Display_D_HP/TeamAAS-VM/ViewModels/Product/RobotPointParamsViewModel.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.Threading.Tasks;
using System.Windows;
using TeamAAS_VP;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Robot;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;

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

        #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 RobotPointStore _SelectedRobot;
        public RobotPointStore SelectedRobot
        {
            get { return _SelectedRobot; }
            set {
                if (SetProperty(ref _SelectedRobot, value))
                {
                    try
                    {
                        if (value != null)
                        {
                            if (Robot != null)
                            {
                                Robot.EnterDebugMode = false;
                            }
                            Robot = _robotService.GetRobot(value.Id);
                            Robot.EnterDebugMode = true;
                            SelectedPointInDataGrid = value.Points.FirstOrDefault();
                            SelectedPointInComboBox = value.Points.FirstOrDefault();
                            this.Distance = _configService.GetRobotStepDistance(Robot.Id);
                        }
                    }
                    catch (Exception)
                    {

                    }
                }
            }
        }

        private RPoint _SelectPoint;

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

        private RPoint _selectedPointInDataGrid;
        public RPoint SelectedPointInDataGrid
        {
            get { return _selectedPointInDataGrid; }
            set
            {
                if (SetProperty(ref _selectedPointInDataGrid, value))
                {
                    SelectedPointInComboBox = value;
                }
                // 可以同步到 SelectPoint 属性
                SelectPoint = value;
                
            }
        }

        private RPoint _selectedPointInComboBox;
        public RPoint SelectedPointInComboBox
        {
            get { return _selectedPointInComboBox; }
            set
            {
                if (SetProperty(ref _selectedPointInComboBox, value))
                {
                    SelectedPointInDataGrid = value;
                }
                // 可以同步到 SelectPoint 属性
                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); }
        }

        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 ObservableCollection<int> _Tools = new ObservableCollection<int>(new int[] {0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15});
        /// <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)
                        {

                        }
                    }
                }
            }
        }

        private bool _IsHaveRobot = false;

        public bool IsHaveRobot
        {
            get { return _IsHaveRobot; }
            set { SetProperty(ref _IsHaveRobot, 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 _GoPalletCommand;
        public DelegateCommand GoPalletCommand =>
            _GoPalletCommand ?? (_GoPalletCommand = new DelegateCommand(ExecuteGoPalletCommand));

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

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

        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 _RobotSelectedChangedCommand;
        public DelegateCommand RobotSelectedChangedCommand =>
            _RobotSelectedChangedCommand ?? (_RobotSelectedChangedCommand = new DelegateCommand(ExecuteRobotSelectedChangedCommand));

        
        #endregion

        #region 事件

        #endregion

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

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            _regionManager.RequestNavigate("ProductRegionContext", "ProductParams", param);
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", null);
            _regionManager.RequestNavigate("ProductRegionContext", "ProcessBasics", param);
        }

        /// <summary>
        /// 跳转托盘
        /// </summary>
        void ExecuteGoPalletCommand()
        {
            try
            {
                DialogParameters dialogParameters = new DialogParameters();
                dialogParameters.Add("SelectProduct", SelectProduct);
                dialogParameters.Add("SelectedRobot", SelectedRobot);
                _dialogService.Show("PalletManage", dialogParameters, 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<ObservableCollection<Pallet>>("Pallets");
                        SelectedRobot.Pallets = param;
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.已关闭, Duration = 1 });
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-跳转托盘界面时出错", ex);
                MessageBox.Show(ex.Message);
            }
        }

        /// <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)
            {
                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>
        /// 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 = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-执行点位时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }
        
        /// <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();
                var p0 = SelectedRobot.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;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-示教点位时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

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

        /// <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>
        /// 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 = 0.4 });
            }
            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 = 0.4 });
            }
            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 = 0.4 });
            }
            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;
                }
            }
        }

        private bool _isProcessingRobotChange = false;
        /// <summary>
        /// 机器人选择更改时
        /// </summary>
        void ExecuteRobotSelectedChangedCommand()
        {
            // 防止重复执行
            //if (_isProcessingRobotChange) return;
            //try
            //{
            //    _isProcessingRobotChange = true;
            //    if (SelectedRobot != null)
            //    {
            //        if (Robot!=null)
            //        {
            //            Robot.EnterDebugMode = false;
            //        }
            //        Robot = _robotService.GetRobot(SelectedRobot.Id);
            //        Robot.EnterDebugMode = true;
            //        SelectPoint = SelectedRobot.Points.FirstOrDefault();
            //        this.Distance = _configService.GetRobotStepDistance(Robot.Id);
            //    }
            //}
            //catch (Exception ex)
            //{
            //    LogHelper.WriteLogError("机器人点位界面中切换机器人时出错！", ex);
            //}
            //finally
            //{
            //    _isProcessingRobotChange = false;
            //}
        }
        #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");

                if (SelectProduct.RobotPoint.Robots.Count>0)
                {
                    SelectedRobot = SelectProduct.RobotPoint.Robots.FirstOrDefault();
                    Robot = _robotService.GetRobot(SelectedRobot.Id);
                    SelectedPointInDataGrid = SelectedRobot.Points.FirstOrDefault();
                    SelectedPointInComboBox = SelectedPointInDataGrid;
                }
                

                if (Robot != null && Robot.IsConnected)
                {
                    this.Distance = _configService.GetRobotStepDistance(Robot.Id);
                    Robot.EnterDebugMode = true;
                    if (Tools.Count > 1)
                    {
                        SelectTool = Robot.SelectedTool;
                    }
                }
                else if (Robot != null)
                {
                    Robot.EnterDebugMode = true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位界面进入时出错！", 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;
            }
        }
    }
}