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

using Cognex.VisionPro.ToolBlock;
using OpenCvSharp;
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.IO;
using System.Linq;
using System.Reflection;
using System.Threading.Tasks;
using System.Web.Hosting;
using System.Windows;
using System.Windows.Media.Media3D;
using Team.FFFeederService;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.Lights;
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 WpfTest.core;
using Point = OpenCvSharp.Point;

namespace TeamAAS_VP.ViewModels.Product
{
    public class AdvancedProcedureViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        IRobotService _robotService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;
        IConfigService _configService;
        ILightManagerService _lightManagerService;

        #region 属性

        private ProductModel _SelectProduct;

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

        private ProcedureModel _SelectProcedure;

        /// <summary>
        /// 选中的流程
        /// </summary>
        public ProcedureModel SelectProcedure
        {
            get { return _SelectProcedure; }
            set { SetProperty(ref _SelectProcedure, value);
            }
        }

        public CogToolBlockEditV2 ToolBlockEdit { get;set; }

        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); }
        }

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

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

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

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

        private DelegateCommand _RunVisionProcessCommand;
        public DelegateCommand RunVisionProcessCommand =>
            _RunVisionProcessCommand ?? (_RunVisionProcessCommand = new DelegateCommand(async () => await ExecuteRunVisionProcessCommand()));

        private DelegateCommand _VisionStaticAccuracyAnalyzerCommand;
        public DelegateCommand VisionStaticAccuracyAnalyzerCommand =>
            _VisionStaticAccuracyAnalyzerCommand ?? (_VisionStaticAccuracyAnalyzerCommand = new DelegateCommand(ExecuteVisionStaticAccuracyAnalyzerCommand));
        #endregion

        #region 事件

        #endregion

        public AdvancedProcedureViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService,ICameraService cameraService, ISystemDatabaseService systemDatabaseService, IConfigService configService, ILightManagerService lightManagerService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _lightManagerService = lightManagerService;
            _feederService = feederService;
            _robotService = robotService;
            _cameraService = cameraService;
            _configService = configService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
            _configService = configService;
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            try
            {
                
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectProduct", SelectProduct);
                param.Add("SelectedProcedure", SelectProcedure);
                SelectProcedure.ToolBlock = ToolBlockEdit.Subject;
                if (SelectProcedure.FeederId == Guid.Empty)
                {
                    _regionManager.RequestNavigate("ProductRegionContext", "ProcedureVisionOutput", param);
                }
                else
                {
                    var management = _container.Resolve<Management>();
                    
                    var Feeder = _feederService.GetFeeder(SelectProcedure.FeederId);
                    
                    if (Feeder.FeederBrand == FeederBrand.AFAG)
                    {
                        _regionManager.RequestNavigate("ProductRegionContext", "AfagFeederParams", param);
                    }
                    else
                    {
                        _regionManager.RequestNavigate("ProductRegionContext", "FeederParams", param);
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(ex.Message,ex);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            try
            {
                NavigationParameters param = new NavigationParameters();
                param.Add("SelectProduct", SelectProduct);
                param.Add("SelectedProcedure", SelectProcedure);
                _regionManager.RequestNavigate("ProductRegionContext", "CameraParams", param);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(ex.Message, ex);
            }
        }

        void ExecuteLoadedCommand()
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }

        async Task ExecuteRunVisionProcessCommand()
        {
            try
            {
                var sysConfig = _configService.GetSystemConfiguration();
                if(sysConfig.PhotosUse==true)
                {
                    SelectProcedure.ToolBlock = ToolBlockEdit.Subject;
                    var camera = _cameraService.GetCamera(SelectProcedure.CameraId);
                    for (int i = 1; i <= SelectProcedure.PhotoCount; i++)
                    {
                        if(i==1)
                        {

                            if (SelectProcedure.LightChannels != null)
                            {
                                if (SelectProcedure.IsControlLightChannels)
                                {
                                    //打开所有需要控制的光源通道
                                    foreach (var lightChannel in SelectProcedure.LightChannels)
                                    {
                                        bool isSucceed = false;
                                        isSucceed = await _lightManagerService.TurnOnGlobalChannelAsync(lightChannel.GlobalIndex);
                                        if (!isSucceed)
                                        {
                                            SendTaskMessage($"设置光源通道{lightChannel.GlobalIndex}打开失败！", MessageLevel.Debug);
                                        }
                                        isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(lightChannel.GlobalIndex, lightChannel.DefaultBrightness);
                                        if (!isSucceed)
                                        {
                                            SendTaskMessage($"设置光源通道{lightChannel.GlobalIndex}亮度{lightChannel.DefaultBrightness}失败！", MessageLevel.Alarm);
                                        }
                                    }
                                }
                            }
                            //bool isSucceed = false;
                            //isSucceed =  await _lightManagerService.SetGlobalChannelBrightnessAsync(0, SelectProcedure.Photo1Light1);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道1亮度{SelectProcedure.Photo1Light1}失败！");
                            //}
                            //isSucceed =  await _lightManagerService.SetGlobalChannelBrightnessAsync(1, SelectProcedure.Photo1Light2);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道2亮度{SelectProcedure.Photo1Light2}失败！");
                            //}
                            //isSucceed =  await _lightManagerService.SetGlobalChannelBrightnessAsync(2, SelectProcedure.Photo1Light3);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道3亮度{SelectProcedure.Photo1Light3}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(3, SelectProcedure.Photo1Light4);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道4亮度{SelectProcedure.Photo1Light4}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(4, SelectProcedure.Photo1Light5);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道5亮度{SelectProcedure.Photo1Light5}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(5, SelectProcedure.Photo1Light6);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道6亮度{SelectProcedure.Photo1Light6}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(6, SelectProcedure.Photo1Light7);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道7亮度{SelectProcedure.Photo1Light7}失败！");
                            //}
                            bool succed = camera.SetExposureTime(SelectProcedure.ExposureTime);
                            if (!succed)
                            {
                                SendTaskMessage($"相机曝光设置失败！", MessageLevel.Error);
                            }
                            succed = camera.SetGain(SelectProcedure.Gain);
                            if (!succed)
                            {
                                SendTaskMessage($"相机增益设置失败！", MessageLevel.Error);
                            }
                            var image = camera.Grab();
                            if (image != null)
                            {
                                ToolBlockEdit.Subject.Inputs["InputImage"].Value = image;
                            }
                            else
                            {
                                Message = Lang.图像采集失败耗时.Replace("{0}", Camera.TotalTime.TotalMilliseconds.ToString("F2")).Replace("{1}", Camera.ErrorMessage);
                            }
                            
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(0);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道0关闭失败！");
                            //}
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(1);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道1关闭失败！");
                            //}
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(2);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道2关闭失败！");
                            //}

                        }
                        else if(i==2)
                        {
                            if (SelectProcedure.LightChannels != null)
                            {
                                if (SelectProcedure.IsControlLightChannels)
                                {
                                    //打开所有需要控制的光源通道
                                    foreach (var lightChannel in SelectProcedure.LightChannels)
                                    {
                                        bool isSucceed = false;
                                        //isSucceed = await _lightManagerService.TurnOnGlobalChannelAsync(lightChannel.GlobalIndex);
                                        //if (!isSucceed)
                                        //{
                                        //    SendTaskMessage($"设置光源通道{lightChannel.GlobalIndex}打开失败！", MessageLevel.Debug);
                                        //}
                                        isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(lightChannel.GlobalIndex, lightChannel.DefaultBrightness);
                                        if (!isSucceed)
                                        {
                                            SendTaskMessage($"设置光源通道{lightChannel.GlobalIndex}亮度{lightChannel.DefaultBrightness}失败！", MessageLevel.Alarm);
                                        }
                                    }
                                }
                            }
                            //bool isSucceed = false;
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(0, SelectProcedure.Photo2Light1);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道1亮度{SelectProcedure.Photo2Light1}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(1, SelectProcedure.Photo2Light2  );
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道2亮度{SelectProcedure.Photo2Light2}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(2, SelectProcedure.Photo2Light3);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道3亮度{SelectProcedure.Photo2Light3}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(11, SelectProcedure.Photo2Light4);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道4亮度{SelectProcedure.Photo2Light4}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(12, SelectProcedure.Photo2Light5);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道5亮度{SelectProcedure.Photo2Light5}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(13, SelectProcedure.Photo2Light6);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道6亮度{SelectProcedure.Photo2Light6}失败！");
                            //}
                            //isSucceed = await _lightManagerService.SetGlobalChannelBrightnessAsync(14, SelectProcedure.Photo2Light7);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道7亮度{SelectProcedure.Photo2Light7}失败！");
                            //}
                            bool succed = camera.SetExposureTime(SelectProcedure.ExposureTime2);
                            if (!succed)
                            {
                                SendTaskMessage($"相机曝光设置失败！", MessageLevel.Error);
                            }
                            //succed = camera.SetGain(SelectProcedure.Gain2);
                            //if (!succed)
                            //{
                                //SendTaskMessage($"相机增益设置失败！", MessageLevel.Error);
                            //}
                            var image2 = camera.Grab();
                            if (image2 != null)
                            {
                                ToolBlockEdit.Subject.Inputs["InputImage2"].Value = image2;
                            }
                            else
                            {
                                Message = Lang.图像采集失败耗时.Replace("{0}", Camera.TotalTime.TotalMilliseconds.ToString("F2")).Replace("{1}", Camera.ErrorMessage);
                            }
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(0);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道0关闭失败！");
                            //}
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(1);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道1关闭失败！");
                            //}
                            //isSucceed = await _lightManagerService.TurnOffGlobalChannelAsync(2);
                            //if (!isSucceed)
                            //{
                            //    LogHelper.WriteLogInfo($"设置光源通道2关闭失败！");
                            //}
                        }
                        
                    }
                    ToolBlockEdit.Subject.Run();
                    Message = $"{Lang.图像采集耗时}：{Camera.TotalTime.TotalMilliseconds.ToString("F2")} ms {Lang.工具运行耗时}：{ToolBlockEdit.Subject.RunStatus.TotalTime.ToString("F2")} ms";
                }
                else
                {
                    SelectProcedure.ToolBlock = ToolBlockEdit.Subject;
                    var image = Camera.Grab();
                    if (image != null)
                    {
                        string photoAiValue = SelectProcedure.UserDefineParameters?.FirstOrDefault(p => string.Equals(p.ParamName, "Photo_AI", StringComparison.OrdinalIgnoreCase))?.ParamValue;

                        // photoAiValue 可能为 null/空，建议给个默认值
                        bool enablePhotoAi = photoAiValue == "1";
                        if (sysConfig.PhotoAI == true && enablePhotoAi == true)
                        {
                            string exeDir = Path.GetDirectoryName(Assembly.GetExecutingAssembly().Location);

                            string modelPath = Path.Combine(exeDir, "TrainPhoto", "weights", "best_openvino_model", "best.xml");
                            string metadataPath = Path.Combine(exeDir, "TrainPhoto", "weights", "best_openvino_model", "metadata.yaml");

                            // （可选）如果你希望缺文件时给出更明确提示：
                            if (!File.Exists(modelPath))
                                throw new FileNotFoundException("未找到模型文件 best.xml", modelPath);

                            if (!File.Exists(metadataPath))
                                throw new FileNotFoundException("未找到模型文件 metadata.yaml", metadataPath);
                            //string modelPath = @"D:\TEST\train17\weights\best_openvino_model\best.xml";
                            //string metadataPath = @"D:\TEST\train17\weights\best_openvino_model\metadata.yaml";

                            string imagePath = "G:\\TEST\\文件\\左上插线\\1.bmp";

                            using (var yolo = new YoloOpenVINOInference(modelPath, metadataPath))
                            {
                                using (var bitmap = image.ToBitmap())
                                {
                                    var results = yolo.Infer(bitmap);

                                    // 输出结果
                                    //Console.WriteLine($"检测到 {results.Count} 个目标:");
                                    SendTaskMessage($"识别的个数：{results.Count()}", MessageLevel.Alarm);
                                    string PhotoData = "";
                                    foreach (var det in results)
                                    {
                                        //Console.WriteLine($"  - {det.ClassName}: 置信度={det.Confidence:F4}, " +
                                        //                  $"边界框=[{det.Box[0]:F0}, {det.Box[1]:F0}, {det.Box[2]:F0}, {det.Box[3]:F0}]");
                                        SendTaskMessage($"  - {det.ClassName}: 置信度={det.Confidence:F4}, " +
                                                          $"边界框=[{det.Box[0]:F0}, {det.Box[1]:F0}, {det.Box[2]:F0}, {det.Box[3]:F0}]", MessageLevel.Alarm);
                                        PhotoData = PhotoData + $"{det.ClassName},";
                                    }


                                    // 绘制结果 - 使用 OpenCvSharp
                                    using (var image2 = ImageHelper.ICogImageConvertMat(image))
                                    {
                                        // 定义颜色映射
                                        var colors = new[]
                                        {
                                        Scalar.Red,      // NG1 - 红色
                                        Scalar.Green,    // NG2 - 绿色
                                        Scalar.Blue,     // NG3 - 蓝色
                                        Scalar.Yellow    // NG4 - 黄色
                                    };

                                        foreach (var det in results)
                                        {
                                            // 获取边界框坐标
                                            int x1 = (int)det.Box[0];
                                            int y1 = (int)det.Box[1];
                                            int x2 = (int)det.Box[2];
                                            int y2 = (int)det.Box[3];

                                            // 添加边界检查：确保坐标有效
                                            if (x1 >= x2 || y1 >= y2)
                                            {
                                                SendTaskMessage($"警告: 无效的边界框 [{x1}, {y1}, {x2}, {y2}]", MessageLevel.Error);
                                                continue;
                                            }

                                            // 确保坐标在图像范围内
                                            x1 = Math.Max(0, Math.Min(image2.Width, x1));
                                            y1 = Math.Max(0, Math.Min(image2.Height, y1));
                                            x2 = Math.Max(0, Math.Min(image2.Width, x2));
                                            y2 = Math.Max(0, Math.Min(image2.Height, y2));

                                            // 选择颜色（根据类别ID）
                                            Scalar color = colors[det.ClassId % colors.Length];

                                            // 绘制矩形框
                                            Cv2.Rectangle(image2, new Point(x1, y1), new Point(x2, y2), color, 2);

                                            // 准备标签文本
                                            string label = $"{det.ClassName} {det.Confidence:P0}";

                                            // 计算文本大小
                                            var textSize = Cv2.GetTextSize(label, HersheyFonts.HersheySimplex, 0.6, 1, out int baseline);

                                            // 确保文本位置不超出图像边界
                                            int textX = x1;
                                            int textY = y1 - 5;

                                            // 如果文本超出图像顶部，显示在框内底部
                                            if (textY - textSize.Height < 0)
                                            {
                                                textY = y2 + baseline + 5;
                                            }

                                            //绘制文本背景
                                            Cv2.Rectangle(image2,
                                                new OpenCvSharp.Rect(textX, textY - textSize.Height - baseline - 10,
                                                         textSize.Width + 10, textSize.Height + baseline + 10),
                                                color, -1);

                                            // 绘制文本
                                            Cv2.PutText(image2, label,
                                                new Point(textX + 5, textY - baseline - 5),
                                                HersheyFonts.HersheySimplex, 0.6, Scalar.White, 2);
                                        }

                                        // 保存结果图像
                                        //string outputPath = @"D:\TEST\result.jpg";
                                        //Cv2.ImWrite(outputPath, image2);
                                        //Console.WriteLine($"结果已保存到: {outputPath}");
                                        var matForCog = image2;

                                        //if (matForCog.Channels() == 3)
                                        //{
                                        //matForCog = new Mat();
                                        //Cv2.CvtColor(image2, matForCog, ColorConversionCodes.BGR2GRAY);
                                        //}
                                        var cogImage = ImageHelper.MatConvertICogImage(matForCog, true);
                                        ToolBlockEdit.Subject.Inputs["InputImage"].Value = cogImage;
                                        ToolBlockEdit.Subject.Inputs["PhotoData"].Value = PhotoData;
                                        ToolBlockEdit.Subject.Run();
                                        // 可选：显示图像
                                        //Cv2.ImShow("Detection Result", image2);
                                        //Cv2.WaitKey(0);
                                    }

                                }
                            }

                        }
                        else
                        {
                            ToolBlockEdit.Subject.Inputs["InputImage"].Value = image;
                            ToolBlockEdit.Subject.Run();
                        }
                        Message = $"{Lang.图像采集耗时}：{Camera.TotalTime.TotalMilliseconds.ToString("F2")} ms {Lang.工具运行耗时}：{ToolBlockEdit.Subject.RunStatus.TotalTime.ToString("F2")} ms";
                    }
                    else
                    {
                        Message = Lang.图像采集失败耗时.Replace("{0}", Camera.TotalTime.TotalMilliseconds.ToString("F2")).Replace("{1}", Camera.ErrorMessage);
                    }
                }
                
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("高级模式-运行流程时出错时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

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

        /// <summary>
        /// 执行视觉静态精度分析仪命令
        /// </summary>
        void ExecuteVisionStaticAccuracyAnalyzerCommand()
        {
            try
            {
                IDialogParameters parameters = new DialogParameters();
                parameters.Add("ToolBlock", ToolBlockEdit.Subject);
                parameters.Add("SelectedProcedure", SelectProcedure);
                _dialogService.Show("VisionStaticAccuracyAnalyzer", parameters, 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)
                    {
                        //var param = rst.Parameters.GetValue<RobotTool>("Tool");
                        //var param1 = rst.Parameters.GetValue<Matrix<double>>("RobotCameraRotationMatrix");
                        //var param2 = rst.Parameters.GetValue<double>("Angle");
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("执行视觉静态精度分析仪命令时出错", ex);
                MessageBox.Show(ex.Message);
            }
        }
        #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)
        {

            try
            {
                SelectProduct = navigationContext.Parameters.GetValue<ProductModel>("SelectProduct");
                SelectProcedure = navigationContext.Parameters.GetValue<ProcedureModel>("SelectedProcedure");

                if (SelectProcedure.RobotId != Guid.Empty)
                {
                    Robot = _robotService.GetRobot(SelectProcedure.RobotId);
                    if (Robot != null)
                    {
                        Robot.EnterDebugMode = true;
                    }
                }
                Camera = _cameraService.GetCamera(SelectProcedure.CameraId);
                ToolBlockEdit.Subject = SelectProcedure.ToolBlock;
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("高级视觉界面进入时出错！", ex);
            }
        }

        /// <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)
        {
            if (Robot != null)
            {
                Robot.EnterDebugMode = 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;
            }
        }
    }
}