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+using Cognex.VisionPro;
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+using Cognex.VisionPro.ToolBlock;
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+using MathNet.Numerics.LinearAlgebra;
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+using Prism.Commands;
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+using Prism.Events;
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+using Prism.Ioc;
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+using Prism.Mvvm;
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+using Prism.Regions;
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+using Prism.Services.Dialogs;
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+using System;
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+using System.Collections.Generic;
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+using System.Linq;
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+using System.Threading;
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+using System.Threading.Tasks;
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+using System.Windows;
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+using Team.FFFeederService.Interfaces;
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+using TeamAAS_VP.Core;
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+using TeamAAS_VP.Interfaces;
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+using TeamAAS_VP.Models.Calibration;
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+using TeamAAS_VP.Models.Robot;
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+using TeamAAS_VP.Resources.Languages;
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+
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+namespace TeamAAS_VP.ViewModels.Calibration
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+{
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+ public class CalibIndependentCameraViewModel : BindableBase, IConfirmNavigationRequest
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+ {
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+ IRegionManager _regionManager;
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+ IRegionNavigationService _regionNavigationService;
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+ IContainerProvider _container;
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+ IDialogService _dialogService;
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+ IEventAggregator _eventAggregator;
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+ IRobotService _robotService;
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+ IFeederService _feederService;
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+ ICameraService _cameraService;
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+ ISystemDatabaseService _systemDatabaseService;
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+ ICameraCalibrationService _cameraCalibrationService;
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+ private CancellationTokenSource _cts;
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+ #region 属性
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+ private ICogImage _Image;
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+
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+ public ICogImage Image
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+ {
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+ get { return _Image; }
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+ set { SetProperty(ref _Image, value); }
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+ }
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+
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+ private Cognex.VisionPro.CogGraphicCollection _Graphic;
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+
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+ public Cognex.VisionPro.CogGraphicCollection Graphic
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+ {
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+ get { return _Graphic; }
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+ set { SetProperty(ref _Graphic, value); }
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+ }
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+
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+ private CalibrationInfo _SelectCalibration;
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+
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+ public CalibrationInfo SelectCalibration
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+ {
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+ get { return _SelectCalibration; }
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+ set { SetProperty(ref _SelectCalibration, value); }
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+ }
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+
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+ public Management management { get; set; }
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+ public IRobot Robot { get; set; }
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+
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+ private bool _IsRunning = true;
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+
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+ public bool IsRunning
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+ {
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+ get { return _IsRunning; }
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+ set { SetProperty(ref _IsRunning, value); }
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+ }
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+
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+ private ICamera _Camera;
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+
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+ public ICamera Camera
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+ {
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+ get { return _Camera; }
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+ set { SetProperty(ref _Camera, value); }
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+ }
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+ #endregion
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+
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+ #region 命令
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+ private DelegateCommand _NextCommand;
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+ public DelegateCommand NextCommand =>
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+ _NextCommand ?? (_NextCommand = new DelegateCommand(ExecuteNextCommand).ObservesCanExecute(() => IsRunning));
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+
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+ private DelegateCommand _BackCommand;
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+ public DelegateCommand BackCommand =>
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+ _BackCommand ?? (_BackCommand = new DelegateCommand(ExecuteBackCommand).ObservesCanExecute(() => IsRunning));
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+
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+ private DelegateCommand _StartCalibCommand;
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+ public DelegateCommand StartCalibCommand =>
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+ _StartCalibCommand ?? (_StartCalibCommand = new DelegateCommand(ExecuteStartCalibCommand).ObservesCanExecute(() => IsRunning));
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+
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+ #endregion
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+
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+ #region 事件
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+
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+ #endregion
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+
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+ public CalibIndependentCameraViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService,
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+ IRobotService robotService, IFeederService feederService, ICameraService cameraService, ISystemDatabaseService systemDatabaseService, ICameraCalibrationService cameraCalibrationService)
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+ {
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+ _regionManager = regionManager;
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+ _regionNavigationService = regionNavigationService;
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+ _container = container;
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+ _dialogService = dialogService;
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+ _robotService = robotService;
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+ _eventAggregator = ea;
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+ _feederService = feederService;
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+ _cameraService = cameraService;
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+ _systemDatabaseService = systemDatabaseService;
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+ _cameraCalibrationService = cameraCalibrationService;
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+ }
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+
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+ #region 方法
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+
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+ async void ExecuteStartCalibCommand()
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+ {
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+ try
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+ {
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+ //弹窗提示是否开始独立移动相机刚体变换校准
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+ MessageBoxResult msgResult = MessageBox.Show("是否开始独立移动相机位置校准", Lang.自动校准, MessageBoxButton.YesNo, MessageBoxImage.Question);
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+ if (msgResult != MessageBoxResult.Yes)
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+ {
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+ return;
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+ }
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+
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+ IsRunning = false;
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+ _cts = new CancellationTokenSource();
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+ (bool IsSuccess, double[,] TransformationMatrix) = await _cameraCalibrationService.CalculateIndependentCameraRigidTransformationMatrix(SelectCalibration, Robot, _cts.Token);
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+ if (!IsSuccess)
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+ {
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+ MessageBox.Show("独立移动相机位置校准失败", $"{Lang.自动校准}", MessageBoxButton.OK, MessageBoxImage.Warning);
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+ return;
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+ }
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+ SelectCalibration.IndependentDownCameraMotionModuleHomogeneousMatrix = TransformationMatrix;
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+ NavigationParameters param = new NavigationParameters();
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+ param.Add("SelectCalibration", SelectCalibration);
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+ _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
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+
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+ }
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+ catch (Exception ex)
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+ {
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+ LogHelper.WriteLogError("独立移动相机位置校准时出错!", ex);
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+ MessageBox.Show(ex.Message);
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+ }
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+ finally
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+ {
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+ try
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+ {
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+ if (_cts != null && !_cts.IsCancellationRequested)
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+ _cts.Cancel();
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+ _cts?.Dispose();
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+ _cts = null;
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+ }
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+ catch (Exception)
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+ {
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+
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+ }
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+ IsRunning = true;
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+ }
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+ }
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+
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+ /// <summary>
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+ /// 下一步
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+ /// </summary>
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+ void ExecuteNextCommand()
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+ {
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+ NavigationParameters param = new NavigationParameters();
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+ param.Add("SelectCalibration", SelectCalibration);
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+ _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
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+ }
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+
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+ /// <summary>
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+ /// 上一步
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+ /// </summary>
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+ void ExecuteBackCommand()
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+ {
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+ NavigationParameters param = new NavigationParameters();
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+ param.Add("SelectCalibration", SelectCalibration);
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+
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+ _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool", param);
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+ }
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+
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+ /// <summary>
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+ /// 相机拍照
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+ /// </summary>
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+ /// <returns></returns>
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+ private async Task<(bool IsSuccess, double X, double Y, double U, int ImageWidth, int ImageHeight)> CaptureAndProcess()
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+ {
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+ await Task.Delay(200);
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+ //采集图像
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+ if (Camera != null)
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+ {
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+ SelectCalibration.ToolBlock.Inputs["InputImage"].Value = Camera.Grab();
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+
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+ }
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+ App.Current.Dispatcher.Invoke(() =>
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+ {
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+ Graphic = null;
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+ Image = (ICogImage)SelectCalibration.ToolBlock.Inputs["InputImage"].Value;
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+ });
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+
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+ SelectCalibration.ToolBlock.Run();
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+ CogToolBlockTerminalCollection outputCollection = SelectCalibration.ToolBlock.Outputs;
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+ App.Current.Dispatcher.Invoke(() =>
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+ {
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+ Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
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+ });
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+
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+ bool Found = (bool)(outputCollection["Found"].Value);
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+ if (Found)
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+ {
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+ var strpoints = outputCollection["Point"].Value.ToString();
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+ string[] items = strpoints.Split(',');
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+ double x = double.Parse(items[0]);
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+ double y = double.Parse(items[1]);
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+ return (true, x, y, 0, Image.Width, Image.Height);
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+ }
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+ else
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+ {
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+ return (false, 0, 0, 0, Image.Width, Image.Height);
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+ }
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+ }
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+
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+ #endregion
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+
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+ #region 继承
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+ /// <summary>
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+ /// 确认导航请求时调用。此方法允许您在导航之前执行一些操作。
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+ /// </summary>
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+ /// <param name="navigationContext"></param>
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+ /// <param name="continuationCallback"></param>
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+ public void ConfirmNavigationRequest(NavigationContext navigationContext, Action<bool> continuationCallback)
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+ {
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+ continuationCallback(true);
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+ }
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+
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+ /// <summary>
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+ /// 接收导航请求时调用。传入导航参数，包含有关导航目标的信息。
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+ /// </summary>
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+ /// <param name="navigationContext"></param>
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+ /// <exception cref="NotImplementedException"></exception>
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+ public async void OnNavigatedTo(NavigationContext navigationContext)
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+ {
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+ SelectCalibration = navigationContext.Parameters.GetValue<CalibrationInfo>("SelectCalibration");
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+ if (SelectCalibration != null)
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+ {
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+ Robot = _robotService.GetRobot(SelectCalibration.RobotId);
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+ }
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+ Camera = _cameraService.GetCamera(SelectCalibration.CameraID);
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+ _cameraCalibrationService.CaptureAndProcessCallback = null;
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+ _cameraCalibrationService.CaptureAndProcessCallback = CaptureAndProcess;
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+ if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
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+ {
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+ IsAllowEdit = false;
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+ }
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+ else
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+ {
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+ IsAllowEdit = true;
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+ }
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+ }
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+
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+ /// <summary>
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+ /// 是否允许导航到此视图模型。
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+ /// </summary>
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+ /// <param name="navigationContext"></param>
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+ /// <returns></returns>
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+ public bool IsNavigationTarget(NavigationContext navigationContext)
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+ {
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+ return true;
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+ }
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+
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+ /// <summary>
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+ /// 导航离开此视图模型时调用。您可以在此处执行清理操作或保存状态。
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+ /// </summary>
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+ /// <param name="navigationContext"></param>
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+ public void OnNavigatedFrom(NavigationContext navigationContext)
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+ {
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+ _cameraCalibrationService.CaptureAndProcessCallback = null;
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+ }
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+ #endregion
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+
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+ private bool _IsAllowEdit = false;
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+
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+ public bool IsAllowEdit
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+ {
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+ get { return _IsAllowEdit; }
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+ set { SetProperty(ref _IsAllowEdit, value); }
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+ }
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+
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+ private void LoginChange(Models.User user)
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+ {
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+ if (user.userPart == Enums.UserPart.Operator)
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+ {
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+ IsAllowEdit = false;
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+ }
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+ else
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+ {
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+ IsAllowEdit = true;
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+ }
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+ }
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+ }
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+}
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