Display_D_HP/TeamAAS-VM/ViewModels/Home/TorqueCheckViewModel.cs

using NPOI.OpenXml4Net.OPC.Internal;
using NPOI.SS.Formula.Functions;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using TeamAAS_VP.Core;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using FileHelper = TeamAAS_VP.Core.FileHelper;

namespace TeamAAS_VP.ViewModels.Home
{
    public class TorqueCheckViewModel : BindableBase, IDialogAware
    {
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IContainerProvider _container;
        IRobotService _robotService;

        #region 属性
        private Management _management;
        public Management management
        {
            get { return _management; }
            set { SetProperty(ref _management, value); }
        }

        private bool CanExecute
        {
            get
            {
                // 命令可执行仅当机器人可执行且已选择点位
                if (Robot != null && Robot.IsConnected && Robot.CanExecute)
                {
                    return true;
                }
                return false;
            }
        }

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

        private double _Distance = 1;
        public double Distance
        {
            get { return _Distance; }
            set
            {
                SetProperty(ref _Distance, value);
                try
                {
                    if (Robot == null)
                    {
                        return;
                    }
                    _configService.UpdateRobotStepDistance(Robot.Id, value);
                }
                catch (Exception)
                {

                }
            }
        }

        private TorqueTest _tc = new TorqueTest();
        public TorqueTest Tc
        {
            get { return _tc; }
            set { SetProperty(ref _tc, value); }
        }

        private double _torqueValue;
        public double torqueValue
        {
            get { return _torqueValue; }
            set { SetProperty(ref _torqueValue, value); }
        }

        private string _TValue;
        public string TValue
        {
            get { return _TValue; }
            set
            {
                SetProperty(ref _TValue, value);
            }
        }

        private string _PValue;
        public string PValue
        {
            get { return _PValue; }
            set
            {
                SetProperty(ref _PValue, value);
            }
        }

        private string _SubValue;
        public string SubValue
        {
            get { return _SubValue; }
            set { SetProperty(ref _SubValue, value); }
        }

        private string _Result;
        public string Result
        {
            get { return _Result; }
            set { SetProperty(ref _Result, value); }
        }

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

        #region 命令
        private DelegateCommand _CancelCommand;
        public DelegateCommand CancelCommand =>
            _CancelCommand ?? (_CancelCommand = new DelegateCommand(ExecuteCancelCommand));

        private DelegateCommand _ConfirmCommand;
        public DelegateCommand ConfirmCommand =>
            _ConfirmCommand ?? (_ConfirmCommand = new DelegateCommand(ExecuteConfirmCommand));

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

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

        private DelegateCommand _TechPointCommand;
        public DelegateCommand TechPointCommand =>
            _TechPointCommand ?? (_TechPointCommand = new DelegateCommand(ExecuteTechPointCommand));

        private DelegateCommand _ModifyCommand;
        public DelegateCommand ModifyCommand =>
            _ModifyCommand ?? (_ModifyCommand = new DelegateCommand(ExecuteModifyCommand));

        private DelegateCommand _WorkCommand;
        public DelegateCommand WorkCommand =>
            _WorkCommand ?? (_WorkCommand = new DelegateCommand(ExecuteWorkCommand));

        #endregion

        #region 方法
        public TorqueCheckViewModel(IEventAggregator ea, IConfigService configService, IContainerProvider container, IRobotService robotService)
        {
            _eventAggregator = ea;
            _configService = configService;
            _container = container;
            _robotService = robotService;
            management = _container.Resolve<Management>();
        }

        void ExecuteCancelCommand()
        {
            IDialogParameters parameters = new DialogParameters();
            RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
        }

        void ExecuteConfirmCommand()
        {
            IDialogParameters parameters = new DialogParameters();
            RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
        }

        /// <summary>
        /// 电机
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteMotorCommand(string obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.MotorAsync(Convert.ToBoolean(obj));
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点击操作时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                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;

                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });

            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-机器人点动时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教点位
        /// </summary>
        async void ExecuteTechPointCommand()
        {
            //弹窗用户是否确认要示教该点位
            if (MessageBox.Show($"确认要示教点位吗？", "示教点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }

            var curpos = await Robot.GetRobotPosAsync();
            Tc.Xpoint = curpos.X;
            Tc.Ypoint = curpos.Y;
            Tc.Zpoint = curpos.Z;
            FileHelper.WriteJsonFile(Tc, FilePath.TorqueCheckPath);
            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
        }

        /// <summary>
        /// 修改
        /// </summary>
        void ExecuteModifyCommand()
        {
            if (MessageBox.Show($"确认要修改扭力阈值吗？", "修改", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            Tc.TorqueValue = torqueValue;
            FileHelper.WriteJsonFile(Tc, FilePath.TorqueCheckPath);
            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.4 });
        }

        void ExecuteWorkCommand()
        {
            try
            {
                MoveRobot();
                Thread.Sleep(500);
                DisplayResult();
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检时出错！", ex);
            }
        }
        public async void MoveRobot()
        {
            if (!File.Exists(FilePath.TorqueCheckPath))
            {
                MessageBox.Show("还未示教，请先示教");
                return;
            }
            var res = FileHelper.ReadJsonFile<TorqueTest>(FilePath.TorqueCheckPath);

            var point = new RPoint()
            {
                X = (float)res.Xpoint,
                Y = (float)res.Ypoint,
                Z = (float)res.Zpoint,
            };
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                //确认要执行该点位的该运动指令吗
                if (MessageBox.Show($"确认要进行点检吗？", "执行点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
                {
                    return;
                }
                await Robot.JumpAsync(point, 0);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检移动时出错！", ex);
            }
        }
        public void DisplayResult()
        {
            try
            {
                TValue = management.SignalValue;
                double tvalue = double.Parse(TValue.Split(' ')[0]);
                PValue = $"{management.Value} N.m";
                double pvalue = management.Value;
                SubValue = $"{Math.Abs(tvalue - pvalue)} N.m";
                double sub = Math.Abs(tvalue - pvalue);

                var res = FileHelper.ReadJsonFile<TorqueTest>(FilePath.TorqueCheckPath);
                if (res != null)
                {
                    if (sub <= res.TorqueValue)
                    {
                        FontColor = "Green";
                        Result = "OK";
                    }
                    else
                    {
                        FontColor = "Red";
                        Result = "NG";
                    }
                }
                else
                {
                    if (sub <= torqueValue)
                    {
                        FontColor = "Green";
                        Result = "OK";
                    }
                    else
                    {
                        FontColor = "Red";
                        Result = "NG";
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检显示时出错！", ex);
            }
        }
        #endregion

        public string Title { get; set; } = "扭力点检";

        public event Action<IDialogResult> RequestClose;

        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {

        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            try
            {
                var res = FileHelper.ReadJsonFile<TorqueTest>(FilePath.TorqueCheckPath);
                if (res != null)
                {
                    res.TorqueValue = torqueValue;
                }
                else
                {
                    MessageBox.Show("还未示教，请先示教");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show("还未示教，请先示教");
            }

            if (Robot == null)
            {
                Robot = _robotService.GetRobotByNumber(1);
            }

            if (Robot != null && Robot.IsConnected)
            {
                this.Distance = _configService.GetRobotStepDistance(Robot.Id);
                Robot.EnterDebugMode = true;
            }
            else if (Robot != null)
            {
                Robot.EnterDebugMode = true;
            }
        }
    }
}