("多次测试已完成，将生成综合报表");
                return;
            }

            // 以下是原有的单次测试报表代码
            try
            {
                if (_distanceValues.Count == 0)
                {
                    LogMessage("没有测试数据，跳过自动导出");
                    return;
                }

                // 获取产品批号
                string productModel = string.IsNullOrWhiteSpace(txtProductModel.Text)
                    ? "未命名产品"
                    : txtProductModel.Text.Trim();

                // 获取转速
                string speedValue = "--";
                if (dataGridView1.Rows.Count > 0)
                {
                    var lastRow = dataGridView1.Rows[dataGridView1.Rows.Count - 1];
                    speedValue = lastRow.Cells["speed"].Value?.ToString() ?? "--";
                }

                // 计算统计数据
                double minDistance = GetMinDistance();
                double maxDistance = GetMaxDistance();
                double jitter = GetJitter();

                // 生成文件名
                string fileName = $"测试报表_{productModel}_{DateTime.Now:yyyyMMdd_HHmmss}.txt";
                string filePath = Path.Combine(Application.StartupPath, "测试报表", fileName);

                // 确保目录存在
                Directory.CreateDirectory(Path.GetDirectoryName(filePath));

                // 写入报表
                using (StreamWriter sw = new StreamWriter(filePath, false, System.Text.Encoding.UTF8))
                {
                    sw.WriteLine("=== 测试报表 ===");
                    sw.WriteLine($"生成时间: {DateTime.Now:yyyy-MM-dd HH:mm:ss}");
                    sw.WriteLine($"产品批号: {productModel}");
                    sw.WriteLine($"测试时间: {txtTestTime.Text} 秒");
                    sw.WriteLine($"计算次数: 1 次");
                    sw.WriteLine($"数据总数: {_distanceValues.Count}");
                    sw.WriteLine("");
                    sw.WriteLine("=== 测试结果 ===");
                    sw.WriteLine($"距离最大值: {maxDistance:F6} mm");
                    sw.WriteLine($"距离最小值: {minDistance:F6} mm");
                    sw.WriteLine($"抖动值: {jitter:F6} mm");
                    sw.WriteLine($"转速: {speedValue}");
                }

                LogMessage($"报表已自动导出到: {filePath}");
            }
            catch (Exception ex)
            {
                LogMessage($"自动导出报表失败: {ex.Message}");
            }
        }

        private void GenerateMultipleTestReport()
        {
            try
            {
                if (_allTestResults.Count == 0)
                {
                    LogMessage("没有测试数据，无法生成报表");
                    return;
                }

                // 获取产品批号
                string productModel = string.IsNullOrWhiteSpace(txtProductModel.Text)
                    ? "未命名产品"
                    : txtProductModel.Text.Trim();

                // 生成文件名
                string fileName = $"多次测试报表_{productModel}_{DateTime.Now:yyyyMMdd_HHmmss}.txt";
                string filePath = Path.Combine(Application.StartupPath, "测试报表", fileName);

                // 确保目录存在
                Directory.CreateDirectory(Path.GetDirectoryName(filePath));


                // 获取转速 - 从label5获取最后显示的转速值
                string speedValue = label5.Text;

                // 如果转速显示包含"转速:"，提取纯数值
                if (speedValue.Contains("转速:"))
                {
                    speedValue = speedValue.Replace("转速:", "").Replace("RPM", "").Trim();
                }


                // 写入报表
                using (StreamWriter sw = new StreamWriter(filePath, false, System.Text.Encoding.UTF8))
                {
                    sw.WriteLine("=== 多次测试报表 ===");
                    sw.WriteLine($"生成时间: {DateTime.Now:yyyy-MM-dd HH:mm:ss}");
                    sw.WriteLine($"产品批号: {productModel}");
                    sw.WriteLine($"单次测试时间: {txtTestTime.Text} 秒");
                    sw.WriteLine($"计算次数: {_calculationCount} 次");
                    sw.WriteLine($"总数据量: {_allTestResults.Sum(list => list.Count)}");
                    sw.WriteLine($"转速: {label5.Text}");
                    sw.WriteLine("");

                    // 写入每次测试的详细结果
                    for (int i = 0; i < _allTestResults.Count; i++)
                    {
                        var testData = _allTestResults[i];
                        if (testData.Count == 0) continue;

                        double min = GetMinDistanceFromList(testData);
                        double max = GetMaxDistanceFromList(testData);
                        double jitter = max - min;

                        sw.WriteLine($"第 {i + 1} 次测试:");
                        sw.WriteLine($"  距离最大值: {max:F6} mm");
                        sw.WriteLine($"  距离最小值: {min:F6} mm");
                        sw.WriteLine($"  抖动值: {jitter:F6} mm");
                        sw.WriteLine($"  数据量: {testData.Count}");
                        sw.WriteLine();
                    }

                    // 写入综合统计信息
                    sw.WriteLine("=== 综合统计结果 ===");

                    // 计算所有测试的最大值、最小值、平均值
                    List<double> allMins = new List<double>();
                    List<double> allMaxs = new List<double>();
                    List<double> allJitters = new List<double>();

                    foreach (var testData in _allTestResults)
                    {
                        if (testData.Count == 0) continue;

                        double min = GetMinDistanceFromList(testData);
                        double max = GetMaxDistanceFromList(testData);
                        double jitter = max - min;

                        allMins.Add(min);
                        allMaxs.Add(max);
                        allJitters.Add(jitter);
                    }

                    if (allMins.Count > 0)
                    {
                        sw.WriteLine($"所有测试距离最大值: {allMaxs.Max():F6} mm");
                        sw.WriteLine($"所有测试距离最小值: {allMins.Min():F6} mm");
                        sw.WriteLine($"距离最大值平均值: {allMaxs.Average():F6} mm");
                        sw.WriteLine($"距离最小值平均值: {allMins.Average():F6} mm");
                        sw.WriteLine($"抖动值平均值: {allJitters.Average():F6} mm");
                        sw.WriteLine($"抖动值最大偏差: {allJitters.Max() - allJitters.Min():F6} mm");
                    }
                }

                LogMessage($"多次测试报表已生成: {filePath}");

                // 弹出提示
                if (MessageBox.Show($"计算完成，报表已导出到:\n{filePath}\n\n是否要打开报表文件？",
                    "计算完成", MessageBoxButtons.YesNo, MessageBoxIcon.Information) == DialogResult.Yes)
                {
                    System.Diagnostics.Process.Start(filePath);
                }
            }
            catch (Exception ex)
            {
                LogMessage($"生成多次测试报表失败: {ex.Message}");
            }
        }

        private void RunTest(int testTimeSeconds)
        {
            DateTime endTime = DateTime.Now.AddSeconds(testTimeSeconds);

            try
            {
                // 配置设备为输出位置1
                _master.WriteSingleRegister(1, 24, 0);

                while (_isTesting && DateTime.Now < endTime)
                {
                    // 读取距离数据（距离1，地址0开始的两个寄存器）
                    ushort[] data = _master.ReadInputRegisters(1, 0, 2);


                    string plcIp = "192.168.1.5";
                    //string plcIp = "127.0.0.1";
                    bool initSuccess = ModbusResourceManager.Instance.Init(plcIp, 502);
                    if (!initSuccess)
                    {
                        MessageBox.Show("连接Modbus服务器失败！", "错误");
                        this.Close();
                        return;
                    }

                    // 检查连接状态
                    if (_tcpClient == null || !_tcpClient.Connected)
                    {
                        MessageBox.Show("Modbus连接异常！", "错误");
                        this.Close();
                        return;
                    }
                    c = new DataChange();

                    var registers = _modbusMaster.ReadHoldingRegisters(1, 118, 2);
                    this.Invoke(new Action(() =>
                    {
                        float floatValue1 = c.UshortToFloat(registers[1], registers[0]);

                        // 方式2: 直接合并为32位整数
                        int intValue = (registers[0] << 16) | registers[1];
                        int intValue2 = (registers[1] << 16) | registers[0]; // 交换顺序


                        // 显示所有可能的结果
                        label5.Text = $@"转速: {floatValue1:F2}";


                    }));

                    if (data.Length >= 2)
                    {
                        // 合并两个寄存器的数据并转换为距离值（单位：mm）
                        double distance = MergeUShortToInt(data[0], data[1]) / 1000.0 / 1000;

                        // 添加到数据列表
                        _distanceValues.Add(distance);

                        // 更新UI
                        UpdateUIWithDistance(DateTime.Now, distance);
                    }

                    // 控制读取频率（例如10ms一次）
                    Thread.Sleep(10);
                }
            }
            catch (Exception ex)
            {
                LogMessage($"测试过程中发生错误: {ex.Message}");
            }
            finally
            {
                // 测试结束后，在主线程中停止测试
                if (InvokeRequired)
                {
                    Invoke(new Action(StopTest));
                }
                else
                {
                    StopTest();
                }
            }
        }

        private int MergeUShortToInt(ushort hData, ushort lData)
        {
            return (hData << 16) | lData;
        }

        private void UpdateUIWithDistance(DateTime timestamp, double distance, string testInfo = "")
        {
            if (dataGridView1.InvokeRequired)
            {
                AddDataRowDelegate d = new AddDataRowDelegate(UpdateUIWithDistance);
                dataGridView1.Invoke(d, new object[] { timestamp, distance, testInfo });
            }
            else
            {
                // 添加新行到DataGridView
                int rowIndex = dataGridView1.Rows.Add();
                dataGridView1.Rows[rowIndex].Cells["Timestamp"].Value = timestamp.ToString("yyyy-MM-dd HH:mm:ss.fff");
                dataGridView1.Rows[rowIndex].Cells["speed"].Value = label5.Text + " " + testInfo;
                dataGridView1.Rows[rowIndex].Cells["Distance"].Value = distance.ToString("F6", CultureInfo.InvariantCulture);

                // 自动滚动到最后一行
                dataGridView1.FirstDisplayedScrollingRowIndex = rowIndex;
            }
        }

        // 同时修改委托定义
        delegate void AddDataRowDelegate(DateTime timestamp, double distance, string testInfo);
        private void CalculateAndDisplayStats()
        {
            if (_distanceValues.Count == 0) return;

            double min = GetMinDistance();
            double max = GetMaxDistance();
            double jitter = GetJitter();

            if (lblMin.InvokeRequired)
            {
                UpdateStatsDelegate d = new UpdateStatsDelegate(CalculateAndDisplayStats);
                lblMin.Invoke(d);
            }
            else
            {
                lblMin.Text = $"最小值: {min:F6} mm";
                lblMax.Text = $"最大值: {max:F6} mm";
                lblJitter.Text = $"抖动值: {jitter:F6} mm";

                // 在日志中显示统计信息
                LogMessage($"测试完成 - 数据总数: {_distanceValues.Count}");
                LogMessage($"最小值: {min:F6} mm, 最大值: {max:F6} mm, 抖动值: {jitter:F6} mm");
            }
        }

        private double GetMinDistance()
        {
            if (_distanceValues.Count == 0) return 0;
            double min = _distanceValues[0];
            foreach (double value in _distanceValues)
            {
                if (value < min) min = value;
            }
            return min;
        }

        private double GetMaxDistance()
        {
            if (_distanceValues.Count == 0) return 0;
            double max = _distanceValues[0];
            foreach (double value in _distanceValues)
            {
                if (value > max) max = value;
            }
            return max;
        }

        private double GetJitter()
        {
            if (_distanceValues.Count == 0) return 0;
            return GetMaxDistance() - GetMinDistance();
        }

        private void ClearData()
        {
            _distanceValues.Clear();
            _allTestResults.Clear();
            dataGridView1.Rows.Clear();

            lblMin.Text = "最小值: --";
            lblMax.Text = "最大值: --";
            lblJitter.Text = "抖动值: --";
        }
        private void LogMessage(string message)
        {
            if (txtLog.InvokeRequired)
            {
                UpdateUIDelegate d = new UpdateUIDelegate(LogMessage);
                txtLog.Invoke(d, new object[] { message });
            }
            else
            {
                string timestamp = DateTime.Now.ToString("HH:mm:ss.fff");
                txtLog.AppendText($"[{timestamp}] {message}{Environment.NewLine}");

                // 自动滚动到最后一行
                txtLog.SelectionStart = txtLog.TextLength;
                txtLog.ScrollToCaret();
            }
        }

        // 以下是窗体设计器生成的代码
        private System.ComponentModel.IContainer components = null;
        private TextBox txtIP;
        private Label label1;
        private Label label2;
        private TextBox txtPort;
        private Button btnConnect;
        private Button btnDisconnect;
        private GroupBox groupBox1;
        private DataGridView dataGridView1;
        private GroupBox groupBox2;
        private Label label3;
        private TextBox txtTestTime;
        private Button btnStartTest;
        private Button btnStopTest;
        private GroupBox groupBox3;
        private Label lblMin;
        private Label lblMax;
        private Label lblJitter;
        private Button btnExportData;
        private Button btnClearData;
        private TextBox txtLog;
        private Label label4;

        protected override void Dispose(bool disposing)
        {
            if (disposing && (components != null))
            {
                components.Dispose();
            }
            base.Dispose(disposing);
        }

        private void InitializeComponent()
        {
            this.txtIP = new System.Windows.Forms.TextBox();
            this.label1 = new System.Windows.Forms.Label();
            this.label2 = new System.Windows.Forms.Label();
            this.txtPort = new System.Windows.Forms.TextBox();
            this.btnConnect = new System.Windows.Forms.Button();
            this.btnDisconnect = new System.Windows.Forms.Button();
            this.groupBox1 = new System.Windows.Forms.GroupBox();
            this.dataGridView1 = new System.Windows.Forms.DataGridView();
            this.groupBox2 = new System.Windows.Forms.GroupBox();
            this.btnClearData = new System.Windows.Forms.Button();
            this.btnExportData = new System.Windows.Forms.Button();
            this.btnStopTest = new System.Windows.Forms.Button();
            this.btnStartTest = new System.Windows.Forms.Button();
            this.txtTestTime = new System.Windows.Forms.TextBox();
            this.label3 = new System.Windows.Forms.Label();
            this.groupBox3 = new System.Windows.Forms.GroupBox();
            this.label5 = new System.Windows.Forms.Label();
            this.lblJitter = new System.Windows.Forms.Label();
            this.lblMax = new System.Windows.Forms.Label();
            this.lblMin = new System.Windows.Forms.Label();
            this.txtLog = new System.Windows.Forms.TextBox();
            this.label4 = new System.Windows.Forms.Label();
            this.groupBox1.SuspendLayout();
            ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).BeginInit();
            this.groupBox2.SuspendLayout();
            this.groupBox3.SuspendLayout();
            this.SuspendLayout();
            // 
            // txtIP
            // 
            this.txtIP.Location = new System.Drawing.Point(12, 31);
            this.txtIP.Name = "txtIP";
            this.txtIP.Size = new System.Drawing.Size(120, 25);
            this.txtIP.TabIndex = 0;
            // 
            // label1
            // 
            this.label1.AutoSize = true;
            this.label1.Location = new System.Drawing.Point(12, 15);
            this.label1.Name = "label1";
            this.label1.Size = new System.Drawing.Size(68, 15);
            this.label1.TabIndex = 1;
            this.label1.Text = "IP地址：";
            // 
            // label2
            // 
            this.label2.AutoSize = true;
            this.label2.Location = new System.Drawing.Point(138, 15);
            this.label2.Name = "label2";
            this.label2.Size = new System.Drawing.Size(67, 15);
            this.label2.TabIndex = 3;
            this.label2.Text = "端口号：";
            // 
            // txtPort
            // 
            this.txtPort.Location = new System.Drawing.Point(138, 31);
            this.txtPort.Name = "txtPort";
            this.txtPort.Size = new System.Drawing.Size(60, 25);
            this.txtPort.TabIndex = 2;
            // 
            // btnConnect
            // 
            this.btnConnect.Location = new System.Drawing.Point(204, 29);
            this.btnConnect.Name = "btnConnect";
            this.btnConnect.Size = new System.Drawing.Size(75, 23);
            this.btnConnect.TabIndex = 4;
            this.btnConnect.Text = "连接";
            this.btnConnect.UseVisualStyleBackColor = true;
            // 
            // btnDisconnect
            // 
            this.btnDisconnect.Enabled = false;
            this.btnDisconnect.Location = new System.Drawing.Point(285, 29);
            this.btnDisconnect.Name = "btnDisconnect";
            this.btnDisconnect.Size = new System.Drawing.Size(75, 23);
            this.btnDisconnect.TabIndex = 5;
            this.btnDisconnect.Text = "断开";
            this.btnDisconnect.UseVisualStyleBackColor = true;
            // 
            // groupBox1
            // 
            this.groupBox1.Controls.Add(this.dataGridView1);
            this.groupBox1.Location = new System.Drawing.Point(12, 70);
            this.groupBox1.Name = "groupBox1";
            this.groupBox1.Size = new System.Drawing.Size(534, 300);
            this.groupBox1.TabIndex = 6;
            this.groupBox1.TabStop = false;
            this.groupBox1.Text = "实时数据";
            // 
            // dataGridView1
            // 
            this.dataGridView1.AllowUserToAddRows = false;
            this.dataGridView1.ColumnHeadersHeightSizeMode = System.Windows.Forms.DataGridViewColumnHeadersHeightSizeMode.AutoSize;
            this.dataGridView1.Location = new System.Drawing.Point(3, 21);
            this.dataGridView1.Name = "dataGridView1";
            this.dataGridView1.ReadOnly = true;
            this.dataGridView1.RowHeadersWidth = 51;
            this.dataGridView1.Size = new System.Drawing.Size(525, 276);
            this.dataGridView1.TabIndex = 0;
            // 
            // groupBox2
            // 
            this.groupBox2.Controls.Add(this.btnClearData);
            this.groupBox2.Controls.Add(this.btnExportData);
            this.groupBox2.Controls.Add(this.btnStopTest);
            this.groupBox2.Controls.Add(this.btnStartTest);
            this.groupBox2.Controls.Add(this.txtTestTime);
            this.groupBox2.Controls.Add(this.label3);
            this.groupBox2.Location = new System.Drawing.Point(552, 69);
            this.groupBox2.Name = "groupBox2";
            this.groupBox2.Size = new System.Drawing.Size(200, 150);
            this.groupBox2.TabIndex = 7;
            this.groupBox2.TabStop = false;
            this.groupBox2.Text = "测试控制";
            // 
            // btnClearData
            // 
            this.btnClearData.Location = new System.Drawing.Point(105, 115);
            this.btnClearData.Name = "btnClearData";
            this.btnClearData.Size = new System.Drawing.Size(75, 23);
            this.btnClearData.TabIndex = 5;
            this.btnClearData.Text = "清空数据";
            this.btnClearData.UseVisualStyleBackColor = true;
            // 
            // btnExportData
            // 
            this.btnExportData.Location = new System.Drawing.Point(24, 115);
            this.btnExportData.Name = "btnExportData";
            this.btnExportData.Size = new System.Drawing.Size(75, 23);
            this.btnExportData.TabIndex = 4;
            this.btnExportData.Text = "导出数据";
            this.btnExportData.UseVisualStyleBackColor = true;
            // 
            // btnStopTest
            // 
            this.btnStopTest.Enabled = false;
            this.btnStopTest.Location = new System.Drawing.Point(105, 75);
            this.btnStopTest.Name = "btnStopTest";
            this.btnStopTest.Size = new System.Drawing.Size(75, 23);
            this.btnStopTest.TabIndex = 3;
            this.btnStopTest.Text = "停止测试";
            this.btnStopTest.UseVisualStyleBackColor = true;
            // 
            // btnStartTest
            // 
            this.btnStartTest.Enabled = false;
            this.btnStartTest.Location = new System.Drawing.Point(24, 75);
            this.btnStartTest.Name = "btnStartTest";
            this.btnStartTest.Size = new System.Drawing.Size(75, 23);
            this.btnStartTest.TabIndex = 2;
            this.btnStartTest.Text = "开始测试";
            this.btnStartTest.UseVisualStyleBackColor = true;
            // 
            // txtTestTime
            // 
            this.txtTestTime.Location = new System.Drawing.Point(65, 35);
            this.txtTestTime.Name = "txtTestTime";
            this.txtTestTime.Size = new System.Drawing.Size(60, 25);
            this.txtTestTime.TabIndex = 1;
            // 
            // label3
            // 
            this.label3.AutoSize = true;
            this.label3.Location = new System.Drawing.Point(21, 38);
            this.label3.Name = "label3";
            this.label3.Size = new System.Drawing.Size(61, 15);
            this.label3.TabIndex = 0;
            this.label3.Text = "时间(s)";
            // 
            // groupBox3
            // 
            this.groupBox3.Controls.Add(this.label5);
            this.groupBox3.Controls.Add(this.lblJitter);
            this.groupBox3.Controls.Add(this.lblMax);
            this.groupBox3.Controls.Add(this.lblMin);
            this.groupBox3.Location = new System.Drawing.Point(552, 225);
            this.groupBox3.Name = "groupBox3";
            this.groupBox3.Size = new System.Drawing.Size(200, 144);
            this.groupBox3.TabIndex = 8;
            this.groupBox3.TabStop = false;
            this.groupBox3.Text = "统计信息";
            // 
            // label5
            // 
            this.label5.AutoSize = true;
            this.label5.Location = new System.Drawing.Point(21, 30);
            this.label5.Name = "label5";
            this.label5.Size = new System.Drawing.Size(69, 15);
            this.label5.TabIndex = 3;
            this.label5.Text = "转速: --";
            // 
            // lblJitter
            // 
            this.lblJitter.AutoSize = true;
            this.lblJitter.Font = new System.Drawing.Font("Microsoft Sans Serif", 9F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
            this.lblJitter.ForeColor = System.Drawing.Color.Red;
            this.lblJitter.Location = new System.Drawing.Point(21, 111);
            this.lblJitter.Name = "lblJitter";
            this.lblJitter.Size = new System.Drawing.Size(78, 18);
            this.lblJitter.TabIndex = 2;
            this.lblJitter.Text = "抖动值: --";
            // 
            // lblMax
            // 
            this.lblMax.AutoSize = true;
            this.lblMax.Location = new System.Drawing.Point(21, 86);
            this.lblMax.Name = "lblMax";
            this.lblMax.Size = new System.Drawing.Size(84, 15);
            this.lblMax.TabIndex = 1;
            this.lblMax.Text = "最大值: --";
            // 
            // lblMin
            // 
            this.lblMin.AutoSize = true;
            this.lblMin.Location = new System.Drawing.Point(21, 58);
            this.lblMin.Name = "lblMin";
            this.lblMin.Size = new System.Drawing.Size(84, 15);
            this.lblMin.TabIndex = 0;
            this.lblMin.Text = "最小值: --";
            // 
            // txtLog
            // 
            this.txtLog.Location = new System.Drawing.Point(12, 400);
            this.txtLog.Multiline = true;
            this.txtLog.Name = "txtLog";
            this.txtLog.ReadOnly = true;
            this.txtLog.ScrollBars = System.Windows.Forms.ScrollBars.Vertical;
            this.txtLog.Size = new System.Drawing.Size(554, 150);
            this.txtLog.TabIndex = 9;
            // 
            // label4
            // 
            this.label4.AutoSize = true;
            this.label4.Location = new System.Drawing.Point(12, 384);
            this.label4.Name = "label4";
            this.label4.Size = new System.Drawing.Size(52, 15);
            this.label4.TabIndex = 10;
            this.label4.Text = "日志：";
            // 
            // MainForm
            // 
            this.ClientSize = new System.Drawing.Size(776, 561);
            this.Controls.Add(this.label4);
            this.Controls.Add(this.txtLog);
            this.Controls.Add(this.groupBox3);
            this.Controls.Add(this.groupBox2);
            this.Controls.Add(this.groupBox1);
            this.Controls.Add(this.btnDisconnect);
            this.Controls.Add(this.btnConnect);
            this.Controls.Add(this.label2);
            this.Controls.Add(this.txtPort);
            this.Controls.Add(this.label1);
            this.Controls.Add(this.txtIP);
            this.Name = "MainForm";
            this.Text = "激光位移传感器测试程序";
            this.Load += new System.EventHandler(this.MainForm_Load);
            this.groupBox1.ResumeLayout(false);
            ((System.ComponentModel.ISupportInitialize)(this.dataGridView1)).EndInit();
            this.groupBox2.ResumeLayout(false);
            this.groupBox2.PerformLayout();
            this.groupBox3.ResumeLayout(false);
            this.groupBox3.PerformLayout();
            this.ResumeLayout(false);
            this.PerformLayout();

        }

        private void MainForm_Load(object sender, EventArgs e)
        {



        }
    }

    static class Program
    {
        [STAThread]
        static void Main()
        {
            Application.EnableVisualStyles();
            Application.SetCompatibleTextRenderingDefault(false);
            Application.Run(new MainForm());
        }
    }
}