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

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
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.IO;
using System.Linq;
using System.Threading.Tasks;
using System.Windows;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationCameraParamsViewModel : BindableBase
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        #region 属性

        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set { SetProperty(ref _SelectCalibration, value); }
        }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot, value); }
        }

        private IVoiceCoilMotorFeeder _Feeder;

        public IVoiceCoilMotorFeeder Feeder
        {
            get { return _Feeder; }
            set { SetProperty(ref _Feeder, value); }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }

        private bool _IsShowLight;

        public bool IsShowLight
        {
            get { return _IsShowLight; }
            set { SetProperty(ref _IsShowLight, value); }
        }

        private float _ExposureTime;
        /// <summary>
        /// 相机曝光时间
        /// </summary>
        public float ExposureTime
        {
            get { return _ExposureTime; }
            set
            {
                SetProperty(ref _ExposureTime, value);
                SelectCalibration.ExposureTime = value;
                if (Camera != null)
                {
                    try
                    {
                        Camera.SetExposureTime(value);
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }

        private float _Gain;
        /// <summary>
        /// 相机增益
        /// </summary>
        public float Gain
        {
            get { return _Gain; }
            set
            {
                SetProperty(ref _Gain, value);
                SelectCalibration.Gain = value;
                if (Camera != null)
                {
                    try
                    {
                        Camera.SetGain(value);
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }

        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image,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<double?> _LightValueChangedCommand;
        public DelegateCommand<double?> LightValueChangedCommand =>
            _LightValueChangedCommand ?? (_LightValueChangedCommand = new DelegateCommand<double?>(ExecuteLightValueChangedCommand));

        private DelegateCommand _StartGrabbingCommand;
        public DelegateCommand StartGrabbingCommand =>
            _StartGrabbingCommand ?? (_StartGrabbingCommand = new DelegateCommand(ExecuteStartGrabbingCommand));

        private DelegateCommand _StopGrabbingCommand;
        public DelegateCommand StopGrabbingCommand =>
            _StopGrabbingCommand ?? (_StopGrabbingCommand = new DelegateCommand(ExecuteStopGrabbingCommand));
        #endregion

        #region 事件

        #endregion

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

        #region 方法
        async void ExecuteLoadedCommand()
        {
            try
            {
                if (_container.Resolve<Management>().CurrentUser.userPart == Enums.UserPart.Operator)
                {
                    IsAllowEdit = false;
                }
                else
                {
                    IsAllowEdit = true;
                }
                SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
                Camera = _container.Resolve<Management>().CameraService.GetCamera(SelectCalibration.CameraID);
                if (SelectCalibration.ExposureTime == 0)
                {
                    SelectCalibration.ExposureTime = 5000;
                }
                ExposureTime = SelectCalibration.ExposureTime;
                Gain = SelectCalibration.Gain;
                if (Camera != null)
                {
                    Camera.SetExposureTime(ExposureTime);
                    Camera.SetGain(Gain);
                    Camera.ImageCallbackEvent += Camera_ImageCallbackEvent;
                    //Camera.Grab();
                }
                if (SelectCalibration.IsCreate && SelectCalibration.ToolBlock == null)
                {
                    SelectCalibration.ToolBlock = CogSerializer.LoadObjectFromFile(FilePath.CalibrationToolblockPath) as CogToolBlock;
                }
                else if (SelectCalibration.ToolBlock == null)
                {
                    string prcPath = FilePath.CalibrationPath + "//" + SelectCalibration.Name + "//" + SelectCalibration.Name + ".vpp";
                    if (File.Exists(prcPath))
                    {
                        SelectCalibration.ToolBlock = CogSerializer.LoadObjectFromFile(prcPath) as CogToolBlock;
                    }
                    else
                    {
                        SelectCalibration.ToolBlock = CogSerializer.LoadObjectFromFile(FilePath.CalibrationToolblockPath) as CogToolBlock;
                    }
                }
                if (SelectCalibration.RobotId != Guid.Empty)
                {
                    Robot = _container.Resolve<Management>().RobotService.GetRobot(SelectCalibration.RobotId);
                }
                if (SelectCalibration.FeederId != Guid.Empty)
                {
                    Feeder = _container.Resolve<Management>().FeederService.GetFeeder(SelectCalibration.FeederId);
                    if (Feeder.IsConnected)
                    {
                        await Feeder.OpenLightAsync();
                        await Feeder.SetLightValueAsync((ushort)SelectCalibration.Brightness);
                    }
                    IsShowLight = true;
                }
                else
                {
                    IsShowLight = false;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准加载相机参数界面时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }
        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            SelectCalibration.ExposureTime = ExposureTime;
            SelectCalibration.Gain = Gain;
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationEditVision");
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            if (Camera != null)
            {
                Camera.StopGrabbing();
                Camera.ImageCallbackEvent -= Camera_ImageCallbackEvent;
            }
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationBasics");
        }

        /// <summary>
        /// 光源亮度调整时
        /// </summary>
        async void ExecuteLightValueChangedCommand(double? lightvalue)
        {
            try
            {
                if (lightvalue == null) return;
                if (Feeder == null || !Feeder.IsConnected) return;
                await Feeder.SetLightValueAsync((ushort)lightvalue);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准光源亮度调整时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 停止采集
        /// </summary>
        void ExecuteStopGrabbingCommand()
        {
            if (Camera != null)
                Camera.StopGrabbing();
        }
        /// <summary>
        /// 开始采集
        /// </summary>
        void ExecuteStartGrabbingCommand()
        {
            if (Camera != null)
                Camera.StartGrabbing();
        }

        private void Camera_ImageCallbackEvent(ICogImage image,TimeSpan totaltime,string errormessage)
        {
            Image = image;
        }
        #endregion

        private bool _IsAllowEdit = false;

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

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