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

using MathNet.Numerics;
using NPOI.OpenXml4Net.OPC.Internal;
using NPOI.SS.Formula.Functions;
using Org.BouncyCastle.Bcpg.Sig;
using OxyPlot;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Core.ScrewDriver;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.PLC;
using TeamAAS_VP.Models.Torque;
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
    {
        // 点检扭矩参数存放日志地址
        public static readonly string CheckTorqueConfigurationPath = "..//Log//ScrewFeedersConfiguration.cfg";
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IContainerProvider _container;
        IRobotService _robotService;
        IPlcService _plcService;
        TorqueService _torqueService;
        IDialogService _dialogService;

        float Value { get; set; } = 0;

        #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 float _Z_Distance;

        public float Z_Distance
        {
            get { return _Z_Distance; }
            set { SetProperty(ref _Z_Distance, value); }
        }


        private float _torqueValue;
        public float 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); }
        }

        private int _SelectedIndex;
        public int SelectedIndex
        {
            get { return _SelectedIndex; }
            set { SetProperty(ref _SelectedIndex, value); }
        }

        private ObservableCollection<PlcPoint_Torque> _Points = new ObservableCollection<PlcPoint_Torque>();
        /// <summary>
        /// 点位集合
        /// </summary>
        public ObservableCollection<PlcPoint_Torque> Points
        {
            get { return _Points; }
            set
            {
                SetProperty(ref _Points, value);
                AllProductParameter.TorquePoints = Points;
            }
        }

        private TorqueProduceModel _AllProductParameter = new TorqueProduceModel();

        /// <summary>
        /// 所有产品的参数信息
        /// </summary>
        public TorqueProduceModel AllProductParameter
        {
            get { return _AllProductParameter; }
            set { SetProperty(ref _AllProductParameter, value); }
        }

        private PlcPoint_Torque _selectedPointInDataGrid;
        public PlcPoint_Torque SelectedPointInDataGrid
        {
            get { return _selectedPointInDataGrid; }
            set
            {
                SetProperty(ref _selectedPointInDataGrid, value);
                // 可以同步到 SelectPoint 属性
                SelectedPoint = value;
                AllProductParameter.TorquePoints = Points;
            }
        }

        private PlcPoint_Torque _SelectedPoint;
        public PlcPoint_Torque SelectedPoint
        {
            get { return _SelectedPoint; }
            set { SetProperty(ref _SelectedPoint, value); }
        }


        #endregion

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

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

        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 _MovePointCommand;
        public DelegateCommand MovePointCommand =>
            _MovePointCommand ?? (_MovePointCommand = new DelegateCommand(ExecuteMovePointCommand));

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

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

        private DelegateCommand _SavePointsCommand;
        public DelegateCommand SavePointsCommand =>
            _SavePointsCommand ?? (_SavePointsCommand = new DelegateCommand(ExecuteSavePointsCommand));

        private DelegateCommand _PickScrewTestCommand;
        public DelegateCommand PickScrewTestCommand =>
            _PickScrewTestCommand ?? (_PickScrewTestCommand = new DelegateCommand(ExecutePickScrewTestCommand));

        #endregion

        #region 方法

        public TorqueCheckViewModel(IEventAggregator ea, IConfigService configService, TorqueService torqueService,
            IContainerProvider container, IRobotService robotService, IPlcService plcService, IDialogService dialogService)
        {
            _eventAggregator = ea;
            _configService = configService;
            _container = container;
            _robotService = robotService;
            _plcService = plcService;
            _torqueService = torqueService;
            _dialogService = dialogService;
            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;
            }
            if (SelectedPoint == null)
            {
                MessageBox.Show("请选择示教点位");
                return;
            }
            var curpos = await Robot.GetRobotPosAsync();
            SelectedPoint.X_Position = curpos.X;
            SelectedPoint.Y_Position = curpos.Y;
            SelectedPoint.Z_Position_Start = curpos.Z;

            SelectedPoint.Z_Position_Stop = 0;

            AllProductParameter.TorqueValue = this.TorqueValue;
            AllProductParameter.TorquePoints = Points;

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

        /// <summary>
        /// 修改
        /// </summary>
        async void ExecuteModifyCommand()
        {
            if (MessageBox.Show($"确认要修改扭力阈值吗？", "修改", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }

            var res = FileHelper.ReadJsonFile<TorqueProduceModel>(FilePath.TorqueCheckPath);

            res.TorqueValue = this.TorqueValue;
            try
            {
                FileHelper.WriteJsonFile(res, FilePath.TorqueCheckPath);
            }
            catch (Exception)
            {
                MessageBox.Show("修改失败");
            }
            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.4 });
        }

        async void ExecuteWorkCommand()
        {
            if (!File.Exists(FilePath.TorqueCheckPath))
            {
                MessageBox.Show("还未示教，请先示教");
                return;
            }
            if (Robot == null || !Robot.IsConnected)
            {
                return;
            }
            if (MessageBox.Show($"确认要进行点检吗？", "执行点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            try
            {
                if (await MoveRobot())
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.4 });
                }
                else
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.失败, Duration = 0.4 });
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检时出错！", ex);
            }
        }

        /// <summary>
        /// 点检扭矩总体流程
        /// </summary>
        /// <returns></returns>
        public async Task<bool> MoveRobot()
        {
            TorqueProduceModel Plc_Point = new TorqueProduceModel();
            PlcAddressConfig addressConfig = _configService.GetPlcAddresses();
            OpcUaClientPLC plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            try
            {
                Plc_Point = FileHelper.ReadJsonFile<TorqueProduceModel>(FilePath.TorqueCheckPath);
                if (Plc_Point == null || addressConfig == null || plc == null)
                {
                    return false;
                }
                //切换手动模式
                if (await plc.WriteNodeAsync<bool>(addressConfig.OP_AutoManual.Address, false))
                {
                    //回设置的零点             
                    if (await _torqueService.Safety_Position_Async(Robot, plc, addressConfig, Plc_Point))
                    {
                        //执行抛螺丝动作
                        if (await _torqueService.Throw_Screw_Async(Robot, plc, addressConfig, Plc_Point))
                        {
                            //执行取螺丝动作
                            if (await _torqueService.Pick_Screw_Async(Robot, plc, addressConfig, Plc_Point))
                            {
                                //执行锁螺丝点位操作
                                if (await _torqueService.Screw_Torque_Async(Robot, plc, addressConfig, Plc_Point))
                                {
                                    //获取电批结果并显示曲线
                                    if (await WatchAsync(plc, addressConfig))
                                    {
                                        await DisplayResult();
                                        return true;
                                    }
                                    MessageBox.Show("未获取到电批结果"); return false;
                                }
                                MessageBox.Show("执行锁螺丝点位操作失败"); return false;
                            }
                            MessageBox.Show("执行取螺丝动作失败"); return false;
                        }
                        MessageBox.Show("执行抛螺丝动作失败"); return false;
                    }
                    MessageBox.Show("执行回安全点失败"); return false;
                }
                MessageBox.Show("点检失败"); return false;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检移动时出错！", ex);
                return false;
            }
            finally
            {
                await _torqueService.Safety_Position_Async(Robot, plc, addressConfig, Plc_Point);
            }
        }

        public async Task DisplayResult()
        {
            try
            {
                await Task.Delay(500);
                TValue = management.SignalValue;
                double tvalue = double.Parse(TValue.Split(' ')[0]);
                double pvalue = Value;
                PValue = $"{Math.Round(pvalue, 3)} kgf.cm";
                SubValue = $"{Math.Round(Math.Abs(tvalue - pvalue), 3)} kgf.cm";
                double sub = Math.Abs(tvalue - pvalue);

                var res = FileHelper.ReadJsonFile<TorqueProduceModel>(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";
                    }
                }
                await _torqueService.Save_Torque_Log($"{DateTime.Now},{TValue},{PValue},{Math.Round(sub, 4)},{TorqueValue},{Result}");
                SendTaskMessage("点检扭矩成功", MessageLevel.Info);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行点检显示时出错！", ex);
            }
        }

        public async Task<bool> WatchAsync(OpcUaClientPLC plc, PlcAddressConfig addressConfig)
        {
            object oking = null;
            object nging = null;
            int count = 0;

            while (count++ < 20)
            {
                await Task.Delay(50);
                oking = plc.ReadNode(addressConfig.Screw_OK.Address);
                nging = plc.ReadNode(addressConfig.Screw_NG.Address);

                if (oking != null && nging != null)
                {
                    bool okin = (bool)oking;
                    bool ngin = (bool)nging;
                    //电批OKNG
                    if (okin || ngin)
                    {
                        //获取电批结果
                        bool isSucced = management.ScrewDriver.GetData();
                        LockResult lockResult = new LockResult();
                        lockResult.LockTurns = (float)management.ScrewDriver.Truns;
                        lockResult.LockTorque = (float)management.ScrewDriver.TorqueValue;
                        lockResult.WaveDatas = management.ScrewDriver.WaveDatas;
                        App.Current.Dispatcher.Invoke(() =>
                        {
                            _eventAggregator.GetEvent<LockFinishNotification>().Publish(lockResult);
                        });
                        //await _systemDatabaseService.RecordLockResultAsync(lockResult);
                        await plc.WriteNodeAsync(addressConfig.In_WorkDone.Address, (Int16)0);
                        //await Task.Delay(200);
                        Value = lockResult.LockTorque;
                        await plc.WriteNodeAsync(addressConfig.Check_ScrewTorque.Address, false);
                        await _torqueService.BackZero_Async(Robot,Robot.GetRobotPos());
                        return true;
                    }
                }
            }
            return false;
        }

        private void ExecutePickScrewTestCommand()
        {
            var param = new DialogParameters();
            param.Add("PickScrewPoint", AllProductParameter);
            param.Add("Robot", Robot);
            _dialogService.ShowDialog("PickScrewAccuracyAnalyzer", param, 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)
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            });
        }

        #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<TorqueProduceModel>(FilePath.TorqueCheckPath);
                if (res == null)
                {
                    MessageBox.Show("还未示教，请先示教");
                    InitialTorquePoints();
                }
            }
            catch (Exception)
            {
                MessageBox.Show("还未示教，请先示教");
                InitialTorquePoints();
            }
            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;
            }
        }

        private void InitialTorquePoints()
        {
            TorqueProduceModel torques = new TorqueProduceModel()
            {
                TorquePoints = new ObservableCollection<PlcPoint_Torque>()
                        {
                            new PlcPoint_Torque(){Label="抛料点位"},
                            new PlcPoint_Torque(){Label="取料点位"},
                            new PlcPoint_Torque(){Label="锁螺丝点位"},
                            new PlcPoint_Torque(){Label="安全点位"},
                        }
            };
            FileHelper.WriteJsonFile(torques, FilePath.TorqueCheckPath);
        }

        private void ExecuteLoadedCommand()
        {
            var res = FileHelper.ReadJsonFile<TorqueProduceModel>(FilePath.TorqueCheckPath);
            this.Points = res.TorquePoints;
            this.TorqueValue = res.TorqueValue;
        }

        private void SendTaskMessage(string msg, MessageLevel level)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                _eventAggregator.GetEvent<TaskMessageNotification>().Publish(new Models.MessageStruct() { Message = msg, level = level });
            });
        }

        private void ExecuteSavePointsCommand()
        {
            AllProductParameter.TorqueValue = this.TorqueValue;
            AllProductParameter.TorquePoints = Points;

            FileHelper.WriteJsonFile(AllProductParameter, FilePath.TorqueCheckPath);
            MessageBox.Show("参数保存成功");
        }

        private async void ExecuteMovePointCommand()
        {
            if (MessageBox.Show($"确认要进行单独移动至点位吗？", "执行点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            PlcAddressConfig addressConfig = _configService.GetPlcAddresses();
            OpcUaClientPLC plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            await _torqueService.Signal_Move_Async(Robot, plc, addressConfig, SelectedPoint);
        }

    }
}