TeamAAS-VP-HeShuo/TeamAAS-VM/ViewModels/DebugMod/RobotManualStepViewModel.cs

using Prism.Commands;
using Prism.Ioc;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Linq;
using Team.FFFeederService.Interfaces;
using Team.FFFeederService;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using System.Security.Cryptography;
using TeamAAS_VP.Events;
using Prism.Events;
using System.Windows;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.DebugMod
{
    public class RobotManualStepViewModel : BindableBase
    {
        IContainerProvider _container;
        IEventAggregator _eventAggregator;
        #region 属性

        public Management management { get; set; }
        public RobotService robotService { get; set; }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set
            {
                SetProperty(ref _Robot, value);
                try
                {
                    var config = FileHelper.ReadApplicationConfiguration();
                    if (config.RobotJogSetpDistance.TryGetValue(value.Id, out double distance))
                    {
                        this.Distance = distance;
                    }
                }
                catch (Exception)
                {

                }
            }
        }

        private double _Distance = 1;

        public double Distance
        {
            get { return _Distance; }
            set
            {
                SetProperty(ref _Distance, value);
                try
                {
                    if (Robot == null)
                    {
                        return;
                    }
                    var config = FileHelper.ReadApplicationConfiguration();
                    if (config.RobotJogSetpDistance.ContainsKey(Robot.Id))
                    {
                        config.RobotJogSetpDistance[Robot.Id] = value;
                    }
                    else
                    {
                        config.RobotJogSetpDistance.Add(Robot.Id, value);
                    }
                    FileHelper.SaveApplicationConfiguration(config);
                }
                catch (Exception)
                {

                }
            }
        }

        private bool CanExecute
        {
            get
            {
                if (Robot==null)
                    return false;
                else return Robot.CanExecute;
            }
        }
        #endregion

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

        private DelegateCommand _ConnectCommand;
        public DelegateCommand ConnectCommand =>
            _ConnectCommand ?? (_ConnectCommand = new DelegateCommand(ExecuteConnectCommand));

        

        private DelegateCommand _DisConnectCommand;
        public DelegateCommand DisConnectCommand =>
            _DisConnectCommand ?? (_DisConnectCommand = new DelegateCommand(ExecuteDisConnectCommand));

        

        private DelegateCommand<string> _MotorCommand;
        public DelegateCommand<string> MotorCommand =>
            _MotorCommand ?? (_MotorCommand = new DelegateCommand<string>(ExecuteMotorCommand).ObservesCanExecute(()=> CanExecute).ObservesProperty(()=> Robot).ObservesProperty(()=> Robot.CanExecute));

        private DelegateCommand _ResetCommand;
        public DelegateCommand ResetCommand =>
            _ResetCommand ?? (_ResetCommand = new DelegateCommand(ExecuteResetCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand<object> _JogCommand;
        public DelegateCommand<object> JogCommand =>
            _JogCommand ?? (_JogCommand = new DelegateCommand<object>(ExecuteJogCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _sFreeCommand;
        public DelegateCommand sFreeCommand =>
            _sFreeCommand ?? (_sFreeCommand = new DelegateCommand(ExecutesFreeCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _SLockCommand;
        public DelegateCommand SLockCommand =>
            _SLockCommand ?? (_SLockCommand = new DelegateCommand(ExecuteSLockCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        
        #endregion

        #region 事件

        #endregion

        public RobotManualStepViewModel(IContainerProvider container, IEventAggregator ea)
        {
            _container = container;
            _eventAggregator = ea;
            _container.Resolve<DebugViewModel>().PropertyChanged += RobotManualStepViewModel_PropertyChanged; ;
        }

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

                management = _container.Resolve<Management>();
                robotService = management.RobotService;
                var srobot = _container.Resolve<DebugViewModel>().SelectRobot;
                if (srobot != null)
                {
                    Robot = robotService.GetRobot(srobot.Id);
                }
            }
            catch (Exception)
            {

            }

        }

        /// <summary>
        /// 连接机器人
        /// </summary>
        private async void ExecuteConnectCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.ConnectAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.连接成功}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 断开机器人
        /// </summary>
        private void ExecuteDisConnectCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Disconnect();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.已断开}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 电机
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteMotorCommand(string obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                
                await Robot.MotorAsync(Convert.ToBoolean(obj));
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.成功}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 重置
        /// </summary>
        private async void ExecuteResetCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {

                await Robot.ResetAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.成功}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Timeout = 6000000;
                var items = ((string)obj).Split(':');
                switch (items[0])
                {
                    case "X+":
                        await Robot.JogAsync("X", double.Parse(items[1]));
                        break;
                    case "X-":
                        await Robot.JogAsync("X", -double.Parse(items[1]));
                        break;
                    case "Y+":
                        await Robot.JogAsync("Y", double.Parse(items[1]));
                        break;
                    case "Y-":
                        await Robot.JogAsync("Y", -double.Parse(items[1]));
                        break;
                    case "Z+":
                        await Robot.JogAsync("Z", double.Parse(items[1]));
                        break;
                    case "Z-":
                        await Robot.JogAsync("Z", -double.Parse(items[1]));
                        break;
                    case "U+":
                        await Robot.JogAsync("U", double.Parse(items[1]));
                        break;
                    case "U-":
                        await Robot.JogAsync("U", -double.Parse(items[1]));
                        break;
                    case "V+":
                        await Robot.JogAsync("V", double.Parse(items[1]));
                        break;
                    case "V-":
                        await Robot.JogAsync("V", -double.Parse(items[1]));
                        break;
                    case "W+":
                        await Robot.JogAsync("W", double.Parse(items[1]));
                        break;
                    case "W-":
                        await Robot.JogAsync("W", -double.Parse(items[1]));
                        break;
                    default:
                        break;
                }
                Robot.Timeout = 5000;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.成功}!", Duration = 0.4 });
                
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 锁定刹车
        /// </summary>
        private async void ExecuteSLockCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {

                await Robot.SLockAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.成功}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 释放刹车
        /// </summary>
        private async void ExecutesFreeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {

                await Robot.SFreeAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.成功}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        private void RobotManualStepViewModel_PropertyChanged(object sender, System.ComponentModel.PropertyChangedEventArgs e)
        {
            if (e.PropertyName == "SelectRobot")
            {
                management = _container.Resolve<Management>();
                robotService = management.RobotService;
                var srobot = _container.Resolve<DebugViewModel>().SelectRobot;
                if(srobot != null)
                {
                    Robot = robotService.GetRobot(srobot.Id);
                }
            }
        }
        #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;
            }
        }
    }
}