Display_D_HP/TeamAAS-VM/ViewModels/Product/PalletManageViewModel.cs

using MaterialDesignThemes.Wpf;
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.Linq;
using System.Web.Hosting;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Views.Product;
using TeamAAS_VP;
using Microsoft.Win32;
using System.Windows;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Models.Robot;
using TeamAAS_VP.Services;
using TeamAAS_VP.Core.Robots;

namespace TeamAAS_VP.ViewModels.Product
{
    public class PalletManageViewModel : BindableBase, IDialogAware
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IRobotService _robotService;
        IConfigService _configService;
        

        #region 属性
        public string Title => "Pallet";

        private ProductModel _SelectProduct;

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

        private RobotPointStore _SelectedRobot;
        public RobotPointStore SelectedRobot
        {
            get { return _SelectedRobot; }
            set { SetProperty(ref _SelectedRobot, value); }
        }

        private ObservableCollection<Pallet> _Pallets;

        /// <summary>
        /// 托盘集合
        /// </summary>
        public ObservableCollection<Pallet> Pallets
        {
            get { return _Pallets; }
            set { SetProperty(ref _Pallets, value); }
        }

        private Pallet _SelectPallet;
        /// <summary>
        /// 选中的托盘
        /// </summary>
        public Pallet SelectPallet
        {
            get { return _SelectPallet; }
            set
            {
                SetProperty(ref _SelectPallet, value);
                if (value == null)
                    return;
                Points = new ObservableCollection<RPoint>();
                Points.Add(value.P0);
                Points.Add(value.P1);
                Points.Add(value.P2);
                Row = value.Row;
                Column = value.Column;
                Arrangement = value.Arrangement;
            }
        }

        private RPoint _SelectPoint;

        public RPoint SelectPoint
        {
            get { return _SelectPoint; }
            set { SetProperty(ref _SelectPoint, value); }
        }

        private MotionCommand _SelectMotionCommand;
        /// <summary>
        /// 选中的运动指令
        /// </summary>
        public MotionCommand SelectMotionCommand
        {
            get { return _SelectMotionCommand; }
            set { SetProperty(ref _SelectMotionCommand, value); }
        }

        private int _Row;

        public int Row
        {
            get { return _Row; }
            set
            {
                SetProperty(ref _Row, value);
                if (SelectPallet != null)
                {
                    SelectPallet.Row = value;
                    _eventAggregator.GetEvent<PalletLayoutNotification>().Publish(SelectPallet);
                }
            }
        }

        private int _Column;

        public int Column
        {
            get { return _Column; }
            set
            {
                SetProperty(ref _Column, value);
                if (SelectPallet != null)
                {
                    SelectPallet.Column = value;
                    _eventAggregator.GetEvent<PalletLayoutNotification>().Publish(SelectPallet);
                }
            }
        }

        private PalletArrangement _Arrangement;

        public PalletArrangement Arrangement
        {
            get
            {
                return _Arrangement;
            }
            set
            {
                SetProperty(ref _Arrangement, value);
                if (SelectPallet != null)
                {
                    SelectPallet.Arrangement = value;
                    _eventAggregator.GetEvent<PalletLayoutNotification>().Publish(SelectPallet);
                }
            }
        }

        private ObservableCollection<RPoint> _Points;

        public ObservableCollection<RPoint> Points
        {
            get { return _Points; }
            set { SetProperty(ref _Points, value); }
        }

        public Management management { get; set; }

        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 bool CanRemove
        {
            get
            {
                if (SelectPallet != null)
                    return true;
                else return false;
            }
        }

        private ObservableCollection<int> _Tools = new ObservableCollection<int>();
        /// <summary>
        /// 机器人Tool集合
        /// </summary>
        public ObservableCollection<int> Tools
        {
            get { return _Tools; }
            set { SetProperty(ref _Tools, value); }
        }

        private int _SelectTool;
        /// <summary>
        /// 选中的Tool
        /// </summary>
        public int SelectTool
        {
            get { return _SelectTool; }
            set
            {
                SetProperty(ref _SelectTool, value);
                if (value >= 0)
                {
                    if (Robot != null && Robot.IsConnected)
                    {
                        try
                        {
                            Robot.SelectToolAsync(value);
                        }
                        catch (Exception)
                        {

                        }
                    }
                }
            }
        }
        #endregion

        #region 命令
        private DelegateCommand _CreateCommand;
        public DelegateCommand CreateCommand =>
            _CreateCommand ?? (_CreateCommand = new DelegateCommand(ExecuteCreateCommand));

        private DelegateCommand _RemoveCommand;
        public DelegateCommand RemoveCommand =>
            _RemoveCommand ?? (_RemoveCommand = new DelegateCommand(ExecuteRemoveCommand).ObservesCanExecute(() => CanRemove).ObservesProperty(() => SelectPallet));

        private DelegateCommand _ProductSelectionChangedCommand;
        public DelegateCommand ProductSelectionChangedCommand =>
            _ProductSelectionChangedCommand ?? (_ProductSelectionChangedCommand = new DelegateCommand(ExecuteProductSelectionChangedCommand));

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

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

        private DelegateCommand _CopyCommand;
        public DelegateCommand CopyCommand =>
            _CopyCommand ?? (_CopyCommand = new DelegateCommand(ExecuteCopyCommand));

        private DelegateCommand _EditNameCommand;
        public DelegateCommand EditNameCommand =>
            _EditNameCommand ?? (_EditNameCommand = new DelegateCommand(ExecuteEditNameCommand));

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

        private DelegateCommand<object> _ExecuteMotion;
        public DelegateCommand<object> ExecuteMotion =>
            _ExecuteMotion ?? (_ExecuteMotion = new DelegateCommand<object>(ExecuteExecuteMotion).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand<RPoint> _TechPointCommand;
        public DelegateCommand<RPoint> TechPointCommand =>
            _TechPointCommand ?? (_TechPointCommand = new DelegateCommand<RPoint>(ExecuteTechPointCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _CalculatePalletCommand;
        public DelegateCommand CalculatePalletCommand =>
            _CalculatePalletCommand ?? (_CalculatePalletCommand = new DelegateCommand(ExecuteCalculatePalletCommand));

        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 _sFreeCommand;
        public DelegateCommand sFreeCommand =>
            _sFreeCommand ?? (_sFreeCommand = new DelegateCommand(ExecutesFreeCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _SLockCommand;
        public DelegateCommand SLockCommand =>
            _SLockCommand ?? (_SLockCommand = new DelegateCommand(ExecuteSLockCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _SavePalletImage;
        public DelegateCommand SavePalletImage =>
            _SavePalletImage ?? (_SavePalletImage = new DelegateCommand(ExecuteSavePalletImage));

        #endregion

        #region 事件
        public event Action<IDialogResult> RequestClose;
        #endregion


        public PalletManageViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService, 
            IRobotService robotService, IConfigService configService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
            _robotService = robotService;
            _configService = configService;
        }

        #region 方法
        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {

        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            SelectProduct=parameters.GetValue<ProductModel>("SelectProduct");
            SelectedRobot= parameters.GetValue<RobotPointStore>("SelectedRobot");
            Robot = _robotService.GetRobot(SelectedRobot.Id);
            if (Robot is FanucRobot)
            {
                Tools = new ObservableCollection<int> { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 };
                SelectTool = Robot.SelectedTool;
            }
            else
            {
                Tools = new ObservableCollection<int> { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 };
                SelectTool = Robot.SelectedTool;
            }
            Pallets = SelectedRobot.Pallets;
            management = _container.Resolve<Management>();
            this.Distance = _configService.GetRobotStepDistance(Robot.Id);
        }


        /// <summary>
        /// 创建托盘
        /// </summary>
        async void ExecuteCreateCommand()
        {
            //var view = new AddProduct() { Title = "创建托盘:", Item = "Name" };
            var view = new AddPalletView();

            //show the dialog
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is AddPalletView vm && !string.IsNullOrEmpty(vm.PalletName))
            {
                Pallet pallet = new Pallet()
                {
                    Id = Guid.NewGuid(),
                    Name = vm.PalletName,
                    Row = 2,
                    Column = 2,
                    P0 = new RPoint() { Number = 0 },
                    P1 = new RPoint() { Number = 1 },
                    P2 = new RPoint() { Number = 2 },
                    Arrangement = PalletArrangement.Z,
                };
                if (!vm.IsCheckModel1)
                {
                    pallet.Extend = new PalletExtend()
                    {
                        Pallet_Row = 2,
                        Pallet_Column = 2,
                        Pallet_X_Interval = 0,
                        Pallet_Y_Interval = 0,
                        CoordinateModel = vm.CoordinateModel
                    };
                }
                Pallets.Add(pallet);
                SelectPallet = Pallets[Pallets.Count - 1];
            }
            //if (result != null && !string.IsNullOrEmpty(result.ToString()))
            //{
            //    Pallets.Add(new Pallet()
            //    {
            //        Id = Guid.NewGuid(),
            //        Name = result.ToString(),
            //        Row=2,
            //        Column=2,
            //        P0 = new RPoint() { Number = 0 },
            //        P1 = new RPoint() { Number = 1 },
            //        P2 = new RPoint() { Number = 2 },
            //        Arrangement=PalletArrangement.Z,
            //    });
            //    SelectPallet = Pallets[Pallets.Count - 1];
            //}
        }

        /// <summary>
        /// 移除托盘
        /// </summary>
        void ExecuteRemoveCommand()
        {
            if (SelectPallet != null)
            {
                Pallets.Remove(SelectPallet);
            }

        }

        /// <summary>
        /// 点击选择托盘时触发方法
        /// </summary>
        void ExecuteProductSelectionChangedCommand()
        {

        }

        /// <summary>
        /// 确定
        /// </summary>
        void ExecuteConfirmCommand()
        {
            IDialogParameters parameters = new DialogParameters();
            parameters.Add("Pallets", Pallets);
            RequestClose?.Invoke(new DialogResult(ButtonResult.OK, parameters));
        }

        /// <summary>
        /// 取消
        /// </summary>
        void ExecuteCancelCommand()
        {
            IDialogParameters parameters = new DialogParameters();
            parameters.Add("Pallets", Pallets);
            RequestClose?.Invoke(new DialogResult(ButtonResult.Cancel, parameters));
        }

        /// <summary>
        /// 保存托盘图片
        /// </summary>
        void ExecuteSavePalletImage()
        {
            try
            {
                if (SelectPallet == null)
                {
                    return;
                }
                SaveFileDialog dlg = new SaveFileDialog();
                dlg.Title = "Save Pallet Layout Image";
                dlg.DefaultExt = ".png";
                dlg.Filter = "Image (*.png)|*.png";
                if (dlg.ShowDialog() ?? false)
                {
                    PalletTool palletTool = new PalletTool(SelectPallet);
                    palletTool.DrawCoordinatesAndSaveImage(dlg.FileName);
                    MessageBox.Show("OK");
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.ToString());
            }
        }

        /// <summary>
        /// 复制
        /// </summary>
        void ExecuteCopyCommand()
        {

        }

        /// <summary>
        /// 修改托盘名称
        /// </summary>
        void ExecuteEditNameCommand()
        {

        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Timeout = 6000000;
                var items = ((string)obj).Split(':');
                switch (items[0])
                {
                    case "X+":
                        await Robot.JogAsync("X", double.Parse(items[1]));
                        break;
                    case "X-":
                        await Robot.JogAsync("X", -double.Parse(items[1]));
                        break;
                    case "Y+":
                        await Robot.JogAsync("Y", double.Parse(items[1]));
                        break;
                    case "Y-":
                        await Robot.JogAsync("Y", -double.Parse(items[1]));
                        break;
                    case "Z+":
                        await Robot.JogAsync("Z", double.Parse(items[1]));
                        break;
                    case "Z-":
                        await Robot.JogAsync("Z", -double.Parse(items[1]));
                        break;
                    case "U+":
                        await Robot.JogAsync("U", double.Parse(items[1]));
                        break;
                    case "U-":
                        await Robot.JogAsync("U", -double.Parse(items[1]));
                        break;
                    case "V+":
                        await Robot.JogAsync("V", double.Parse(items[1]));
                        break;
                    case "V-":
                        await Robot.JogAsync("V", -double.Parse(items[1]));
                        break;
                    case "W+":
                        await Robot.JogAsync("W", double.Parse(items[1]));
                        break;
                    case "W-":
                        await Robot.JogAsync("W", -double.Parse(items[1]));
                        break;
                    default:
                        break;
                }
                Robot.Timeout = 5000;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });

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

        /// <summary>
        /// 执行运动
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteExecuteMotion(object parameter)
        {
            var values = (object[])parameter;
            var point = values[0] as RPoint;
            MotionCommand motionCmd = (MotionCommand)values[1];
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Timeout = 6000000;
                switch (motionCmd)
                {
                    case MotionCommand.Go:
                        await Robot.GoAsync(point);
                        break;
                    case MotionCommand.Jump:
                        await Robot.JumpAsync(point, 0);
                        break;
                    case MotionCommand.Move:
                        await Robot.MoveAsync(point);
                        break;
                }
                Robot.Timeout = 5000;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                LogHelper.WriteLogError("机器人运动至目标点时出错", ex);
            }
        }

        /// <summary>
        /// 示教点位
        /// </summary>
        /// <param name="point"></param>
        async void ExecuteTechPointCommand(RPoint point)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                RPoint p0 = Points.FirstOrDefault(x => x.Number == point.Number);
                p0.X = curpos.X;
                p0.Y = curpos.Y;
                p0.Z = curpos.Z;
                p0.U = curpos.U;
                p0.V = curpos.V;
                p0.W = curpos.W;
                p0.Hand = curpos.Hand;
                p0.Local = curpos.Local;
                p0.Tool = curpos.Tool;
                p0 = curpos;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                LogHelper.WriteLogError("示教机器人点时出错", ex);
            }
        }

        /// <summary>
        /// 计算托盘
        /// </summary>
        async void ExecuteCalculatePalletCommand()
        {
            try
            {
                var view = new CalculatePalletPos();
                ((CalculatePalletPosViewModel)view.DataContext).CurrentPallet = ((Pallet)SelectPallet).Clone();
                //show the dialog
                var result = await DialogHost.Show(view, "PalletCalculateDialog", null, null, null);
                if (result != null && result is bool)
                {
                    if (((bool)result))
                    {
                        SelectPallet = ((CalculatePalletPosViewModel)view.DataContext).CurrentPallet.Clone();
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("计算托盘时出错", ex);
            }
        }

        /// <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 = 1 });
            }
            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>
        /// 重置
        /// </summary>
        private async void ExecuteResetCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.ResetAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("重置机器人时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 锁定刹车
        /// </summary>
        private async void ExecuteSLockCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SLockAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人锁定刹车时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 释放刹车
        /// </summary>
        private async void ExecutesFreeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SFreeAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人释放刹车时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

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