Display_D_HP/TeamAAS-VM/Controls/PlcRobotManual.xaml.cs

using Prism.Commands;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Unity;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Core.Robots;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.Controls
{
    /// <summary>
    /// PlcRobotManual.xaml 的交互逻辑
    /// </summary>
    public partial class PlcRobotManual : UserControl, INotifyPropertyChanged
    {
        IConfigService _configService;
        public PlcRobotManual()
        {
            InitializeComponent();
            DataContext = this;
        }

        #region 属性


        private ObservableCollection<AxisExtended> _AdditionalAxisList;
        public ObservableCollection<AxisExtended> AdditionalAxisList
        {
            get { return _AdditionalAxisList; }
            set { SetProperty(ref _AdditionalAxisList, value); }
        }

        private XYZU_Robot _Robot;

        public XYZU_Robot Robot
        {
            get { return _Robot; }
            set
            {
                SetProperty(ref _Robot, value);
                try
                {
                    if (value != null)
                    {
                        if (_configService == null)
                            _configService = ((PrismApplication)(App.Current)).Container.Resolve<IConfigService>();
                        this.Distance = _configService.GetRobotStepDistance(value.Id);
                    }
                }
                catch (Exception)
                {

                }
            }
        }

        private double _Distance = 1;

        public double Distance
        {
            get { return _Distance; }
            set
            {
                SetProperty(ref _Distance, value);
                try
                {
                    if (Robot == null)
                    {
                        return;
                    }
                    if (_configService == null)
                        _configService = ((PrismApplication)(App.Current)).Container.Resolve<IConfigService>();
                    _configService.UpdateRobotStepDistance(Robot.Id, value);
                }
                catch (Exception)
                {

                }
            }
        }
        #endregion

        #region 命令

        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));

        //附加轴,轴点动+命令
        private DelegateCommand<object> _AdditionalAxisJogPlusCommand;
        public DelegateCommand<object> AdditionalAxisJogPlusCommand =>
            _AdditionalAxisJogPlusCommand ?? (_AdditionalAxisJogPlusCommand = new DelegateCommand<object>(ExecuteAdditionalAxisJogPlusCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        //附加轴,轴点动-命令
        private DelegateCommand<object> _AdditionalAxisJogMinusCommand;
        public DelegateCommand<object> AdditionalAxisJogMinusCommand =>
            _AdditionalAxisJogMinusCommand ?? (_AdditionalAxisJogMinusCommand = new DelegateCommand<object>(ExecuteAdditionalAxisJogMinusCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand<object> _AdditionalAxisMotorOnCommand;
        public DelegateCommand<object> AdditionalAxisMotorOnCommand =>
            _AdditionalAxisMotorOnCommand ?? (_AdditionalAxisMotorOnCommand = new DelegateCommand<object>(ExecuteAdditionalAxisMotorOnCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand<object> _AdditionalAxisMotorOffCommand;
        public DelegateCommand<object> AdditionalAxisMotorOffCommand =>
            _AdditionalAxisMotorOffCommand ?? (_AdditionalAxisMotorOffCommand = new DelegateCommand<object>(ExecuteAdditionalAxisMotorOffCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand<string> _CameraAxisModerOnCommand;
        public DelegateCommand<string> CameraAxisModerOnCommand =>
            _CameraAxisModerOnCommand ?? (_CameraAxisModerOnCommand = new DelegateCommand<string>(ExecuteCameraAxisModerOnCommand));

        private DelegateCommand<string> _CameraAxisModerOffCommand;
        public DelegateCommand<string> CameraAxisModerOffCommand =>
            _CameraAxisModerOffCommand ?? (_CameraAxisModerOffCommand = new DelegateCommand<string>(ExecuteCameraAxisModerOffCommand));

        private DelegateCommand<string> _CameraAxisJogCommand;
        public DelegateCommand<string> CameraAxisJogCommand =>
            _CameraAxisJogCommand ?? (_CameraAxisJogCommand = new DelegateCommand<string>(ExecuteCameraAxisJogCommand));
        #endregion

        #region 事件

        #endregion

        #region 方法

        private void ShowMsg(string msg)
        {
            if (snackbar.MessageQueue == null)
            {
                snackbar.MessageQueue = new MaterialDesignThemes.Wpf.SnackbarMessageQueue();
            }
            snackbar.MessageQueue.Clear();
            snackbar.MessageQueue?.Enqueue(
                msg,
                null,
                null,
                null,
                false,
                true,
                TimeSpan.FromSeconds(0.4));
        }

        /// <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));
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点击操作时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

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

                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("重置机器人时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var items = ((string)obj).Split(':');
                //如果移动距离大于10mm，则提示用户确认
                double distance = double.Parse(items[1]);
                if (Math.Abs(distance) >= 10)
                {
                    if (MessageBox.Show($"确认要点动距离 {distance} mm 吗？", "确认点动", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
                    {
                        return;
                    }
                }
                Robot.Timeout = 6000000;
                switch (items[0])
                {
                    case "X+":
                        await Robot.JogAsync("X", distance);
                        break;
                    case "X-":
                        await Robot.JogAsync("X", -distance);
                        break;
                    case "Y+":
                        await Robot.JogAsync("Y", distance);
                        break;
                    case "Y-":
                        await Robot.JogAsync("Y", -distance);
                        break;
                    case "Z+":
                        await Robot.JogAsync("Z", distance);
                        break;
                    case "Z-":
                        await Robot.JogAsync("Z", -distance);
                        break;
                    case "U+":
                        await Robot.JogAsync("U", distance);
                        break;
                    case "U-":
                        await Robot.JogAsync("U", -distance);
                        break;
                    case "V+":
                        await Robot.JogAsync("V", distance);
                        break;
                    case "V-":
                        await Robot.JogAsync("V", -distance);
                        break;
                    case "W+":
                        await Robot.JogAsync("W", distance);
                        break;
                    case "W-":
                        await Robot.JogAsync("W", -distance);
                        break;
                    default:
                        break;
                }
                Robot.Timeout = 5000;


                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器点动时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

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

        /// <summary>
        /// 附加轴+点动
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteAdditionalAxisJogPlusCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                if (obj is AxisExtended axis)
                {
                    //如果移动距离大于10mm，则提示用户确认
                    if (Math.Abs(Distance) >= 10)
                    {
                        if (MessageBox.Show($"确认要点动距离 {Distance} mm 吗？", "确认点动", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
                        {
                            return;
                        }
                    }
                    await Robot.AdditionalAxisJogAsync(axis.Name, Distance);
                    ShowMsg($"{Lang.完成}!");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("附加轴点动+时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 附加轴-点动
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteAdditionalAxisJogMinusCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                if (obj is AxisExtended axis)
                {
                    //如果移动距离大于10mm，则提示用户确认
                    if (Math.Abs(Distance) >= 10)
                    {
                        if (MessageBox.Show($"确认要点动距离 {Distance} mm 吗？", "确认点动", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
                        {
                            return;
                        }
                    }
                    await Robot.AdditionalAxisJogNegAsync(axis.Name, Distance);
                    ShowMsg($"{Lang.完成}!");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("附加轴点动-时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 附加轴上使能
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteAdditionalAxisMotorOffCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                if (obj is AxisExtended axis)
                {
                    await Robot.AdditionalAxisMotorAsync(axis.Name, true);
                    ShowMsg($"{Lang.完成}!");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("附加轴上使能时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 附加轴下使能
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteAdditionalAxisMotorOnCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                if (obj is AxisExtended axis)
                {
                    await Robot.AdditionalAxisMotorAsync(axis.Name, true);
                    ShowMsg($"{Lang.完成}!");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("附加轴下使能时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        #region 相机控制
        /// <summary>
        /// 轴电机下使能操作
        /// </summary>
        /// <param name="parameter"></param>
        async void ExecuteCameraAxisModerOffCommand(string parameter)
        {
            try
            {
                int cameraIndex = int.Parse(parameter);
                var isSuccess = await Robot.CameraMotorAsync(cameraIndex, false);
                if (isSuccess)
                {
                    ShowMsg($"{Lang.完成}!");
                }
                else
                {
                    ShowMsg("相机轴下使能失败！");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机轴下使能时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 轴电机上使能操作
        /// </summary>
        /// <param name="parameter"></param>
        async void ExecuteCameraAxisModerOnCommand(string parameter)
        {
            try
            {
                int cameraIndex = int.Parse(parameter);
                var isSuccess = await Robot.CameraMotorAsync(cameraIndex, true);
                if (isSuccess)
                {
                    ShowMsg($"{Lang.完成}!");
                }
                else
                {
                    ShowMsg("相机轴上使能失败！");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机轴上使能时出错！", ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 相机轴点动命令
        /// </summary>
        /// <param name="parameter"></param>
        async void ExecuteCameraAxisJogCommand(string parameter)
        {
            try
            {
                int cameraIndex = int.Parse(parameter.Split(',')[0]);
                double jogDistance = Distance;
                string axisName = "";
                switch (parameter.Split(',')[1])
                {
                    case "X+":
                        jogDistance = Distance;
                        axisName = "X";
                        break;
                    case "X-":
                        jogDistance = -Distance;
                        axisName = "X";
                        break;
                    case "Y+":
                        jogDistance = Distance;
                        axisName = "Y";
                        break;
                    case "Y-":
                        jogDistance = -Distance;
                        axisName = "Y";
                        break;
                    default:
                        break;
                }
                bool isSuccess = await Robot.CameraJogAsync(cameraIndex, axisName, jogDistance);
                if (isSuccess)
                {
                    ShowMsg($"{Lang.完成}!");
                }
                else
                {
                    ShowMsg("相机轴点动失败！");
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机轴点动时出错！", ex);
                ShowMsg(ex.Message);
            }
        }
        #endregion

        #endregion

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }
        #endregion
    }
}