Display_D_HP/TeamAAS-VM/ViewModels/Calibration/CalibrationEditVisionViewModel.cs

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
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.IO;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Documents;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using static NPOI.HSSF.Util.HSSFColor;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationEditVisionViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        ISystemDatabaseService _systemDatabaseService;

        #region 属性

        private CogToolBlockEditV2 _ToolBlockEdit;

        public CogToolBlockEditV2 ToolBlockEdit
        {
            get { return _ToolBlockEdit; }
            set { SetProperty(ref _ToolBlockEdit,value); }
        }


        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set { SetProperty(ref _SelectCalibration, value); }
        }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot,value); }
        }

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }
        #endregion

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

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

        private DelegateCommand _RunVisionProcessCommand;
        public DelegateCommand RunVisionProcessCommand =>
            _RunVisionProcessCommand ?? (_RunVisionProcessCommand = new DelegateCommand(ExecuteRunVisionProcessCommand));
        #endregion

        #region 事件

        #endregion

        public CalibrationEditVisionViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _regionNavigationService = regionNavigationService;
            _container = container;
            _dialogService = dialogService;
            _eventAggregator = ea;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
        }

        #region 方法
        void ExecuteLoadedCommand()
        {
            try
            {
                if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
                {
                    IsAllowEdit = false;
                }
                else
                {
                    IsAllowEdit = true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准加载视觉工具处理界面时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            try
            {
                SelectCalibration.ToolBlock = ToolBlockEdit.Subject;
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectCalibration", SelectCalibration);
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationTeachCenterPoint", param);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-视觉工具界面点击下一步时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            try
            {
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectCalibration", SelectCalibration);
                if (SelectCalibration.IsDistortionCorrection)
                {
                    _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationDistortion", param);
                }
                else
                {
                    _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationCameraParams", param);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-视觉工具界面点击上一步时出错!", ex);
                MessageBox.Show(ex.Message);
            }
        }

        void ExecuteRunVisionProcessCommand()
        {
            try
            {
                SelectCalibration.ToolBlock = ToolBlockEdit.Subject;
                ICogImage image = Camera.Grab();
                if (SelectCalibration.IsDistortionCorrection && SelectCalibration.CalibCheckerboardTool!=null)
                {
                    SelectCalibration.CalibCheckerboardTool.InputImage= image;
                    SelectCalibration.CalibCheckerboardTool.Run();
                    image = SelectCalibration.CalibCheckerboardTool.OutputImage;
                }
                ToolBlockEdit.Subject.Inputs["InputImage"].Value = image;
                ToolBlockEdit.Subject.Run();
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-运行流程时出错时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }
        #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)
        {
            SelectCalibration = navigationContext.Parameters.GetValue<CalibrationInfo>("SelectCalibration");
            if (ToolBlockEdit != null)
            {
                ToolBlockEdit.Subject = SelectCalibration.ToolBlock;
            }

            if (SelectCalibration.RobotId != Guid.Empty)
            {
                Robot = _robotService.GetRobot(SelectCalibration.RobotId);
            }
            Camera = _cameraService.GetCamera(SelectCalibration.CameraID);
        }

        /// <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 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;
            }
        }
    }
}