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

using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using SixLabors.Fonts.Unicode;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Cryptography;
using TeamAAS_VP.Events;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.ViewModels.Product;
using System.Windows;
using TeamAAS_VP;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationTeachCenterPointViewModel : 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 bool _IsShowTechHome=false;

        public bool IsShowTechHome
        {
            get { return _IsShowTechHome; }
            set { SetProperty(ref _IsShowTechHome, value); }
        }


        public Management management { get; set; }
        public RobotService robotService { get; set; }
        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot, 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 _TechCenterCommand;
        public DelegateCommand TechCenterCommand =>
            _TechCenterCommand ?? (_TechCenterCommand = new DelegateCommand(ExecuteTechCenterCommand));

        private DelegateCommand _TechHomeCommand;
        public DelegateCommand TechHomeCommand =>
            _TechHomeCommand ?? (_TechHomeCommand = new DelegateCommand(ExecuteTechHomeCommand));

        private DelegateCommand<object> _BlowOrInhalControlCommand;
        public DelegateCommand<object> BlowOrInhalControlCommand =>
            _BlowOrInhalControlCommand ?? (_BlowOrInhalControlCommand = new DelegateCommand<object>(ExecuteBlowOrInhalControlCommand));

        private DelegateCommand _TechMarkPointCommand;
        public DelegateCommand TechMarkPointCommand =>
            _TechMarkPointCommand ?? (_TechMarkPointCommand = new DelegateCommand(ExecuteTechMarkPointCommand));

        
        #endregion

        #region 事件

        #endregion

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

            try
            {
                management = _container.Resolve<Management>();
                robotService = management.RobotService;
                SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
                if (SelectCalibration != null)
                {
                    Robot = robotService.GetRobot(SelectCalibration.RobotId);
                    if (SelectCalibration.CameraMount == Enums.CameraMount.FixedDown)
                    {
                        IsShowTechHome = true;
                    }
                }
                else
                {
                    IsShowTechHome = false;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面加载时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            if (SelectCalibration.CameraMount== Enums.CameraMount.MobileDown_XYPlatform)
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto");
            }
            else
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool");
            }
        }

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

        /// <summary>
        /// 示教中心点
        /// </summary>
        async void ExecuteTechCenterCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.CenterPoint==null)
                {
                    SelectCalibration.CenterPoint = new RPoint();
                }
                SelectCalibration.CenterPoint.X = curpos.X;
                SelectCalibration.CenterPoint.Y = curpos.Y;
                SelectCalibration.CenterPoint.Z = curpos.Z;
                SelectCalibration.CenterPoint.U = curpos.U;
                SelectCalibration.CenterPoint.V = curpos.V;
                SelectCalibration.CenterPoint.W = curpos.W;
                SelectCalibration.CenterPoint.Hand = curpos.Hand;
                SelectCalibration.CenterPoint.Local = curpos.Local;
                SelectCalibration.CenterPoint.Tool = curpos.Tool;
                LogHelper.WriteLogInfo($"相机校准-示教中心点界面示教待机点:X:{SelectCalibration.CenterPoint.X} Y:{SelectCalibration.CenterPoint.Y}  Z:{SelectCalibration.CenterPoint.Z} ");
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"成功! X:{SelectCalibration.CenterPoint.X} Y:{SelectCalibration.CenterPoint.Y}  Z:{SelectCalibration.CenterPoint.Z}", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教中心点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教待机点
        /// </summary>
        async void ExecuteTechHomeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.HomePoint == null)
                {
                    SelectCalibration.HomePoint = new RPoint();
                }
                SelectCalibration.HomePoint.X = curpos.X;
                SelectCalibration.HomePoint.Y = curpos.Y;
                SelectCalibration.HomePoint.Z = curpos.Z;
                SelectCalibration.HomePoint.U = curpos.U;
                SelectCalibration.HomePoint.V = curpos.V;
                SelectCalibration.HomePoint.W = curpos.W;
                SelectCalibration.HomePoint.Hand = curpos.Hand;
                SelectCalibration.HomePoint.Local = curpos.Local;
                SelectCalibration.HomePoint.Tool = curpos.Tool;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "成功!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教待机点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 夹爪打开/关闭
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteBlowOrInhalControlCommand(object obj)
        {
            try
            {
                await Robot.CalibOutIOAsync(!(bool)obj);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-夹爪打开/关闭点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教P0
        /// </summary>
        async void ExecuteTechMarkPointCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.MarkPoint == null)
                {
                    SelectCalibration.MarkPoint = new RPoint();
                }
                SelectCalibration.MarkPoint.X = curpos.X;
                SelectCalibration.MarkPoint.Y = curpos.Y;
                SelectCalibration.MarkPoint.Z = curpos.Z;
                SelectCalibration.MarkPoint.U = curpos.U;
                SelectCalibration.MarkPoint.V = curpos.V;
                SelectCalibration.MarkPoint.W = curpos.W;
                SelectCalibration.MarkPoint.Hand = curpos.Hand;
                SelectCalibration.MarkPoint.Local = curpos.Local;
                SelectCalibration.MarkPoint.Tool = curpos.Tool;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "成功!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教P0时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }
        #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;
            }
        }
    }
}