TeamAAS-VP-HeShuo/TeamAAS-VM/ViewModels/Calibration/CalibrationBasicsViewModel.cs

using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Windows;
using TeamAAS_VP.Events;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP;
using System.ComponentModel;
using TeamAAS_VP.Enums;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationBasicsViewModel : BindableBase, IDataErrorInfo
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        #region 属性
        private ObservableCollection<RobotInfo> _Robots;

        public ObservableCollection<RobotInfo> Robots
        {
            get { return _Robots; }
            set
            {
                SetProperty(ref _Robots, value);
                RaisePropertyChanged(nameof(Error));
            }
        }

        private ObservableCollection<FeederInfo> _Feeders;

        public ObservableCollection<FeederInfo> Feeders
        {
            get { return _Feeders; }
            set { SetProperty(ref _Feeders, value);
            }
        }

        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set
            {
                SetProperty(ref _SelectCalibration, value);
                if (value != null)
                {
                    SelectRobot = Robots.FirstOrDefault(r => r.Id == value.RobotId);
                    SelectFeeder = Feeders.FirstOrDefault(r => r.Id == value.FeederId);
                }
            }
        }

        private RobotInfo _SelectRobot;

        public RobotInfo SelectRobot
        {
            get { return _SelectRobot; }
            set
            {
                SetProperty(ref _SelectRobot, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.RobotId = value.Id;
                }
            }
        }

        private FeederInfo _SelectFeeder;

        public FeederInfo SelectFeeder
        {
            get { return _SelectFeeder; }
            set
            {
                SetProperty(ref _SelectFeeder, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.FeederId = value.Id;
                }
            }
        }

        private CameraInfo _SelectCamera;

        public CameraInfo SelectCamera
        {
            get { return _SelectCamera; }
            set
            {
                SetProperty(ref _SelectCamera, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.CameraID = value.Id;
                    SelectCalibration.CameraName = value.CameraName;
                }
                else
                {
                    SelectCalibration.CameraID = Guid.Empty;
                    SelectCalibration.CameraName = "";
                }
            }
        }


        private Management _management;

        public Management management
        {
            get { return _management; }
            set { SetProperty(ref _management, value); }
        }

        #endregion

        #region 命令
        private DelegateCommand _LoadedCommand;
        public DelegateCommand LoadedCommand =>
            _LoadedCommand ?? (_LoadedCommand = new DelegateCommand(ExecuteLoadedCommand));
        private DelegateCommand _NextCommand;
        public DelegateCommand NextCommand =>
            _NextCommand ?? (_NextCommand = new DelegateCommand(ExecuteNextCommand));

        private DelegateCommand _BackCommand;
        public DelegateCommand BackCommand =>
            _BackCommand ?? (_BackCommand = new DelegateCommand(ExecuteBackCommand));

        private DelegateCommand _SelectCameraMountChangedCommand;
        public DelegateCommand SelectCameraMountChangedCommand =>
            _SelectCameraMountChangedCommand ?? (_SelectCameraMountChangedCommand = new DelegateCommand(ExecuteSelectCameraMountChangedCommand));

        #endregion

        #region 事件

        #endregion

        public CalibrationBasicsViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService)
        {
            _regionManager = regionManager;
            _regionNavigationService = regionNavigationService;
            _container = container;
            _dialogService = dialogService;
            _eventAggregator = ea;
            management = _container.Resolve<Management>();
            Robots = _container.Resolve<Management>().DeviceConfig.Robots;
            Feeders = _container.Resolve<Management>().DeviceConfig.Feeders;
            SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
        }

        #region 方法
        void ExecuteLoadedCommand()
        {
            if (_container.Resolve<Management>().CurrentUser.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }

            SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
            if (SelectCalibration.CameraID != Guid.Empty)
            {
                SelectCamera = management.DeviceConfig.Cameras.FirstOrDefault(c => c.Id == SelectCalibration.CameraID);
            }
        }
        /// <summary>
        /// 下一步
        /// </summary>
        async void ExecuteNextCommand()
        {
            try
            {
                SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
                if (SelectCalibration != null)
                {
                    if (SelectCalibration.Pick != null && (SelectCalibration.Pick.Inhal > -1 || SelectCalibration.Pick.Blow > -1))
                    {
                        IRobot Robot = management.RobotService.GetRobot(SelectCalibration.RobotId);
                        if (Robot.IsConnected)
                        {
                            //发送校准的参数
                            await Robot.CalibParameAsync(SelectCalibration.Pick, SelectCalibration.Speed, SelectCalibration.Accel, SelectCalibration.Power, SelectCalibration.WaitSuction, SelectCalibration.WaitBlow);
                            await Robot.CalibOutIOAsync(true);
                        }
                    }
                    if (SelectCalibration.FeederId != Guid.Empty)
                    {
                        var feeder = _container.Resolve<Management>().FeederService.GetFeeder(SelectCalibration.FeederId);
                        if (feeder.IsConnected)
                        {
                            await feeder.OpenLightAsync();
                        }
                    }

                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准参数配置点击下一步时出错!", ex);
                MessageBox.Show(ex.Message);
            }
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationCameraParams");
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationHome");
        }

        void ExecuteSelectCameraMountChangedCommand()
        {
            ValidateProperty(nameof(SelectCalibration));
            RaisePropertyChanged(nameof(Error));
        }

        // 手动触发验证
        public string ValidateProperty(string propertyName)
        {
            return this[propertyName]; // 主动调用索引器
        }
        #endregion

        private bool _IsAllowEdit = false;

        public bool IsAllowEdit
        {
            get { return _IsAllowEdit; }
            set { SetProperty(ref _IsAllowEdit, value); }
        }

        public string Error{
            get
            {
                //var errors = new List<string>()
                //{
                //    this[nameof(SelectCalibration)],
                //    this[nameof(SelectRobot)],
                //};
                
                //return string.Join(Environment.NewLine, errors.Where(e => !string.IsNullOrEmpty(e)));
                string err1 = this[nameof(SelectCalibration)];
                string err2 = this[nameof(SelectRobot)];
                if (!string.IsNullOrEmpty(err1))
                {
                    return err1;
                }
                if (!string.IsNullOrEmpty(err2))
                {
                    return err2;
                }
                return string.Empty;
            }
        }

        public string this[string columnName]
        {

            get
            {
                string result = string.Empty;
                switch (columnName)
                {
                    case nameof(SelectCalibration):
                        if (SelectCalibration != null && SelectRobot != null)
                        {
                            switch (SelectRobot.RobotBrand)
                            {
                                case RobotBrand.Default:
                                    break;
                                case RobotBrand.EPSON:
                                case RobotBrand.FANUC:
                                case RobotBrand.Schneider:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileDown_XYPlatform)
                                    {
                                        result = "Unsupported camera installation method!";
                                    }
                                    break;
                                case RobotBrand.XYZ_Platform:
                                case RobotBrand.XYZU_Platform:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileJ2 || SelectCalibration.CameraMount == CameraMount.MobileJ4)
                                    {
                                        result = "Unsupported camera installation method!";
                                    }
                                    break;
                                default:
                                    break;
                            }
                        }
                        break;
                    case nameof(SelectRobot):
                        if (SelectCalibration != null && SelectRobot != null)
                        {
                            switch (SelectRobot.RobotBrand)
                            {
                                case RobotBrand.Default:
                                    break;
                                case RobotBrand.EPSON:
                                case RobotBrand.FANUC:
                                case RobotBrand.Schneider:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileDown_XYPlatform)
                                    {
                                        result = "不支持的相机校准方式！";
                                    }
                                    break;
                                case RobotBrand.XYZ_Platform:
                                case RobotBrand.XYZU_Platform:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileJ2 || SelectCalibration.CameraMount == CameraMount.MobileJ4)
                                    {
                                        result = "不支持的相机校准方式！";
                                    }
                                    break;
                                default:
                                    break;
                            }
                        }
                        break;
                        //case nameof(SelectFeeder):
                        //    if (SelectFeeder == null)
                        //    {
                        //        result = "请选择喂料器";
                        //    }
                        //    break;
                        //case nameof(SelectCamera):
                        //    if (SelectCamera == null)
                        //    {
                        //        result = "请选择相机";
                        //    }
                        //    break;
                }
                return result;
            }
        }

        private void LoginChange(Models.User user)
        {
            if (user.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
    }
}