using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MaterialDesignThemes.Wpf;
using MathNet.Numerics.LinearAlgebra;
using OpenCvSharp;
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.Drawing;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Web.UI.WebControls;
using System.Windows;
using System.Windows.Media.Imaging;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using Team.FFFeederService.Models;
using TeamAAS_VP;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Feeder;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Views.Product;

namespace TeamAAS_VP.ViewModels.Product
{
    public class FeederParamsViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        ICalibrationService _calibrationService;
        IRemoteCommandService _remoteCommandService;
        ISystemDatabaseService _systemDatabaseService;

        CancellationTokenSource TokenSource;
        CancellationTokenSource AutoFindVirCTS;

        #region 属性

        private ProductModel _SelectProduct;

        /// <summary>
        /// 选中的产品
        /// </summary>
        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set { SetProperty(ref _SelectProcedure, value); }
        }

        private int _SelectFeederFunctionIndex;

        public int SelectFeederFunctionIndex
        {
            get { return _SelectFeederFunctionIndex; }
            set
            {
                SetProperty(ref _SelectFeederFunctionIndex, value);
                if (value >= 0 && value <= 25)
                {
                    SelectFeederFunction = (VibrationFunction)value;
                }
                else
                {
                    SelectFeederFunction = VibrationFunction.Delay;
                }
            }
        }

        private VibrationFunction _SelectFeederFunction;
        /// <summary>
        /// 选中的feeder振动功能码
        /// </summary>
        public VibrationFunction SelectFeederFunction
        {
            get { return _SelectFeederFunction; }
            set { SetProperty(ref _SelectFeederFunction, value); }
        }

        private int _SelectStockFeederFunctionIndex;

        public int SelectStockFeederFunctionIndex
        {
            get { return _SelectStockFeederFunctionIndex; }
            set
            {
                SetProperty(ref _SelectStockFeederFunctionIndex, value);
                if (value >= 0 && value <= 25)
                {
                    SelectStockFeederFunction = (VibrationFunction)value;
                }
                else
                {
                    SelectStockFeederFunction = VibrationFunction.Delay;
                }
            }
        }

        private VibrationFunction _SelectStockFunction;
        /// <summary>
        /// 选中的feeder料仓功能码
        /// </summary>
        public VibrationFunction SelectStockFunction
        {
            get { return _SelectStockFunction; }
            set { SetProperty(ref _SelectStockFunction, value); }
        }

        private VibrationFunction _SelectStockFeederFunction;
        /// <summary>
        /// 选中的feeder料仓振动盘功能码
        /// </summary>
        public VibrationFunction SelectStockFeederFunction
        {
            get { return _SelectStockFeederFunction; }
            set { SetProperty(ref _SelectStockFeederFunction, value); }
        }

        public Management management { get; set; }

        private IVoiceCoilMotorFeeder _Feeder;

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

        private int _SelectActionIndex = -1;
        /// <summary>
        /// Feeder动作索引
        /// </summary>
        public int SelectActionIndex
        {
            get { return _SelectActionIndex; }
            set
            {
                SetProperty(ref _SelectActionIndex, value);
                if (value >= 0 && SelectProcedure.FeederFindFrequency != null && SelectProcedure.FeederFindFrequency.FeederFindFrequency != null)
                {
                    SelectedActionParam = SelectProcedure.FeederFindFrequency.FeederFindFrequency.FirstOrDefault(f => f.ActionIndex == value);
                    if (SelectedActionParam.AmplitudeMax == SelectedActionParam.AmplitudeMin || SelectedActionParam.FrequencyMax == SelectedActionParam.FrequencyMin)
                    {
                        AutoAdjustmentParameter findVirTask = new AutoAdjustmentParameter(Feeder, SelectedActionParam.ActionIndex, ExecuteVisualPhoto);
                        var defultpar = findVirTask.detector.GetLogicParameters();
                        SelectedActionParam.AmplitudeMax = defultpar.u16MaxAmp;
                        SelectedActionParam.AmplitudeMin = defultpar.u16MinAmp;
                        SelectedActionParam.FrequencyMax = defultpar.u16MaxFre;
                        SelectedActionParam.FrequencyMin = defultpar.u16MinFre;
                        SelectedActionParam.Duration= defultpar.u16Tim;
                        findVirTask.Dispose();
                    }
                }
                else
                {
                    SelectedActionParam = null;
                }
            }
        }

        private ActionParamsExtModel _SelectedActionParam;
        public ActionParamsExtModel SelectedActionParam
        {
            get { return _SelectedActionParam; }
            set { SetProperty(ref _SelectedActionParam, value); }
        }

        private bool _InExecutionFindVibP;
        /// <summary>
        /// 正在执行自动寻找振动参数
        /// </summary>
        public bool InExecutionFindVibP
        {
            get { return _InExecutionFindVibP; }
            set { SetProperty(ref _InExecutionFindVibP, value); }
        }

        private BitmapSource _CameraImage;
        public BitmapSource CameraImage
        {
            get { return _CameraImage; }
            set { SetProperty(ref _CameraImage, value); }
        }

        private bool _FeederDirectionInverse;
        public bool FeederDirectionInverse
        {
            get { return _FeederDirectionInverse; }
            set { SetProperty(ref _FeederDirectionInverse, value); }
        }

        private SingleActionParam _SingleActionParam=new SingleActionParam();
        /// <summary>
        /// 自动调频时的动作参数
        /// </summary>
        public SingleActionParam SingleActionParam
        {
            get { return _SingleActionParam; }
            set { SetProperty(ref _SingleActionParam, value); }
        }

        private string _StateMesg;
        public string StateMesg
        {
            get { return _StateMesg; }
            set { SetProperty(ref _StateMesg, value); }
        }
        #endregion

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

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

        private DelegateCommand _AddFunctionCommand;
        public DelegateCommand AddFunctionCommand =>
            _AddFunctionCommand ?? (_AddFunctionCommand = new DelegateCommand(ExecuteAddFunctionCommand));

        private DelegateCommand<object> _RemoveFunctionCommand;
        public DelegateCommand<object> RemoveFunctionCommand =>
            _RemoveFunctionCommand ?? (_RemoveFunctionCommand = new DelegateCommand<object>(ExecuteRemoveFunctionCommand));

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

        private DelegateCommand _AddStockFunctionCommand;
        public DelegateCommand AddStockFunctionCommand =>
            _AddStockFunctionCommand ?? (_AddStockFunctionCommand = new DelegateCommand(ExecuteAddStockFunctionCommand));

        private DelegateCommand<object> _RemoveStockFunctionCommand;
        public DelegateCommand<object> RemoveStockFunctionCommand =>
            _RemoveStockFunctionCommand ?? (_RemoveStockFunctionCommand = new DelegateCommand<object>(ExecuteRemoveStockFunctionCommand));

        private DelegateCommand _AddStockFeederFunctionCommand;
        public DelegateCommand AddStockFeederFunctionCommand =>
            _AddStockFeederFunctionCommand ?? (_AddStockFeederFunctionCommand = new DelegateCommand(ExecuteAddStockFeederFunctionCommand));

        private DelegateCommand<object> _RemoveStockFeederFunctionCommand;
        public DelegateCommand<object> RemoveStockFeederFunctionCommand =>
            _RemoveStockFeederFunctionCommand ?? (_RemoveStockFeederFunctionCommand = new DelegateCommand<object>(ExecuteRemoveStockFeederFunctionCommand));

        private DelegateCommand _SettingStockCommand;
        public DelegateCommand SettingStockCommand =>
            _SettingStockCommand ?? (_SettingStockCommand = new DelegateCommand(ExecuteSettingStockCommand));

        private DelegateCommand<string> _RunCommandWorks;
        public DelegateCommand<string> RunCommandWorks =>
            _RunCommandWorks ?? (_RunCommandWorks = new DelegateCommand<string>(ExecuteRunCommandWorks).ObservesCanExecute(() => IsCanExecute));

        private DelegateCommand _AutoFindVibrationParamsCommand;
        public DelegateCommand AutoFindVibrationParamsCommand =>
            _AutoFindVibrationParamsCommand ?? (_AutoFindVibrationParamsCommand = new DelegateCommand(ExecuteAutoFindVibrationParamsCommand, CanExecuteAutoFindVibrationParamsCommand).ObservesProperty(() => InExecutionFindVibP));

        private DelegateCommand _StopAutoFindCommand;
        public DelegateCommand StopAutoFindCommand =>
            _StopAutoFindCommand ?? (_StopAutoFindCommand = new DelegateCommand(ExecuteStopAutoFindCommand, CanExecuteStopAutoFindCommand).ObservesProperty(() => InExecutionFindVibP));


        #endregion

        #region 事件

        #endregion

        public FeederParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IConfigService configService,IRobotService robotService,ICameraService cameraService,IFeederService feederService, ICalibrationService calibrationService,
            IRemoteCommandService remoteCommandService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _calibrationService = calibrationService;
            _remoteCommandService = remoteCommandService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);

            management = _container.Resolve<Management>();
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        async void ExecuteNextCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", SelectProcedure);
            _regionManager.RequestNavigate("ProductRegionContext", "ProcedureVisionOutput", param);
            try
            {
                if (Feeder != null && Feeder.IsConnected)
                {
                    foreach (var item in SelectProcedure.FeederWorks.FeederWorkList)
                    {
                        if (item.Function == VibrationFunction.Delay) continue;
                        var paramCollection = await Feeder.GetShakeGroupValueAsync((int)item.Function);
                        item.SingleAction = paramCollection;
                    }

                    foreach (var item in SelectProcedure.FeederStockWorks.FeederWorkList)
                    {
                        if (item.Function == VibrationFunction.Delay) continue;
                        var paramCollection = await Feeder.GetShakeGroupValueAsync((int)item.Function);
                        item.SingleAction = paramCollection;
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面点击下一步时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", SelectProcedure);
            if (SelectProcedure.VisionModel == Enums.VisionModel.Simple)
            {
                _regionManager.RequestNavigate("ProductRegionContext", "SimpleProcedure", param);
            }
            else
            {
                _regionManager.RequestNavigate("ProductRegionContext", "AdvancedProcedure", param);
            }

        }

        /// <summary>
        /// 增加振动盘振动任务
        /// </summary>
        async void ExecuteAddFunctionCommand()
        {
            try
            {
                if (SelectProcedure.FeederWorks == null)
                {
                    SelectProcedure.FeederWorks = new FeederWorks();
                }

                if (SelectFeederFunction == VibrationFunction.Delay)
                {
                    var view = new AddProduct() { Title = $"{Lang.添加动作}:", Item = $"{Lang.持续时长}(ms)" };

                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && !string.IsNullOrEmpty(result.ToString()) && int.TryParse(result.ToString(), out int time))
                    {
                        SelectProcedure.FeederWorks.Add(new FeederWork() { Step = SelectProcedure.FeederWorks.Count, Function = SelectFeederFunction, Duration = time });
                    }
                }
                else
                {
                    var view = new AddProduct() { Title = $"{Lang.添加动作}:", Item = $"{Lang.持续时长}(ms)" };
                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && !string.IsNullOrEmpty(result.ToString()) && int.TryParse(result.ToString(), out int time))
                    {
                        if (Feeder != null && Feeder.IsConnected)
                        {
                            var paramCollection = await Feeder.GetShakeGroupValueAsync((int)SelectFeederFunction);
                            SelectProcedure.FeederWorks.Add(new FeederWork() { Step = SelectProcedure.FeederWorks.Count, Function = SelectFeederFunction, Duration = time, SingleAction = paramCollection });
                        }
                        else
                        {
                            SelectProcedure.FeederWorks.Add(new FeederWork() { Step = SelectProcedure.FeederWorks.Count, Function = SelectFeederFunction, Duration = time });
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面增加振动盘任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 移除振动盘振动任务
        /// </summary>
        /// <param name="index"></param>
        void ExecuteRemoveFunctionCommand(object index)
        {
            try
            {
                if (SelectProcedure.FeederWorks == null || SelectProcedure.FeederWorks.FeederWorkList == null)
                {
                    return;
                }
                if ((int)index < 0) return;
                SelectProcedure.FeederWorks.FeederWorkList.RemoveAt((int)index);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面移除振动盘任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 增加料仓振动任务
        /// </summary>
        async void ExecuteAddStockFunctionCommand()
        {
            try
            {
                if (SelectProcedure.FeederStockWorks == null)
                {
                    SelectProcedure.FeederStockWorks = new FeederStockWorks();
                    SelectProcedure.FeederStockWorks.FeederStockWorkList = new ObservableCollection<FeederStockWork>();
                    SelectProcedure.FeederStockWorks.FeederWorkList = new ObservableCollection<FeederWork>();
                }
                if (SelectProcedure.FeederStockWorks.FeederStockWorkList == null)
                {
                    SelectProcedure.FeederStockWorks.FeederStockWorkList = new ObservableCollection<FeederStockWork>();
                }
                if (SelectProcedure.FeederStockWorks.FeederWorkList == null)
                {
                    SelectProcedure.FeederStockWorks.FeederWorkList = new ObservableCollection<FeederWork>();
                }

                var view = new AddProduct() { Title = $"{Lang.添加动作}:", Item = $"{Lang.持续时长}(ms)" };

                //show the dialog
                var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                if (result != null && !string.IsNullOrEmpty(result.ToString()) && int.TryParse(result.ToString(), out int time))
                {
                    SelectProcedure.FeederStockWorks.FeederStockWorkList.Add(new FeederStockWork() { Step = SelectProcedure.FeederStockWorks.FeederStockWorkList.Count, Function = SelectStockFeederFunction, Duration = time });
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面增加料仓任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 移除料仓振动任务
        /// </summary>
        /// <param name="index"></param>
        void ExecuteRemoveStockFunctionCommand(object index)
        {
            try
            {
                if (SelectProcedure.FeederStockWorks == null || SelectProcedure.FeederStockWorks.FeederStockWorkList == null)
                {
                    return;
                }
                if ((int)index < 0) return;
                SelectProcedure.FeederStockWorks.FeederStockWorkList.RemoveAt((int)index);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面移除料仓任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 增加料仓振动时的振动盘振动任务
        /// </summary>
        async void ExecuteAddStockFeederFunctionCommand()
        {
            try
            {
                if (SelectProcedure.FeederStockWorks == null)
                {
                    SelectProcedure.FeederStockWorks = new FeederStockWorks();
                    SelectProcedure.FeederStockWorks.FeederStockWorkList = new ObservableCollection<FeederStockWork>();
                    SelectProcedure.FeederStockWorks.FeederWorkList = new ObservableCollection<FeederWork>();
                }
                if (SelectProcedure.FeederStockWorks.FeederStockWorkList == null)
                {
                    SelectProcedure.FeederStockWorks.FeederStockWorkList = new ObservableCollection<FeederStockWork>();
                }
                if (SelectProcedure.FeederStockWorks.FeederWorkList == null)
                {
                    SelectProcedure.FeederStockWorks.FeederWorkList = new ObservableCollection<FeederWork>();
                }



                if (SelectStockFeederFunction == VibrationFunction.Delay)
                {
                    var view = new AddProduct() { Title = $"{Lang.添加动作}:", Item = $"{Lang.持续时长}(ms)" };

                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && !string.IsNullOrEmpty(result.ToString()) && int.TryParse(result.ToString(), out int time))
                    {
                        SelectProcedure.FeederStockWorks.FeederWorkList.Add(new FeederWork() { Step = SelectProcedure.FeederStockWorks.FeederWorkList.Count, Function = SelectStockFeederFunction, Duration = time });
                    }
                }
                else
                {
                    var view = new AddProduct() { Title = $"{Lang.添加动作}:", Item = $"{Lang.持续时长}(ms)" };

                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && !string.IsNullOrEmpty(result.ToString()) && int.TryParse(result.ToString(), out int time))
                    {
                        if (Feeder != null && Feeder.IsConnected)
                        {
                            var paramCollection = await Feeder.GetShakeGroupValueAsync((int)SelectStockFeederFunction);
                            SelectProcedure.FeederStockWorks.FeederWorkList.Add(new FeederWork() { Step = SelectProcedure.FeederStockWorks.FeederWorkList.Count, Function = SelectStockFeederFunction, Duration = time, SingleAction = paramCollection });
                        }
                        else
                        {
                            SelectProcedure.FeederStockWorks.FeederWorkList.Add(new FeederWork() { Step = SelectProcedure.FeederStockWorks.FeederWorkList.Count, Function = SelectStockFeederFunction, Duration = time });
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面增加料仓动作时的振动盘任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 移除料仓振动任务
        /// </summary>
        /// <param name="index"></param>
        void ExecuteRemoveStockFeederFunctionCommand(object index)
        {
            try
            {
                if (SelectProcedure.FeederStockWorks == null || SelectProcedure.FeederStockWorks.FeederWorkList == null)
                {
                    return;
                }
                if ((int)index < 0) return;
                SelectProcedure.FeederStockWorks.FeederWorkList.RemoveAt((int)index);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面移除料仓动作时的振动盘任务时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 料仓出料时机参数设定
        /// </summary>
        void ExecuteSettingStockCommand()
        {
            try
            {
                _dialogService.Show("FeederBlobParams", rst =>
                {
                    //对话框关闭之后的回调函数，可以在这解析结果。
                    ButtonResult result1 = rst.Result;

                    if (result1 == ButtonResult.OK)
                    {
                        SelectProcedure.MinArea = rst.Parameters.GetValue<double>("MinArea");
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}！", Duration = 1 });
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面打开FeederBlob参数界面时出错, ex);
                MessageBox.Show(ex.Message);
            }
        }

        async void ExecuteLoadedCommand()
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }

        private bool _IsCanExecute = true;

        public bool IsCanExecute
        {
            get { return _IsCanExecute; }
            set { SetProperty(ref _IsCanExecute, value); }
        }

        async void ExecuteRunCommandWorks(string index)
        {
            try
            {
                IsCanExecute = false;
                int num = int.Parse(index);
                if (num == 0)
                {
                    TokenSource = new CancellationTokenSource();
                    var view = new WaitingPage();
                    //show the dialog
                    var _ = DialogHost.Show(view, "RootDialog", null, ExtendedClosingEventHandler, ExtendedClosedEventHandler);
                    await _remoteCommandService.ExecuteFeederWorks(Feeder, SelectProcedure.FeederWorks, TokenSource.Token, false);
                    if (DialogHost.IsDialogOpen("RootDialog"))
                    {
                        TokenSource = null;
                        DialogHost.Close("RootDialog");
                    }
                    TokenSource = null;
                }
                else if (num == 1)
                {
                    TokenSource = new CancellationTokenSource();
                    var view = new WaitingPage();
                    //show the dialog
                    var _ = DialogHost.Show(view, "RootDialog", null, ExtendedClosingEventHandler, ExtendedClosedEventHandler);
                    await _remoteCommandService.ExecuteFeederStockWorks(Feeder, SelectProcedure.FeederStockWorks, TokenSource.Token, false);
                    if (DialogHost.IsDialogOpen("RootDialog"))
                    {
                        TokenSource = null;
                        DialogHost.Close("RootDialog");
                    }
                    TokenSource = null;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面执行Feeder运动任务时出错时出错, ex);
                MessageBox.Show(ex.Message);
            }
            finally
            {
                IsCanExecute = true;
            }
        }

        private void ExtendedClosingEventHandler(object sender, DialogClosingEventArgs eventArgs)
        {
            if (TokenSource != null)
            {
                TokenSource.Cancel();
            }
        }

        private void ExtendedClosedEventHandler(object sender, DialogClosedEventArgs eventArgs)
        {

        }

        /// <summary>
        /// 自动寻频
        /// </summary>
        async void ExecuteAutoFindVibrationParamsCommand()
        {
            try
            {
                AutoFindVirCTS = new CancellationTokenSource();
                InExecutionFindVibP = true;
                var calib = _calibrationService.GetAllCalibrations().FirstOrDefault(f => f.Id == SelectProcedure.CalibrationId);
                if (SelectedActionParam == null)
                {
                    SelectedActionParam = new ActionParamsExtModel();
                }

                AutoAdjustmentParameter findVirTask = new AutoAdjustmentParameter(Feeder, SelectedActionParam.ActionIndex, ExecuteVisualPhoto);
                findVirTask.OnVibrationParamChanged += (amp) =>
                {
                    Application.Current.Dispatcher.Invoke(() =>
                    {
                        SingleActionParam.Motor1.Amplitude = amp.Motor1.Amplitude;
                        SingleActionParam.Motor1.Frequency = amp.Motor1.Frequency;
                        SingleActionParam.Motor1.Phase = amp.Motor1.Phase;
                        SingleActionParam.Motor1.WaveShape = amp.Motor1.WaveShape;
                        SingleActionParam.Motor2.Amplitude = amp.Motor2.Amplitude;
                        SingleActionParam.Motor2.Frequency = amp.Motor2.Frequency;
                        SingleActionParam.Motor2.Phase = amp.Motor2.Phase;
                        SingleActionParam.Motor2.WaveShape = amp.Motor2.WaveShape;
                        SingleActionParam.Motor3.Amplitude = amp.Motor3.Amplitude;
                        SingleActionParam.Motor3.Frequency = amp.Motor3.Frequency;
                        SingleActionParam.Motor3.Phase = amp.Motor3.Phase;
                        SingleActionParam.Motor3.WaveShape = amp.Motor3.WaveShape;
                        SingleActionParam.Motor4.Amplitude = amp.Motor4.Amplitude;
                        SingleActionParam.Motor4.Frequency = amp.Motor4.Frequency;
                        SingleActionParam.Motor4.Phase = amp.Motor4.Phase;
                        SingleActionParam.Motor4.WaveShape = amp.Motor4.WaveShape;
                        SingleActionParam.DurationValue = amp.DurationValue;
                    });
                };

                findVirTask.detector.SetLogicParameters((ushort)SelectedActionParam.AmplitudeMin, (ushort)SelectedActionParam.AmplitudeMax, (ushort)SelectedActionParam.FrequencyMin, (ushort)SelectedActionParam.FrequencyMax, (ushort)SelectedActionParam.Duration);
                await findVirTask.Execute(SelectedActionParam.AmplitudeMax, SelectedActionParam.AmplitudeMin, SelectedActionParam.FrequencyMax, SelectedActionParam.FrequencyMin, SelectedActionParam.Duration, AutoFindVirCTS.Token, res =>
                {
                    //0 :失败 1：运行中 3：完成调频 6：验证结束
                    if (res == 0)
                    {
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            StateMesg = Lang.寻频失败;
                        });
                        AutoFindVirCTS.Cancel();
                    }
                    else if (res == 1)
                    {
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            StateMesg = Lang.寻频中;
                        });
                    }
                    //动作结束
                    else if (res == 2)
                    {
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            StateMesg = Lang.移动物料到起始位置;
                        });
                        //if (MessageBox.Show( "请将物料手动移动回原位，将进行下一次调频。", "AAS", MessageBoxButton.YesNo, MessageBoxImage.Asterisk) == MessageBoxResult.Yes)
                        //{
                        //    //findVirTask.SetState(1);
                        //}
                        //else
                        //{
                        //    //AutoFindVirCTS.Cancel();
                        //}
                    }
                    //完成调频，进行测试效果
                    else if (res == 3)
                    {
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            StateMesg = Lang.验证进行中;
                        });
                        if (MessageBox.Show(Lang.请使用更多物料去验证动作振动效果, "AAS", MessageBoxButton.YesNo, MessageBoxImage.Asterisk) == MessageBoxResult.Yes)
                        {
                            findVirTask.SetState(2);
                        }
                        else
                        {
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                StateMesg = Lang.停止;
                            });
                            findVirTask.SetState(0);
                            AutoFindVirCTS.Cancel();
                        }
                    }
                    //验证结束。
                    else if (res == 6)
                    {
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            StateMesg = Lang.验证结束;
                        });
                        if (MessageBox.Show(Lang.是否重复震动验证, "AAS", MessageBoxButton.YesNo, MessageBoxImage.Asterisk) == MessageBoxResult.Yes)
                        {
                            App.Current.Dispatcher.Invoke(() =>
                            {
                                StateMesg = Lang.重复验证;
                            });
                            findVirTask.SetState(2);
                        }
                        else
                        {
                            if (MessageBox.Show(Lang.请确认当前振动效果是否正确, "AAS", MessageBoxButton.YesNo, MessageBoxImage.Asterisk) == MessageBoxResult.Yes)
                            {
                                App.Current.Dispatcher.Invoke(() =>
                                {
                                    StateMesg = Lang.验证完成;
                                });
                                findVirTask.SetState(3);
                                AutoFindVirCTS.Cancel();
                            }
                            else
                            {
                                App.Current.Dispatcher.Invoke(() =>
                                {
                                    StateMesg = Lang.继续调频;
                                });
                                findVirTask.SetState(1);
                                //AutoFindVirCTS.Cancel();
                            }
                        }
                        
                    }
                });
                findVirTask.Dispose();
                Feeder.CloseLight();
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.Feeder参数界面执行自动寻找振动参数时出错, ex);
            }
            finally
            {
                InExecutionFindVibP = false;
            }
        }

        bool CanExecuteAutoFindVibrationParamsCommand()
        {
            return !InExecutionFindVibP;
        }

        /// <summary>
        /// 停止自动寻找振动参数
        /// </summary>
        void ExecuteStopAutoFindCommand()
        {
            if (AutoFindVirCTS != null)
            {
                AutoFindVirCTS.Cancel();
            }
        }

        bool CanExecuteStopAutoFindCommand()
        {
            return InExecutionFindVibP;
        }

        /// <summary>
        /// 执行相机拍照(拍摄Feeder，自动寻频功能)，并返回拍照结果
        /// </summary>
        /// <returns></returns>
        private Tuple<bool, float, float> ExecuteVisualPhoto()
        {
            try
            {
                if (!Feeder.QueryLightState())
                {
                    Feeder.OpenLight();
                    Thread.Sleep(100);
                }
                var cam = _cameraService.GetCamera(SelectProcedure.CameraId);
                if (!SelectProcedure.ToolBlock.Tools.Contains("CogToolBlock-FeederCalib"))
                {
                    ShowMsg(Lang.视觉工具组不存在名称为CogToolBlockFeederCalib的ToolBlock);
                    return new Tuple<bool, float, float>(false, 0, 0);
                }
                var tb = SelectProcedure.ToolBlock.Tools["CogToolBlock-FeederCalib"] as CogToolBlock;
                var image = cam.Grab();
                tb.Inputs["InputImage"].Value = image;
                tb.Run();
                Mat mat = ICogImageConvertMat(image);
                if (tb.RunStatus.Result != CogToolResultConstants.Accept)
                {
                    CameraImage = OpenCvSharp.WpfExtensions.BitmapSourceConverter.ToBitmapSource(mat);
                    mat.Dispose();
                    ShowMsg($"CogToolBlock-FeederCalib运行出错!error:{tb.RunStatus.Message}");
                    LogHelper.WriteLogInfo(string.Format(Lang.CogToolBlockFeederCalib运行出错error0, tb.RunStatus.Message));
                    return new Tuple<bool, float, float>(false, 0, 0);
                }
                bool found = (bool)tb.Outputs["Found"].Value;
                if (!found)
                {
                    CameraImage = OpenCvSharp.WpfExtensions.BitmapSourceConverter.ToBitmapSource(mat);
                    mat.Dispose();
                    ShowMsg(string.Format(Lang.视觉工具运行失败));
                    return new Tuple<bool, float, float>(false, 0, 0);
                }
                CogRectangleAffine Rectangle = tb.Outputs["Rectang"].Value as CogRectangleAffine;
                double MassX = (double)tb.Outputs["MassX"].Value;
                double MassY = (double)tb.Outputs["MassY"].Value;

                //创建旋转矩形对象
                OpenCvSharp.RotatedRect rotatedRect = new OpenCvSharp.RotatedRect(new OpenCvSharp.Point2f((float)Rectangle.CenterX, (float)Rectangle.CenterY), new OpenCvSharp.Size2f((float)Rectangle.SideXLength, (float)Rectangle.SideYLength), (float)ToolCoord.RadToAngle(Rectangle.Rotation));
                // 获取矩形的四个顶点
                Point2f[] vertices = rotatedRect.Points();
                //[1]━━━━━━━━━━[2]
                // ┃                   ┃
                // ┃                   ┃
                // ┃                   ┃
                //[0]━━━━━━━━━━[3]
                // 绘制旋转矩形
                Cv2.DrawContours(mat, new[] { Array.ConvertAll(vertices, v => new OpenCvSharp.Point((int)v.X, (int)v.Y)) }, 0, Scalar.Blue, 2);

                // 绘制标记点
                Cv2.DrawMarker(mat, new OpenCvSharp.Point(MassX, MassY),
                          new Scalar(255, 0, 0), MarkerTypes.Cross, 40, 5);

                //绘制Feeder坐标系
                if (!SelectProcedure.FeederFindFrequency.FeederDirectionInverse)
                {
                    Cv2.Line(mat, (int)vertices[2].X, (int)vertices[2].Y, (int)vertices[1].X, (int)vertices[1].Y, Scalar.Red, 5);
                    Cv2.Line(mat, (int)vertices[2].X, (int)vertices[2].Y, (int)vertices[3].X, (int)vertices[3].Y, Scalar.Green, 5);
                }
                else
                {
                    Cv2.Line(mat, (int)vertices[0].X, (int)vertices[0].Y, (int)vertices[3].X, (int)vertices[3].Y, Scalar.Red, 5);
                    Cv2.Line(mat, (int)vertices[0].X, (int)vertices[0].Y, (int)vertices[1].X, (int)vertices[1].Y, Scalar.Green, 5);
                }
                App.Current.Dispatcher.Invoke(() =>
                {
                    CameraImage = OpenCvSharp.WpfExtensions.BitmapSourceConverter.ToBitmapSource(mat);
                });

                mat.Dispose();

                var calib = _calibrationService.GetAllCalibrations().FirstOrDefault(f => f.Id == SelectProcedure.CalibrationId);
                Point2f p0 = new Point2f((float)(MassX * calib.PixelScaleX), (float)(MassY * calib.PixelScaleY));

                //矩形顶点坐标(mm)
                Point2f p1 = new Point2f((float)(vertices[0].X * calib.PixelScaleX + 10), (float)(vertices[0].Y * calib.PixelScaleY));
                Point2f p2 = new Point2f((float)(vertices[1].X * calib.PixelScaleX + 10), (float)(vertices[1].Y * calib.PixelScaleY));
                Point2f p3 = new Point2f((float)(vertices[2].X * calib.PixelScaleX + 10), (float)(vertices[2].Y * calib.PixelScaleY));
                Point2f p4 = new Point2f((float)(vertices[3].X * calib.PixelScaleX + 10), (float)(vertices[3].Y * calib.PixelScaleY));
                //创建Local坐标系
                CoordinateTransformer local = new CoordinateTransformer(p3.X, p3.Y, p2.X, p2.Y, p4.X, p4.Y);
                if (SelectProcedure.FeederFindFrequency.FeederDirectionInverse)
                {
                    local = new CoordinateTransformer(p1.X, p1.Y, p4.X, p4.Y, p2.X, p2.Y);
                }
                //转换到Local坐标系
                Vector<double> localP = local.ToNewCoord(p0.X, p0.Y);

                return new Tuple<bool, float, float>(found, (float)localP[0], (float)localP[1]);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.执行相机拍照拍摄Feeder自动寻频功能时出错, ex);
                return new Tuple<bool, float, float>(false, 0, 0);
            }

        }

        private Mat ICogImageConvertMat(ICogImage image)
        {
            var im = image.ToBitmap();
            Mat im1 = OpenCvSharp.Extensions.BitmapConverter.ToMat(im);
            im.Dispose();
            return im1;
        }
        #endregion

        #region 继承
        /// <summary>
        /// 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。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <param name="continuationCallback"></param>
        public void ConfirmNavigationRequest(NavigationContext navigationContext, Action<bool> continuationCallback)
        {
            continuationCallback(true);
        }

        /// <summary>
        /// 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。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <exception cref="NotImplementedException"></exception>
        public async void OnNavigatedTo(NavigationContext navigationContext)
        {

            try
            {
                SelectProduct = navigationContext.Parameters.GetValue<ProductModel>("SelectProduct");
                SelectProcedure = navigationContext.Parameters.GetValue<ProcedureModel>("SelectedProcedure");

                Feeder = _feederService.GetFeeder(SelectProcedure.FeederId);
                if (Feeder != null && Feeder.IsConnected)
                {
                    if (SelectProcedure.FeederWorks != null && SelectProcedure.FeederWorks.FeederWorkList != null)
                    {
                        foreach (var item in SelectProcedure.FeederWorks.FeederWorkList)
                        {
                            if (item.Function == VibrationFunction.Delay) continue;
                            if (item.SingleAction == null) continue;
                            await Feeder.SetShakeParametersAsync((int)item.Function, item.SingleAction);
                        }
                    }

                    if (SelectProcedure.FeederStockWorks != null && SelectProcedure.FeederStockWorks.FeederWorkList != null)
                    {
                        foreach (var item in SelectProcedure.FeederStockWorks.FeederWorkList)
                        {
                            if (item.Function == VibrationFunction.Delay) continue;
                            if (item.SingleAction == null) continue;
                            await Feeder.SetShakeParametersAsync((int)item.Function, item.SingleAction);
                        }
                    }
                }
                if (SelectProcedure.FeederFindFrequency == null)
                {
                    SelectProcedure.FeederFindFrequency = new FeederFrequencyModel(11);
                }
                if (SelectActionIndex < 0)
                {
                    SelectActionIndex = 0;
                }
                if (SelectedActionParam.AmplitudeMax == SelectedActionParam.AmplitudeMin || SelectedActionParam.FrequencyMax == SelectedActionParam.FrequencyMin)
                {
                    AutoAdjustmentParameter findVirTask = new AutoAdjustmentParameter(Feeder, SelectedActionParam.ActionIndex, ExecuteVisualPhoto);
                    var defultpar = findVirTask.detector.GetLogicParameters();
                    SelectedActionParam.AmplitudeMax = defultpar.u16MaxAmp;
                    SelectedActionParam.AmplitudeMin = defultpar.u16MinAmp;
                    SelectedActionParam.FrequencyMax = defultpar.u16MaxFre;
                    SelectedActionParam.FrequencyMin = defultpar.u16MinFre;
                    SelectedActionParam.Duration = defultpar.u16Tim;
                    findVirTask.Dispose();
                }
                if (SingleActionParam.Motor1 == null)
                {
                    SingleActionParam.Motor1 = new VoiceMotorParam();
                }
                if (SingleActionParam.Motor2 == null)
                {
                    SingleActionParam.Motor2 = new VoiceMotorParam();
                }
                if (SingleActionParam.Motor3 == null)
                {
                    SingleActionParam.Motor3 = new VoiceMotorParam();
                }
                if (SingleActionParam.Motor4 == null)
                {
                    SingleActionParam.Motor4 = new VoiceMotorParam();
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("Team Feeder界面进入时出错！", ex);
            }
        }

        /// <summary>
        /// 是否允许导航到此视图模型。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <returns></returns>
        public bool IsNavigationTarget(NavigationContext navigationContext)
        {
            return true;
        }

        /// <summary>
        /// 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。
        /// </summary>
        /// <param name="navigationContext"></param>
        public void OnNavigatedFrom(NavigationContext navigationContext)
        {

        }
        #endregion

        private void ShowMsg(string msg, double duration = 1)
        {
            //_eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = msg, Duration = duration });
        }

        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;
            }
        }
    }
}