Display_D_HP/TeamAAS-VM/ViewModels/SettingViewModel.cs

using ICSharpCode.AvalonEdit.Search;
using log4net;
using MaterialDesignThemes.Wpf;
using NPOI.SS.Formula.Functions;
using Opc.Ua;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using SqlSugar;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Drawing.Drawing2D;
using System.Globalization;
using System.IO;
using System.Linq;
using System.Reflection.Metadata;
using System.Text;
using System.Threading.Tasks;
using System.Web;
using System.Windows;
using System.Windows.Controls;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.Cameras;
using TeamAAS_VP.Core.Lights;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Feeder;
using TeamAAS_VP.Models.Lights;
using TeamAAS_VP.Models.Torque;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.ViewModels.User;
using TouchSocket.Core;
using WPFLocalizeExtension.Engine;

namespace TeamAAS_VP.ViewModels
{
    public class SettingViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feeder_service;
        IFeederService _feederService;
        IPlcService _plcService;
        IProductService _productService;
        ISystemDatabaseService _systemDatabaseService;

        bool isFirstLoad = true;

        #region 属性

        private Management _management;

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

        private ObservableCollection<RobotInfo> _RobotList;
        public ObservableCollection<RobotInfo> RobotList
        {
            get { return _RobotList; }
            set { SetProperty(ref _RobotList, value); }
        }

        private ObservableCollection<CameraInfo> _CameraList;
        public ObservableCollection<CameraInfo> CameraList
        {
            get { return _CameraList; }
            set { SetProperty(ref _CameraList, value); }
        }

        private ObservableCollection<FeederInfo> _FeederList;
        public ObservableCollection<FeederInfo> FeederList
        {
            get { return _FeederList; }
            set { SetProperty(ref _FeederList, value); }
        }

        private ObservableCollection<PlcInfo> _PlcList;
        public ObservableCollection<PlcInfo> PlcList
        {
            get { return _PlcList; }
            set { SetProperty(ref _PlcList, value); }
        }

        private Language _CurrentLanguage;
        public Language CurrentLanguage
        {
            get { return _CurrentLanguage; }
            set { SetProperty(ref _CurrentLanguage, value); }
        }

        private RobotInfo _SelectRobot;
        /// <summary>
        /// 选中的机器人
        /// </summary>
        public RobotInfo SelectRobot
        {
            get { return _SelectRobot; }
            set
            {
                SetProperty(ref _SelectRobot, value);
                if (value != null && (value.RobotBrand == RobotBrand.XYZ_Platform || value.RobotBrand == RobotBrand.XYZU_Platform))
                {
                    RobotSelectedPlc = PlcList.FirstOrDefault(p => p.Id == value.PLC);
                    var root = _robotService.GetRobot(SelectRobot.Id);
                    if (root != null)
                    {
                        //ResultsValues.Clear();
                        //var res = root.GetNodesValue();
                        //for (int i = 0; i < res.Count; i++)
                        //{
                        //    if (res[i].StatusCode.Code != 2150891520)
                        //    {
                        //        ResultsValues.Add(res[i].Value.ToString());
                        //    }
                        //    else
                        //    {
                        //        break;
                        //    }
                        //}
                    }
                }
            }
        }

        private FeederInfo _SelectFeeder;
        /// <summary>
        /// 选中的Feeder
        /// </summary>
        public FeederInfo SelectFeeder
        {
            get { return _SelectFeeder; }
            set { SetProperty(ref _SelectFeeder, value); }
        }

        private PlcInfo _SelectPlc;
        public PlcInfo SelectPlc
        {
            get { return _SelectPlc; }
            set { SetProperty(ref _SelectPlc, value); }
        }

        private ObservableCollection<string> _ResultsValues = new ObservableCollection<string>();

        public ObservableCollection<string> ResultsValues { get => _ResultsValues; set => _ResultsValues = value; }

        private CameraInfo _SelectCamera;
        /// <summary>
        /// 选中的Camera
        /// </summary>
        public CameraInfo SelectCamera
        {
            get { return _SelectCamera; }
            set { SetProperty(ref _SelectCamera, value); }
        }

        private ObservableCollection<ScrewFeederInfo> _ScrewFeederList;
        /// <summary>
        /// 螺丝供料器列表
        /// </summary>
        public ObservableCollection<ScrewFeederInfo> ScrewFeederList
        {
            get { return _ScrewFeederList; }
            set { SetProperty(ref _ScrewFeederList, value); }
        }

        private ScrewFeederInfo _SelectScrewFeeder;
        public ScrewFeederInfo SelectScrewFeeder
        {
            get { return _SelectScrewFeeder; }
            set { SetProperty(ref _SelectScrewFeeder, value); }
        }

        private double _Title1;

        public double Title1
        {
            get { return _Title1; }
            set { SetProperty(ref _Title1, value); }
        }

        private double _Title2;

        public double Title2
        {
            get { return _Title2; }
            set { SetProperty(ref _Title2, value); }
        }

        private double _Title3;

        public double Title3
        {
            get { return _Title3; }
            set { SetProperty(ref _Title3, value); }
        }

        private double _Title4;

        public double Title4
        {
            get { return _Title4; }
            set { SetProperty(ref _Title4, value); }
        }

        private double _Body1;

        public double Body1
        {
            get { return _Body1; }
            set { SetProperty(ref _Body1, value); }
        }

        private double _Body2;

        public double Body2
        {
            get { return _Body2; }
            set { SetProperty(ref _Body2, value); }
        }

        private double _Body3;

        public double Body3
        {
            get { return _Body3; }
            set { SetProperty(ref _Body3, value); }
        }

        private double _Body4;

        public double Body4
        {
            get { return _Body4; }
            set { SetProperty(ref _Body4, value); }
        }

        private double _Captions1;

        public double Captions1
        {
            get { return _Captions1; }
            set { SetProperty(ref _Captions1, value); }
        }

        private double _Captions2;

        public double Captions2
        {
            get { return _Captions2; }
            set { SetProperty(ref _Captions2, value); }
        }

        private double _Captions3;

        public double Captions3
        {
            get { return _Captions3; }
            set { SetProperty(ref _Captions3, value); }
        }

        private double _Captions4;

        public double Captions4
        {
            get { return _Captions4; }
            set { SetProperty(ref _Captions4, value); }
        }

        private PlcInfo _RobotSelectedPlc;
        public PlcInfo RobotSelectedPlc
        {
            get { return _RobotSelectedPlc; }
            set
            {
                SetProperty(ref _RobotSelectedPlc, value);
                if (SelectRobot != null)
                {
                    if (value != null)
                    {
                        SelectRobot.PLC = value.Id;
                    }
                    else
                    {
                        SelectRobot.PLC = Guid.Empty;
                    }
                }

            }
        }

        private BgModbusTcp _BgModbus;
        public BgModbusTcp BgModbus
        {
            get { return _BgModbus; }
            set { SetProperty(ref _BgModbus, value); }
        }

        private BgTcpIP _BgTcp;
        public BgTcpIP BgTcp
        {
            get { return _BgTcp; }
            set { SetProperty(ref _BgTcp, value); }
        }

        private ObservableCollection<LightControllerConfig> _LightControllerList;
        public ObservableCollection<LightControllerConfig> LightControllerList
        {
            get { return _LightControllerList; }
            set { SetProperty(ref _LightControllerList, value); }
        }

        private LightControllerConfig _SelectLightController;
        public LightControllerConfig SelectLightController
        {
            get { return _SelectLightController; }
            set { SetProperty(ref _SelectLightController, value); }
        }

        // 设备信息列表
        private ObservableCollection<DeviceInfo> _DeviceInfoList;
        public ObservableCollection<DeviceInfo> DeviceInfoList
        {
            get { return _DeviceInfoList; }
            set { SetProperty(ref _DeviceInfoList, value); }
        }

        // 当前选中的设备信息
        private DeviceInfo _SelectDeviceInfo;
        public DeviceInfo SelectDeviceInfo
        {
            get { return _SelectDeviceInfo; }
            set { SetProperty(ref _SelectDeviceInfo, value); }
        }

        // 兼容旧代码，DeviceInfo 指向当前选中的设备或第一个设备
        public DeviceInfo DeviceInfo
        {
            get { return _SelectDeviceInfo ?? DeviceInfoList?.FirstOrDefault(); }
            set
            {
                if (value != null && DeviceInfoList != null)
                {
                    var existing = DeviceInfoList.FirstOrDefault(d => d.DeviceNo == value.DeviceNo);
                    if (existing != null)
                    {
                        var index = DeviceInfoList.IndexOf(existing);
                        DeviceInfoList[index] = value;
                    }
                }
                RaisePropertyChanged();
            }
        }

        private CTQ_Data _dataInfo;
        public CTQ_Data DataInfo
        {
            get { return _dataInfo; }
            set { SetProperty(ref _dataInfo, value); }
        }

        private SerialPortConfig _CardReaderConfig;
        public SerialPortConfig CardReaderConfig
        {
            get { return _CardReaderConfig; }
            set { SetProperty(ref _CardReaderConfig, value); }
        }

        private TorqueSerialPortConfig _TorqueReadConfig;

        public TorqueSerialPortConfig TorqueReadConfig
        {
            get { return _TorqueReadConfig; }
            set { SetProperty(ref _TorqueReadConfig, value); }
        }


        private WorkShift _WorkShift;

        public WorkShift WorkShifts
        {
            get { return _WorkShift; }
            set { SetProperty(ref _WorkShift, value); }
        }

        private ObservableCollection<ProductModel> _ProductList;
        public ObservableCollection<ProductModel> ProductList
        {
            get { return _ProductList; }
            set { SetProperty(ref _ProductList, value); }
        }

        private ProductWithMes _ProMesInfo = new ProductWithMes();
        public ProductWithMes ProMesInfo
        {
            get { return _ProMesInfo; }
            set { SetProperty(ref _ProMesInfo, value); }
        }

        private ProductModel _SelectProduct;

        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }
        #endregion

        #region 命令
        public DelegateCommand LoadedCommand { get; set; }
        private DelegateCommand _SaveSystemParametersCommand;
        public DelegateCommand SaveSystemParametersCommand =>
            _SaveSystemParametersCommand ?? (_SaveSystemParametersCommand = new DelegateCommand(ExecuteSaveSystemParametersCommand));
        private DelegateCommand _AddRobotCommand;
        public DelegateCommand AddRobotCommand =>
            _AddRobotCommand ?? (_AddRobotCommand = new DelegateCommand(ExecuteAddRobotCommand));

        private DelegateCommand _RemoveCommand;
        public DelegateCommand RemoveCommand =>
            _RemoveCommand ?? (_RemoveCommand = new DelegateCommand(ExecuteRemoveCommand));

        private DelegateCommand _AddFeederCommand;
        public DelegateCommand AddFeederCommand =>
            _AddFeederCommand ?? (_AddFeederCommand = new DelegateCommand(ExecuteAddFeederCommand));

        private DelegateCommand _RemoveFeederCommand;
        public DelegateCommand RemoveFeederCommand =>
            _RemoveFeederCommand ?? (_RemoveFeederCommand = new DelegateCommand(ExecuteRemoveFeederCommand));

        private DelegateCommand<string> _SelectLanguageCommand;
        public DelegateCommand<string> SelectLanguageCommand =>
            _SelectLanguageCommand ?? (_SelectLanguageCommand = new DelegateCommand<string>(ExecuteSelectLanguageCommand));

        private DelegateCommand _SaveRobotsCommand;
        public DelegateCommand SaveRobotsCommand =>
            _SaveRobotsCommand ?? (_SaveRobotsCommand = new DelegateCommand(ExecuteSaveRobotsCommand));

        private DelegateCommand _SaveFeedersCommand;
        public DelegateCommand SaveFeedersCommand =>
            _SaveFeedersCommand ?? (_SaveFeedersCommand = new DelegateCommand(ExecuteSaveFeedersCommand));

        private DelegateCommand<string> _SaveCommunicateCommand;
        public DelegateCommand<string> SaveCommunicateCommand =>
            _SaveCommunicateCommand ?? (_SaveCommunicateCommand = new DelegateCommand<string>(ExecuteSaveCommunicateCommand));

        private DelegateCommand _AddCameraCommand;
        public DelegateCommand AddCameraCommand =>
            _AddCameraCommand ?? (_AddCameraCommand = new DelegateCommand(ExecuteAddCameraCommand));

        private DelegateCommand _EditCameraCommand;
        public DelegateCommand EditCameraCommand =>
            _EditCameraCommand ?? (_EditCameraCommand = new DelegateCommand(ExecuteEditCameraCommand));

        private DelegateCommand _RemoveCameraCommand;
        public DelegateCommand RemoveCameraCommand =>
            _RemoveCameraCommand ?? (_RemoveCameraCommand = new DelegateCommand(ExecuteRemoveCameraCommand));

        private DelegateCommand _SaveCamerasCommand;
        public DelegateCommand SaveCamerasCommand =>
            _SaveCamerasCommand ?? (_SaveCamerasCommand = new DelegateCommand(ExecuteSaveCamerasCommand));

        private DelegateCommand _AddPlcCommand;
        public DelegateCommand AddPlcCommand =>
            _AddPlcCommand ?? (_AddPlcCommand = new DelegateCommand(ExecuteAddPlcCommand));

        private DelegateCommand _RemovePlcCommand;
        public DelegateCommand RemovePlcCommand =>
            _RemovePlcCommand ?? (_RemovePlcCommand = new DelegateCommand(ExecuteRemovePlcCommand));

        private DelegateCommand _SavePlcsCommand;
        public DelegateCommand SavePlcsCommand =>
            _SavePlcsCommand ?? (_SavePlcsCommand = new DelegateCommand(ExecuteSavePlcsCommand));

        private DelegateCommand _AddLightControllerCommand;
        public DelegateCommand AddLightControllerCommand => _AddLightControllerCommand ?? (_AddLightControllerCommand = new DelegateCommand(ExecuteAddLightControllerCommand));

        private DelegateCommand _RemoveLightControllerCommand;
        public DelegateCommand RemoveLightControllerCommand => _RemoveLightControllerCommand ?? (_RemoveLightControllerCommand = new DelegateCommand(ExecuteRemoveLightControllerCommand));

        private DelegateCommand _SaveLightControllersCommand;
        public DelegateCommand SaveLightControllersCommand => _SaveLightControllersCommand ?? (_SaveLightControllersCommand = new DelegateCommand(ExecuteSaveLightControllersCommand));

        private DelegateCommand _SaveDeviceInfoCommand;
        public DelegateCommand SaveDeviceInfoCommand => _SaveDeviceInfoCommand ?? (_SaveDeviceInfoCommand = new DelegateCommand(ExecuteSaveDeviceInfoCommand));

        private DelegateCommand _AddDeviceInfoCommand;
        public DelegateCommand AddDeviceInfoCommand => _AddDeviceInfoCommand ?? (_AddDeviceInfoCommand = new DelegateCommand(ExecuteAddDeviceInfoCommand));

        private DelegateCommand _RemoveDeviceInfoCommand;
        public DelegateCommand RemoveDeviceInfoCommand => _RemoveDeviceInfoCommand ?? (_RemoveDeviceInfoCommand = new DelegateCommand(ExecuteRemoveDeviceInfoCommand));

        private DelegateCommand _BrowseScrewCurvePathCommand;
        public DelegateCommand BrowseScrewCurvePathCommand => _BrowseScrewCurvePathCommand ?? (_BrowseScrewCurvePathCommand = new DelegateCommand(ExecuteBrowseScrewCurvePathCommand));

        private DelegateCommand _AddScrewFeederCommand;
        public DelegateCommand AddScrewFeederCommand =>
            _AddScrewFeederCommand ?? (_AddScrewFeederCommand = new DelegateCommand(ExecuteAddScrewFeederCommand));

        private DelegateCommand _RemoveScrewFeederCommand;
        public DelegateCommand RemoveScrewFeederCommand =>
            _RemoveScrewFeederCommand ?? (_RemoveScrewFeederCommand = new DelegateCommand(ExecuteRemoveScrewFeederCommand));

        private DelegateCommand _SaveScrewFeedersCommand;
        public DelegateCommand SaveScrewFeedersCommand =>
            _SaveScrewFeedersCommand ?? (_SaveScrewFeedersCommand = new DelegateCommand(ExecuteSaveScrewFeedersCommand));

        private DelegateCommand<object> _LightModelChangedCommand;
        public DelegateCommand<object> LightModelChangedCommand =>
            _LightModelChangedCommand ?? (_LightModelChangedCommand = new DelegateCommand<object>(ExecuteLightModelChangedCommand));

        private DelegateCommand _SaveCardReaderConfigCommand;
        public DelegateCommand SaveCardReaderConfigCommand =>
            _SaveCardReaderConfigCommand ?? (_SaveCardReaderConfigCommand = new DelegateCommand(ExecuteSaveCardReaderConfigCommand));

        private DelegateCommand _SaveTorqueReaderConfigCommand;
        public DelegateCommand SaveTorqueReaderConfigCommand =>
            _SaveTorqueReaderConfigCommand ?? (_SaveTorqueReaderConfigCommand = new DelegateCommand(ExecuteSaveTorqueReaderConfigCommand));

        private DelegateCommand _SaveWorkShiftCommand;
        public DelegateCommand SaveWorkShiftCommand =>
            _SaveWorkShiftCommand ?? (_SaveWorkShiftCommand = new DelegateCommand(ExecuteSaveWorkShiftCommand));

        private DelegateCommand _SelectSaveImagePathCommand;
        public DelegateCommand SelectSaveImagePathCommand =>
            _SelectSaveImagePathCommand ?? (_SelectSaveImagePathCommand = new DelegateCommand(ExecuteSelectSaveImagePathCommand));

        private DelegateCommand _GetProWithMesCommand;
        public DelegateCommand GetProWithMesCommand =>
            _GetProWithMesCommand ?? (_GetProWithMesCommand = new DelegateCommand(ExecuteGetProWithMesCommand));

        private DelegateCommand _DeleteProWithMesCommand;
        public DelegateCommand DeleteProWithMesCommand =>
            _DeleteProWithMesCommand ?? (_DeleteProWithMesCommand = new DelegateCommand(ExecuteDeleteProWithMesCommand));

        private DelegateCommand _SaveProWithMesCommand;
        public DelegateCommand SaveProWithMesCommand =>
            _SaveProWithMesCommand ?? (_SaveProWithMesCommand = new DelegateCommand(ExecuteSaveProWithMesCommandAsync));

        private DelegateCommand _CheckStatusCommand;
        public DelegateCommand CheckStatusCommand =>
            _CheckStatusCommand ?? (_CheckStatusCommand = new DelegateCommand(ExecuteCheckStatusCommandCommand));

        #endregion

        #region 事件

        #endregion

        public SettingViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, IPlcService plcService,
            IProductService productService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _plcService = plcService;
            _productService = productService;
            _systemDatabaseService = systemDatabaseService;
            management = _container.Resolve<Management>();
            LoadedCommand = new DelegateCommand(OnLoad);

            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
        }

        #region 方法

        #region 机器人
        private void ExecuteAddRobotCommand()
        {
            _dialogService.ShowDialog("AddRobot", 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<RobotInfo>("Robot");
                    var robot = new RobotInfo()
                    {
                        Id = param.Id,
                        RobotName = param.RobotName,
                        ConnectType = param.ConnectType,
                        RobotBrand = param.RobotBrand,
                        IP = param.IP,
                        Port = param.Port,
                        Terminator = param.Terminator,
                    };
                    RobotList.Add(robot);
                    _configService.AddOrUpdateRobot(robot);
                    _robotService.CreateRobot(robot.Id, robot);
                    //对所有产品也进行添加
                    _productService.AddRobotPointToProduct(robot.Id, robot.RobotName);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.添加完成}", Duration = 1 });
                }

            });
        }

        void ExecuteRemoveCommand()
        {
            if (MessageBox.Show(Lang.是否移除机器人, $"AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {

                // 找到要删除的机器人
                var robotToRemove = RobotList.FirstOrDefault(r => r.Id == SelectRobot.Id);
                if (robotToRemove != null)
                {
                    RobotList.Remove(robotToRemove);
                    _configService.RemoveRobot(robotToRemove.Id);
                    _robotService.RemoveRobot(robotToRemove.Id);
                    //对所有产品也进行移除
                    _productService.RemoveRobotPointFromProduct(robotToRemove.Id);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.移除完成, Duration = 1 });
                }
            }
        }

        async void ExecuteSaveRobotsCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存机器人);
            //show the dialog
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool)
            {
                if (((bool)result))
                {
                    foreach (var item in RobotList)
                    {
                        var robot = _robotService.GetRobot(item.Id);
                        if (robot != null)
                        {
                            //更新连接参数
                            robot.SafeZ = item.SafeZ;
                        }
                        _configService.AddOrUpdateRobot(item);
                    }
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            }
        }
        #endregion

        #region 相机
        /// <summary>
        /// 保存所有相机
        /// </summary>
        async void ExecuteSaveCamerasCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存相机配置);
            //show the dialog
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool)
            {
                if (((bool)result))
                {
                    //management.DeviceConfig.Cameras = DeviceConfig.Cameras;
                    //management.SaveCamerasDeviceConfig();
                    //management.DeviceConfig.Cameras = DeviceConfig.Cameras;
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            }
        }
        /// <summary>
        /// 移除相机
        /// </summary>
        void ExecuteRemoveCameraCommand()
        {
            if (MessageBox.Show(Lang.是否移除相机, $"AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {

                // 找到要删除的相机
                var cameraToRemove = CameraList.FirstOrDefault(r => r.Id == SelectCamera.Id);
                if (cameraToRemove != null)
                {
                    _configService.RemoveCamera(cameraToRemove.Id);
                    _cameraService.RemoveCamera(cameraToRemove.Id);
                    var root = _configService.GetAllCameras();
                    CameraList = new ObservableCollection<CameraInfo>(root);
                    foreach (var item in CameraList)
                    {
                        _cameraService.UpdateCameraNumber(item.Id, item.CameraNo);
                    }
                    //对所有产品也进行移除
                    _productService.RemoveCameraFromProduct(cameraToRemove.Id);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            }
        }

        /// <summary>
        /// 编辑相机
        /// </summary>
        void ExecuteEditCameraCommand()
        {
            if (SelectCamera == null) return;
            bool isSelectedCameraBrandSucced = false;
            CameraBrand cameraBrand = CameraBrand.HikRobot_MVS;
            IDialogParameters parameters1 = new DialogParameters();
            parameters1.Add("CameraBrand", SelectCamera.CameraBrand);
            _dialogService.ShowDialog("SelectCameraBrand", parameters1, rst =>
            {
                if (rst.Result == ButtonResult.OK)
                {
                    isSelectedCameraBrandSucced = true;
                    cameraBrand = rst.Parameters.GetValue<CameraBrand>("CameraBrand");
                }
                else
                {
                    return;
                }
            });
            if (!isSelectedCameraBrandSucced) { return; }
            (bool isInstalled, string version) result = (false, "");
            string softwarename = "";
            switch (cameraBrand)
            {
                case CameraBrand.HikRobot_MVS:
                    softwarename = "MVS";
                    result = MvCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Basler_Pylon:
                    softwarename = "Pylon 7";
                    result = BaslerCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.IRayple:
                    softwarename = "MV Viewer";
                    result = AHuaCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Cognex:
                    softwarename = "Cognex VisionPro";
                    result = CognexCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Galaxy:
                    softwarename = "Galaxy Viewer";
                    result = GalaxyCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Opt:
                    softwarename = "OPT Camera Viewer";
                    result = OptCamera.CheckSoftwareInstalled();
                    break;
                default:
                    break;
            }
            if (!result.isInstalled)
            {
                if (string.IsNullOrEmpty(result.version))
                {
                    //未安装
                    MessageBox.Show(Lang.CameraSDKCheck_Message1.Replace("{name}", softwarename), "AAS", MessageBoxButton.OK, MessageBoxImage.Asterisk);
                }
                else
                {
                    //版本较低
                    MessageBox.Show(Lang.CameraSDKCheck_Message2.Replace("{name}", softwarename).Replace("{version}", result.version).Replace("\\n", Environment.NewLine), "AAS", MessageBoxButton.OK, MessageBoxImage.Asterisk);
                }
                return;
            }

            //编辑前的相机名称
            string oldCameraName = SelectCamera.CameraName;
            IDialogParameters parameters = new DialogParameters();
            parameters.Add("CameraBrand", cameraBrand);
            parameters.Add("Camera", SelectCamera.Copy());
            _dialogService.ShowDialog("EditCamera", 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<CameraInfo>("Camera");
                    SelectCamera.CameraName = param.CameraName;
                    SelectCamera.SerialNumber = param.SerialNumber;
                    SelectCamera.Model = param.Model;
                    SelectCamera.ManufacturerName = param.ManufacturerName;
                    SelectCamera.CameraType = param.CameraType;
                    SelectCamera.CameraBrand = param.CameraBrand;
                    SelectCamera.CameraIp = param.CameraIp;
                    _configService.AddOrUpdateCamera(SelectCamera);

                    if (oldCameraName != param.CameraName)
                    {
                        //对所有产品也进行修改
                        _productService.UpdateCameraNameInProduct(SelectCamera.Id, SelectCamera.CameraName);
                    }

                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }

            });
        }

        /// <summary>
        /// 增加相机
        /// </summary>
        void ExecuteAddCameraCommand()
        {
            bool isSelectedCameraBrandSucced = false;
            CameraBrand cameraBrand = CameraBrand.HikRobot_MVS;
            _dialogService.ShowDialog("SelectCameraBrand", rst =>
            {
                if (rst.Result == ButtonResult.OK)
                {
                    isSelectedCameraBrandSucced = true;
                    cameraBrand = rst.Parameters.GetValue<CameraBrand>("CameraBrand");
                }
                else
                {
                    return;
                }
            });
            if (!isSelectedCameraBrandSucced) { return; }
            ;
            (bool isInstalled, string version) result = (false, "");
            string softwarename = "";
            switch (cameraBrand)
            {
                case CameraBrand.HikRobot_MVS:
                    softwarename = "MVS";
                    result = MvCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Basler_Pylon:
                    softwarename = "Pylon 7";
                    result = BaslerCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.IRayple:
                    softwarename = "MV Viewer";
                    result = AHuaCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Cognex:
                    softwarename = "Cognex VisionPro";
                    result = CognexCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Galaxy:
                    softwarename = "Galaxy Viewer";
                    result = GalaxyCamera.CheckSoftwareInstalled();
                    break;
                case CameraBrand.Opt:
                    softwarename = "OPT Camera Viewer";
                    result = OptCamera.CheckSoftwareInstalled();
                    break;
                default:
                    break;
            }
            if (!result.isInstalled)
            {
                if (string.IsNullOrEmpty(result.version))
                {
                    //未安装
                    MessageBox.Show(Lang.CameraSDKCheck_Message1.Replace("{name}", softwarename), "AAS", MessageBoxButton.OK, MessageBoxImage.Asterisk);
                }
                else
                {
                    //版本较低
                    MessageBox.Show(Lang.CameraSDKCheck_Message2.Replace("{name}", softwarename).Replace("{version}", result.version).Replace("\\n", Environment.NewLine), "AAS", MessageBoxButton.OK, MessageBoxImage.Asterisk);
                }
                return;
            }

            IDialogParameters parameters = new DialogParameters();
            parameters.Add("CameraBrand", cameraBrand);
            _dialogService.ShowDialog("AddCamera", 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<CameraInfo>("Camera");
                    var camera = new CameraInfo()
                    {
                        Id = param.Id,
                        CameraName = param.CameraName,
                        SerialNumber = param.SerialNumber,
                        Model = param.Model,
                        ManufacturerName = param.ManufacturerName,
                        CameraType = param.CameraType,
                        CameraBrand = param.CameraBrand,
                        CameraIp = param.CameraIp
                    };
                    CameraList.Add(camera);
                    _configService.AddOrUpdateCamera(camera);
                    _cameraService.CreateCamera(camera.Id, camera);
                    //对所有产品也进行添加
                    _productService.AddCameraToProduct(camera.Id, camera.CameraName);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }

            });
        }
        #endregion

        #region Feeder
        void ExecuteAddFeederCommand()
        {
            _dialogService.ShowDialog("AddFeeder", 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<FeederInfo>("Feeder");
                    var feeder = new FeederInfo()
                    {
                        Id = param.Id,
                        FeederName = param.FeederName,
                        ConnectType = param.ConnectType,
                        FeederBrand = param.FeederBrand,
                        IP = param.IP,
                        Port = param.Port
                    };
                    FeederList.Add(feeder);
                    _configService.AddOrUpdateFeeder(feeder);
                    _feederService.CreateFeeder(feeder.Id, feeder.FeederNo, feeder.FeederName, feeder.IP, feeder.Port, feeder.FeederBrand);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.添加完成, Duration = 1 });
                }

            });
        }

        void ExecuteRemoveFeederCommand()
        {
            if (MessageBox.Show(Lang.是否移除Feeder, " AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {

                // 找到要删除的机器人
                var feederToRemove = FeederList.FirstOrDefault(r => r.Id == SelectFeeder.Id);
                if (feederToRemove != null)
                {
                    _configService.RemoveFeeder(feederToRemove.Id);
                    _feederService.RemoveFeeder(feederToRemove.Id);
                    var root = _configService.GetAllFeeders();
                    FeederList = new ObservableCollection<FeederInfo>(root);
                    foreach (var item in FeederList)
                    {
                        _feederService.UpdateFeederNo(item.Id, item.FeederNo);
                    }
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.移除完成, Duration = 1 });
                }
            }
        }

        async void ExecuteSaveFeedersCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存Feeder);
            //show the dialog
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool)
            {
                if (((bool)result))
                {
                    foreach (var item in FeederList)
                    {
                        _configService.AddOrUpdateFeeder(item);
                    }
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            }
        }
        #endregion

        #region PLC
        /// <summary>
        /// 保存PLC
        /// </summary>
        async void ExecuteSavePlcsCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存PLC);
            //show the dialog
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool)
            {
                if (((bool)result))
                {
                    foreach (var item in PlcList)
                    {
                        _configService.AddOrUpdatePlc(item);
                    }
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                }
            }
        }

        /// <summary>
        /// 移除PLC
        /// </summary>
        void ExecuteRemovePlcCommand()
        {
            if (MessageBox.Show(Lang.是否移除PLC, $"AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {

                // 找到要删除的plc
                var plcToRemove = PlcList.FirstOrDefault(r => r.Id == SelectPlc.Id);
                if (plcToRemove != null)
                {
                    _configService.RemovePlc(plcToRemove.Id);
                    _plcService.RemovePlc(plcToRemove.Id);
                    var root = _configService.GetAllPlcs();
                    PlcList = new ObservableCollection<PlcInfo>(root);
                    foreach (var item in PlcList)
                    {
                        _plcService.UpdatePlcNumber(item.Id, item.Index);
                    }
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.移除完成, Duration = 1 });
                }
            }
        }

        /// <summary>
        /// 增加PLC
        /// </summary>
        void ExecuteAddPlcCommand()
        {
            _dialogService.ShowDialog("AddPlc", 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<PlcInfo>("PLC");
                    var plc = new PlcInfo()
                    {
                        Id = param.Id,
                        Name = param.Name,
                        CommunicationType = param.CommunicationType,
                        EndpointUrl = param.EndpointUrl,
                    };
                    PlcList.Add(plc);
                    _configService.AddOrUpdatePlc(plc);
                    _plcService.CreatePlc(plc.Id, plc);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.添加完成, Duration = 1 });
                }

            });
        }
        #endregion

        #region Light handlers
        void ExecuteAddLightControllerCommand()
        {
            // open dialog to add light controller (similar to robots)
            _dialogService.ShowDialog("AddLightController", rst =>
            {
                if (rst.Result == ButtonResult.OK)
                {
                    var param = rst.Parameters.GetValue<LightControllerConfig>("LightController");
                    // assign id and defaults if needed
                    if (param.Id == 0)
                        param.Id = (LightControllerList?.Count ?? 0) + 1;
                    LightControllerList.Add(param);
                    _configService.AddOrUpdateLightController(param);
                    SelectLightController = param;
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.添加完成, Duration = 1 });
                }
            });
        }

        void ExecuteRemoveLightControllerCommand()
        {
            if (SelectLightController == null) return;
            if (MessageBox.Show(Lang.是否移除光源控制器, "AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {
                _configService.RemoveLightController(SelectLightController.Id);
                LightControllerList.Remove(SelectLightController);
                SelectLightController = null;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.移除完成, Duration = 1 });
            }
        }

        async void ExecuteSaveLightControllersCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存光源控制器配置);
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool && (bool)result)
            {
                foreach (var item in LightControllerList)
                {
                    _configService.AddOrUpdateLightController(item);
                }
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
            }
        }

        /// <summary>
        /// 光源型号改变
        /// </summary>
        void ExecuteLightModelChangedCommand(object obj)
        {
            try
            {
                if (obj == null)
                {
                    return;
                }
                if (obj is LightControllerConfig lc)
                {
                    lc.Init();
                }
            }
            catch (Exception)
            {

            }
        }
        #endregion

        #region 螺丝供料器
        /// <summary>
        /// 保存所有螺丝供料器
        /// </summary>
        async void ExecuteSaveScrewFeedersCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存螺丝供料器);
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool && (bool)result)
            {
                if (ScrewFeederList != null)
                {
                    foreach (var item in ScrewFeederList)
                    {
                        try
                        {
                            _configService.AddOrUpdateScrewFeeder(item);
                        }
                        catch (Exception ex)
                        {
                            // 记录或通知错误，但继续处理其它项
                            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                        }
                    }
                }
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
            }
        }

        /// <summary>
        /// 移除螺丝供料器
        /// </summary>
        void ExecuteRemoveScrewFeederCommand()
        {
            if (SelectScrewFeeder == null) return;

            if (MessageBox.Show(Lang.是否移除螺丝供料器, "AAS", MessageBoxButton.YesNo, MessageBoxImage.Question) == MessageBoxResult.Yes)
            {
                try
                {
                    var toRemove = ScrewFeederList?.FirstOrDefault(s => s.Id == SelectScrewFeeder.Id);
                    if (toRemove != null)
                    {
                        _configService.RemoveScrewFeeder(toRemove.Id);

                        // 重新加载列表以保持序号/配置一致（与其他类似实现一致）
                        var root = _configService.GetAllScrewFeeders();
                        ScrewFeederList = new ObservableCollection<ScrewFeederInfo>(root);

                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.移除完成, Duration = 1 });
                    }
                }
                catch (Exception ex)
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                }
            }
        }

        /// <summary>
        /// 添加螺丝供料器
        /// </summary>
        void ExecuteAddScrewFeederCommand()
        {
            _dialogService.ShowDialog("AddScrewFeeder", rst =>
            {
                ButtonResult result1 = rst.Result;

                if (result1 == ButtonResult.OK)
                {
                    var param = rst.Parameters.GetValue<ScrewFeederInfo>("ScrewFeeder");
                    if (param != null)
                    {
                        if (ScrewFeederList == null)
                        {
                            ScrewFeederList = new ObservableCollection<ScrewFeederInfo>();
                        }

                        try
                        {
                            param = _configService.AddOrUpdateScrewFeeder(param);
                            // 直接添加对话框返回的对象（也可以根据需要映射字段）
                            ScrewFeederList.Add(param);
                        }
                        catch (Exception ex)
                        {
                            _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                        }

                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.添加完成, Duration = 1 });
                    }
                }

            });
        }
        #endregion

        #region 通讯
        async void ExecuteSaveCommunicateCommand(string parm)
        {
            if (parm == "TCPIP")
            {
                var view = new ShowMessage($"AAS", Lang.是否保存后台TCP通讯配置);
                //show the dialog
                var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                if (result != null && result is bool)
                {
                    if (((bool)result))
                    {
                        _configService.SetBgTcp(BgTcp);
                        _configService.SaveBgTcp();
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    }
                }
            }
            else if (parm == "ModbusTCP")
            {
                var view = new ShowMessage($"AAS", Lang.是否保存后台ModbusTCP通讯配置);
                //show the dialog
                var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                if (result != null && result is bool)
                {
                    if (((bool)result))
                    {
                        _configService.SetBgModbusTcp(BgModbus);
                        _configService.SaveBgModbusTcp();
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    }
                }
            }
            else
            {
                return;
            }

        }
        #endregion

        #region 语言
        void ExecuteSelectLanguageCommand(string language)
        {
            if (string.Equals(language, "ChineseSimplified"))
            {
                CurrentLanguage = Enums.Language.ChineseSimplified;
                _configService.SetCurrentLanguage(CurrentLanguage);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.5 });
            }
            else if (string.Equals(language, "ChineseTraditional"))
            {
                CurrentLanguage = Enums.Language.ChineseTraditional;
                _configService.SetCurrentLanguage(CurrentLanguage);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.5 });
            }
            else if (string.Equals(language, "English"))
            {
                CurrentLanguage = Enums.Language.English;
                _configService.SetCurrentLanguage(CurrentLanguage);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.5 });
            }
            else if (string.Equals(language, "Japanese"))
            {
                CurrentLanguage = Enums.Language.Japanese;
                _configService.SetCurrentLanguage(CurrentLanguage);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.5 });
            }
            else if (string.Equals(language, "Vietnamese"))
            {
                CurrentLanguage = Enums.Language.Vietnamese;
                _configService.SetCurrentLanguage(CurrentLanguage);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 0.5 });
            }
        }
        #endregion

        #region 生产排班

        private void ExecuteSaveWorkShiftCommand()
        {
            try
            {
                FileHelper.WriteJsonFile(WorkShifts, FilePath.WorkShiftParamPath);
                _eventAggregator.GetEvent<WorkShiftUpdateNotification>().Publish(WorkShifts);
            }
            catch (Exception)
            { }
        }

        #endregion

        private void OnLoad()
        {
            try
            {
                this.WorkShifts = FileHelper.ReadJsonFile<WorkShift>(FilePath.WorkShiftParamPath);
            }
            catch (Exception)
            {

            }
        }

        private void ExecuteCheckStatusCommandCommand()
        {
            _eventAggregator.GetEvent<CurrentStatusNotification>().Publish();
        }
        private void OnPropertyChanged(object sender, PropertyChangedEventArgs e)
        {
            switch (e.PropertyName)
            {
                case "Title1":
                    Application.Current.Resources["Font.Size.Title1"] = Title1;
                    break;
                case "Title2":
                    Application.Current.Resources["Font.Size.Title2"] = Title2;
                    break;
                case "Title3":
                    Application.Current.Resources["Font.Size.Title3"] = Title3;
                    break;
                case "Title4":
                    Application.Current.Resources["Font.Size.Title4"] = Title4;
                    break;
                case "Body1":
                    Application.Current.Resources["Font.Size.Body1"] = Body1;
                    break;
                case "Body2":
                    Application.Current.Resources["Font.Size.Body2"] = Body2;
                    break;
                case "Body3":
                    Application.Current.Resources["Font.Size.Body3"] = Body3;
                    break;
                case "Body4":
                    Application.Current.Resources["Font.Size.Body4"] = Body4;
                    break;
                case "Captions1":
                    Application.Current.Resources["Font.Size.Captions1"] = Captions1;
                    break;
                case "Captions2":
                    Application.Current.Resources["Font.Size.Captions2"] = Captions2;
                    break;
                case "Captions3":
                    Application.Current.Resources["Font.Size.Captions3"] = Captions3;
                    break;
                case "Captions4":
                    Application.Current.Resources["Font.Size.Captions4"] = Captions4;
                    break;
                default:
                    break;
            }
        }
        #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)
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }

            if (RobotList == null)
            {
                RobotList = new ObservableCollection<RobotInfo>();
                var robots = _configService.GetAllRobots();
                foreach (var robot in robots)
                {
                    RobotList.Add(robot);
                }
            }

            if (CameraList == null)
            {
                CameraList = new ObservableCollection<CameraInfo>();
                var cameras = _configService.GetAllCameras();
                foreach (var camera in cameras)
                {
                    CameraList.Add(camera);
                }
            }

            if (FeederList == null)
            {
                FeederList = new ObservableCollection<FeederInfo>();
                var feeders = _configService.GetAllFeeders();
                foreach (var feeder in feeders)
                {
                    FeederList.Add(feeder);
                }
            }

            if (PlcList == null)
            {
                PlcList = new ObservableCollection<PlcInfo>();
                var plcs = _configService.GetAllPlcs();
                foreach (var plc in plcs)
                {
                    PlcList.Add(plc);
                }
            }

            // load light controllers
            if (LightControllerList == null)
            {
                LightControllerList = new ObservableCollection<LightControllerConfig>();
                var controllers = _configService.GetAllLightControllers();
                foreach (var ctrl in controllers)
                {
                    LightControllerList.Add(ctrl);
                }
            }

            if (BgTcp == null)
            {
                BgTcp = _configService.GetBgTcp();
            }

            if (BgModbus == null)
            {
                BgModbus = _configService.GetBgModbusTcp();
            }

            if (DeviceInfoList == null || DeviceInfoList.Count == 0)
            {
                // load device info list (支持多设备)
                var devices = _configService.GetAllDeviceInfos();
                DeviceInfoList = new ObservableCollection<DeviceInfo>(devices);
                // 默认选中第一个设备
                if (DeviceInfoList.Count > 0)
                {
                    SelectDeviceInfo = DeviceInfoList[0];
                }
            }

            if (ScrewFeederList == null)
            {
                var screwFeeders = _configService.GetAllScrewFeeders();
                ScrewFeederList = new ObservableCollection<ScrewFeederInfo>(screwFeeders);
            }

            if (CardReaderConfig == null)
            {
                // load card reader config
                CardReaderConfig = _configService.GetCardReaderConfig();
            }

            if (TorqueReadConfig == null)
            {
                TorqueReadConfig = _configService.GetTorqueReaderConfig();
            }

            CurrentLanguage = _configService.GetSystemConfiguration().CurrentLanguage;

            // load system parameters into UI
            var sys = _configService.GetSystemConfiguration();
            if (sys != null)
            {
                WorkMode = sys.WorkMode;
                PickPointNum = sys.PickPointNum;
                DowmCameraNum = sys.DowmCameraNum;
                WorkMode = sys.WorkMode;
                PickPointNum = sys.PickPointNum;
                JumpLimitZ= sys.JumpLimitZ;
                DowmCameraNum = sys.DowmCameraNum;
                UpCameraPickNum = sys.UpCameraPickNum;
                UpCameraPutNum = sys.UpCameraPutNum;
                UPCameracheckNum = sys.UPCameracheckNum;
                FixedCameraPickNum = sys.FixedCameraPickNum;
                FixedCameraPutNum = sys.FixedCameraPutNum;
                FixedCameracheckNum = sys.FixedCameracheckNum;
                ScrewTeachNum = sys.ScrewTeachNum;
                IsSaveScrewCurve = sys.IsSaveScrewCurve;
                ScrewCurvePath = sys.ScrewCurvePath;
                IsBasePartCodeGetSN = sys.IsBasePartCodeGetSN;
                IsBasePartCodeChooseScrew = sys.IsBasePartCodeChooseScrew;
                IsBasePartOpenLight = sys.IsBasePartOpenLight;
                IsBasePartOpenLightKB = sys.IsBasePartOpenLightKB;
                ChooseScrewModel = sys.ChooseScrewModel;
            }

            if (isFirstLoad)
            {
                Title1 = (double)Application.Current.Resources["Font.Size.Title1"];
                Title2 = (double)Application.Current.Resources["Font.Size.Title2"];
                Title3 = (double)Application.Current.Resources["Font.Size.Title3"];
                Title4 = (double)Application.Current.Resources["Font.Size.Title4"];
                Body1 = (double)Application.Current.Resources["Font.Size.Body1"];
                Body2 = (double)Application.Current.Resources["Font.Size.Body2"];
                Body3 = (double)Application.Current.Resources["Font.Size.Body3"];
                Body4 = (double)Application.Current.Resources["Font.Size.Body4"];
                Captions1 = (double)Application.Current.Resources["Font.Size.Captions1"];
                Captions2 = (double)Application.Current.Resources["Font.Size.Captions2"];
                Captions3 = (double)Application.Current.Resources["Font.Size.Captions3"];
                Captions4 = (double)Application.Current.Resources["Font.Size.Captions4"];
                this.PropertyChanged += OnPropertyChanged;
                isFirstLoad = false;
            }
            try
            {
                ProductList = new ObservableCollection<ProductModel>(_productService.GetAllProducts());
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("加载产品列表时出错", 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)
        {

        }
        #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;
            }
        }

        #region 系统参数
        private bool _IsBasePartCodeGetSN;
        /// <summary>
        /// 是否基于零件码获取流程码
        /// </summary>
        public bool IsBasePartCodeGetSN
        {
            get { return _IsBasePartCodeGetSN; }
            set { SetProperty(ref _IsBasePartCodeGetSN, value); }
        }

        private bool _IsBasePartOpenLight;
        /// <summary>
        /// 是否启用最后一次拍照关闭光源
        /// </summary>
        public bool IsBasePartOpenLight
        {
            get { return _IsBasePartOpenLight; }
            set { SetProperty(ref _IsBasePartOpenLight, value); }
        }

        private bool _IsBasePartOpenLightKB;
        /// <summary>
        /// 是否启用KB复检
        /// </summary>
        public bool IsBasePartOpenLightKB
        {
            get { return _IsBasePartOpenLightKB; }
            set { SetProperty(ref _IsBasePartOpenLightKB, value); }
        }

        private bool _IsBasePartCodeChooseScrew;
        /// <summary>
        /// 是否通过零件码判断螺丝型号
        /// </summary>
        public bool IsBasePartCodeChooseScrew
        {
            get { return _IsBasePartCodeChooseScrew; }
            set { SetProperty(ref _IsBasePartCodeChooseScrew, value); }
        }

        private string _ChooseScrewModel;
        /// <summary>
        /// 螺丝型号判断，如******123**，*为忽略字符
        /// </summary>
        public string ChooseScrewModel
        {
            get { return _ChooseScrewModel; }
            set { SetProperty(ref _ChooseScrewModel, value); }
        }

        private Int16 _WorkMode = 0;
        /// <summary>
        /// 工作模式 =1 拍1打1， =2 拍1打所有，=3:先拍1打1打3颗再拍2打所有  
        /// </summary>
        public Int16 WorkMode
        {
            get { return _WorkMode; }
            set { SetProperty(ref _WorkMode, value); }
        }

        private Int16 _PickPointNum = 0;
        /// <summary>
        /// 取料位置 =0 不需要取料 =1 需要取料
        /// </summary>
        public Int16 PickPointNum
        {
            get { return _PickPointNum; }
            set { SetProperty(ref _PickPointNum, value); }
        }

        private double _JumpLimitZ = 0;
        /// <summary>
        /// 取料位置 =0 不需要取料 =1 需要取料
        /// </summary>
        public double JumpLimitZ
        {
            get { return _JumpLimitZ; }
            set { SetProperty(ref _JumpLimitZ, value); }
        }

        private Int16 _DowmCameraNum = 0;
        /// <summary>
        /// 下相机拍照次数
        /// </summary>
        public Int16 DowmCameraNum
        {
            get => _DowmCameraNum;
            set => SetProperty(ref _DowmCameraNum, value);
        }

        private Int16 _UpCameraPickNum = 0;
        /// <summary>
        /// 上相机取料拍照次数
        /// </summary>
        public Int16 UpCameraPickNum
        {
            get => _UpCameraPickNum;
            set => SetProperty(ref _UpCameraPickNum, value);
        }

        private Int16 _UpCameraPutNum = 0;
        /// <summary>
        /// 上相机放料拍照次数
        /// </summary>
        public Int16 UpCameraPutNum
        {
            get => _UpCameraPutNum;
            set => SetProperty(ref _UpCameraPutNum, value);
        }

        private Int16 _UPCameracheckNum = 0;
        /// <summary>
        /// 上相机锁附/组装次数
        /// </summary>
        public Int16 UPCameracheckNum
        {
            get => _UPCameracheckNum;
            set => SetProperty(ref _UPCameracheckNum, value);
        }

        private Int16 _FixedCameraPickNum = 0;
        /// <summary>
        /// 取料固定位置拍产品相机数量
        /// </summary>
        public Int16 FixedCameraPickNum
        {
            get => _FixedCameraPickNum;
            set => SetProperty(ref _FixedCameraPickNum, value);
        }

        private Int16 _FixedCameraPutNum = 0;
        /// <summary>
        /// 锁附/组装固定位置拍产品相机数量
        /// </summary>
        public Int16 FixedCameraPutNum
        {
            get => _FixedCameraPutNum;
            set => SetProperty(ref _FixedCameraPutNum, value);
        }

        private Int16 _FixedCameracheckNum = 0;
        /// <summary>
        /// 固定相机检测锁附/组装次数
        /// </summary>
        public Int16 FixedCameracheckNum
        {
            get => _FixedCameracheckNum;
            set => SetProperty(ref _FixedCameracheckNum, value);
        }

        private Int16 _ScrewTeachNum = 0;
        /// <summary>
        /// 披头矫正的模式，1：初始化时矫正，2：每个产品矫正一次，3：每颗螺丝矫正一次
        /// </summary>
        public Int16 ScrewTeachNum
        {
            get => _ScrewTeachNum;
            set => SetProperty(ref _ScrewTeachNum, value);
        }

        private bool _IsSaveScrewCurve;
        /// <summary>
        /// 是否保存锁付曲线图
        /// </summary>
        public bool IsSaveScrewCurve
        {
            get { return _IsSaveScrewCurve; }
            set { SetProperty(ref _IsSaveScrewCurve, value); }
        }

        private string _ScrewCurvePath;
        /// <summary>
        /// 锁付曲线图保存路径
        /// </summary>
        public string ScrewCurvePath
        {
            get { return _ScrewCurvePath; }
            set { SetProperty(ref _ScrewCurvePath, value); }
        }

        /// <summary>
        /// 选择锁付曲线图保存路径
        /// </summary>
        void ExecuteBrowseScrewCurvePathCommand()
        {
            try
            {
                using (var dlg = new System.Windows.Forms.FolderBrowserDialog())
                {
                    dlg.Description = "选择锁付曲线图保存路径";
                    dlg.ShowNewFolderButton = true;
                    if (!string.IsNullOrEmpty(ScrewCurvePath)) dlg.SelectedPath = ScrewCurvePath;
                    var result = dlg.ShowDialog();
                    if (result == System.Windows.Forms.DialogResult.OK || result == System.Windows.Forms.DialogResult.Yes)
                    {
                        ScrewCurvePath = dlg.SelectedPath;
                    }
                }
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 2 });
            }
        }

        /// <summary>
        /// 保存系统参数
        /// </summary>
        async void ExecuteSaveSystemParametersCommand()
        {
            var view = new ShowMessage($"AAS", Lang.是否保存系统参数);
            var result = await DialogHost.Show(view, "RootDialog", null, null, null);
            if (result != null && result is bool && (bool)result)
            {
                try
                {
                    var sysConfig = _configService.GetSystemConfiguration();
                    sysConfig.WorkMode = WorkMode;
                    sysConfig.PickPointNum = PickPointNum;
                    sysConfig.JumpLimitZ= JumpLimitZ;
                    sysConfig.DowmCameraNum = DowmCameraNum;
                    sysConfig.UpCameraPickNum = UpCameraPickNum;
                    sysConfig.UpCameraPutNum = UpCameraPutNum;
                    sysConfig.UPCameracheckNum = UPCameracheckNum;
                    sysConfig.FixedCameraPickNum = FixedCameraPickNum;
                    sysConfig.FixedCameraPutNum = FixedCameraPutNum;
                    sysConfig.FixedCameracheckNum = FixedCameracheckNum;
                    sysConfig.ScrewTeachNum = ScrewTeachNum;
                    sysConfig.IsSaveScrewCurve = IsSaveScrewCurve;
                    sysConfig.ScrewCurvePath = ScrewCurvePath;
                    sysConfig.IsBasePartCodeGetSN = IsBasePartCodeGetSN;
                    sysConfig.IsBasePartCodeChooseScrew = IsBasePartCodeChooseScrew;
                    sysConfig.IsBasePartOpenLightKB = IsBasePartOpenLightKB;
                    sysConfig.IsBasePartOpenLight = IsBasePartOpenLight;
                    sysConfig.ChooseScrewModel = ChooseScrewModel;

                    _configService.SaveSystemConfiguration(sysConfig);
                    await management.WriteSystemParameterToPlcAsync(sysConfig);
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    _eventAggregator.GetEvent<CurrentStatusNotification>().Publish();
                }
                catch (Exception ex)
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
                    _eventAggregator.GetEvent<CurrentStatusNotification>().Publish();
                }
            }
        }

        /// <summary>
        /// 保存读卡器配置
        /// </summary>
        void ExecuteSaveCardReaderConfigCommand()
        {
            try
            {
                _configService.SaveCardReaderConfig(CardReaderConfig);
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        void ExecuteSaveTorqueReaderConfigCommand()
        {
            try
            {
                _configService.SaveTorqueReaderConfig(TorqueReadConfig);
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        #endregion

        #region 设备信息
        /// <summary>
        /// 保存当前选中的设备信息
        /// </summary>
        void ExecuteSaveDeviceInfoCommand()
        {
            try
            {
                if (DeviceInfoList != null && DeviceInfoList.Count > 0)
                {
                    // 保存所有设备信息
                    _configService.SaveAllDeviceInfos(DeviceInfoList);
                    _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 });
            }
        }

        /// <summary>
        /// 添加新设备
        /// </summary>
        void ExecuteAddDeviceInfoCommand()
        {
            try
            {
                var newDevice = _configService.AddDeviceInfo();
                if (DeviceInfoList == null)
                {
                    DeviceInfoList = new ObservableCollection<DeviceInfo>();
                }
                DeviceInfoList.Add(newDevice);
                SelectDeviceInfo = newDevice;
                _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 });
            }
        }

        /// <summary>
        /// 删除当前选中的设备
        /// </summary>
        void ExecuteRemoveDeviceInfoCommand()
        {
            try
            {
                if (SelectDeviceInfo != null && DeviceInfoList != null && DeviceInfoList.Count > 1)
                {
                    var deviceNo = SelectDeviceInfo.DeviceNo;
                    if (_configService.RemoveDeviceInfo(deviceNo))
                    {
                        DeviceInfoList.Remove(SelectDeviceInfo);
                        SelectDeviceInfo = DeviceInfoList.FirstOrDefault();
                        _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = Lang.完成, Duration = 1 });
                    }
                }
                else
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "至少保留一个设备", Duration = 2 });
                }
            }
            catch (Exception ex)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 选择CSV存储路径
        /// </summary>
        void ExecuteSelectSaveImagePathCommand()
        {
            if (SelectDeviceInfo == null)
            {
                return;
            }
            using (System.Windows.Forms.FolderBrowserDialog dialog = new System.Windows.Forms.FolderBrowserDialog())
            {
                // Optional: set the initial directory
                //dialog.SelectedPath = @"C:\";

                // Show the folder browser dialog
                System.Windows.Forms.DialogResult result = dialog.ShowDialog();

                if (result == System.Windows.Forms.DialogResult.OK)
                {
                    SelectDeviceInfo.SaveCsvPath = dialog.SelectedPath;
                }
            }
        }
        #endregion

        #region 产品与mes绑定

        private async void ExecuteGetProWithMesCommand()
        {
            var v = await _systemDatabaseService.QueryProductWithMesAsync(SelectProduct);
            if (v == null)
            {
                ProMesInfo.ProductCode = "";
                ProMesInfo.ProductColor = "";
                ProMesInfo.ProductLoadMode = 0;
            }
            else
            {
                ProMesInfo.ProductCode = v.ProductCode;
                ProMesInfo.ProductColor = v.ProductColor;
                ProMesInfo.ProductLoadMode = v.ProductLoadMode;
            }
        }

        private async void ExecuteDeleteProWithMesCommand()
        {
            var v = await _systemDatabaseService.DeleteProWithMesAsync(SelectProduct);
            if (v > 0)
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "删除成功", Duration = 1 });
                var F = await _systemDatabaseService.QueryProductWithMesAsync(SelectProduct);
                if (F == null)
                {
                    ProMesInfo.ProductCode = "";
                    ProMesInfo.ProductColor = "";
                    ProMesInfo.ProductLoadMode = 0;
                }
            }
        }
        private async void ExecuteSaveProWithMesCommandAsync()
        {
            var v = await _systemDatabaseService.QueryProductWithMesAsync(SelectProduct);
            if (v == null)
            {
                await _systemDatabaseService.InsertProWithMesAsync(ProMesInfo, SelectProduct);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "添加成功", Duration = 1 });
            }
            else
            {
                var n = await _systemDatabaseService.UpdateProductWithMesAsync(ProMesInfo, SelectProduct);
                if (n > 0)
                {
                    _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "更新成功", Duration = 1 });
                }
            }
        }
        #endregion


        private DelegateCommand _testCommand;
        public DelegateCommand testCommand =>
            _testCommand ?? (_testCommand = new DelegateCommand(Execute_testCommand));
       
        private async void Execute_testCommand()
        {
        }
    }
}