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

using MaterialDesignThemes.Wpf;
using MathNet.Numerics.LinearAlgebra;
using Microsoft.CodeAnalysis.Scripting;
using NPOI.SS.Formula.Functions;
using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.IO;
using System.Linq;
using System.Windows;
using System.Windows.Forms;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Controls;
using TeamAAS_VP.Core;
using TeamAAS_VP.Data;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Product;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.Views.DebugMod;

namespace TeamAAS_VP.ViewModels.Product
{
    public class ProcedureParamsViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IFeederService _feederService;
        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 ProcedureModel _SelectProcedure;

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

        private Management _management;

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

        public IRobot Robot { get; set; }

        private ProcedureUserDefineParam _SelectedUserDefineParam;
        public ProcedureUserDefineParam SelectedUserDefineParam
        {
            get { return _SelectedUserDefineParam; }
            set { SetProperty(ref _SelectedUserDefineParam, value); }
        }
        #endregion

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

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

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

        private DelegateCommand<object> _CalculateOffsetUAndToolCommand;
        public DelegateCommand<object> CalculateOffsetUAndToolCommand =>
            _CalculateOffsetUAndToolCommand ?? (_CalculateOffsetUAndToolCommand = new DelegateCommand<object>(ExecuteCalculateOffsetUAndToolCommand));

        private DelegateCommand<object> _RemoveToolCommand;
        public DelegateCommand<object> RemoveToolCommand =>
            _RemoveToolCommand ?? (_RemoveToolCommand = new DelegateCommand<object>(ExecuteRemoveToolCommand));

        
        private DelegateCommand _AddToolCommand;
        public DelegateCommand AddToolCommand =>
            _AddToolCommand ?? (_AddToolCommand = new DelegateCommand(ExecuteAddToolCommand));

        private DelegateCommand _OverrideVisionTaskCommand;
        public DelegateCommand OverrideVisionTaskCommand =>
            _OverrideVisionTaskCommand ?? (_OverrideVisionTaskCommand = new DelegateCommand(ExecuteOverrideVisionTaskCommand));

        private DelegateCommand _AddUserDefineParameterCommand;
        public DelegateCommand AddUserDefineParameterCommand =>
            _AddUserDefineParameterCommand ?? (_AddUserDefineParameterCommand = new DelegateCommand(ExecuteAddUserDefineParameterCommand, CanExecuteAddUserDefineParameterCommand));

        private DelegateCommand _RemoveUserDefineParameterCommand;
        public DelegateCommand RemoveUserDefineParameterCommand =>
            _RemoveUserDefineParameterCommand ?? (_RemoveUserDefineParameterCommand = new DelegateCommand(ExecuteRemoveUserDefineParameterCommand, CanExecuteRemoveUserDefineParameterCommand).ObservesProperty(()=> SelectedUserDefineParam));

        
        #endregion

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

        #endregion

        public ProcedureParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IFeederService feederService, IRobotService robotService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);

            _robotService = robotService;
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            if (SelectProcedure.FeederId !=Guid.Empty)
            {
                var feeder = _feederService.GetFeeder(SelectProcedure.FeederId);
                if (feeder.IsConnected)
                {
                    feeder.CloseLight();
                }
            }
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", SelectProcedure);
            _regionManager.RequestNavigate("ProductRegionContext", "ProcessBasics", param);
        }

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

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

        /// <summary>
        /// 添加工具
        /// </summary>
        void ExecuteAddToolCommand()
        {
            try
            {
                if (SelectProcedure.ToolInfo == null)
                    SelectProcedure.ToolInfo = new ObservableCollection<ToolInfo>();
                SelectProcedure.ToolInfo.Add(new ToolInfo() { Id = Guid.NewGuid(), Pick = new RPoint(), Place = new RPoint(), Tool = new RobotTool(), PickInfo = new PickInfo() });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-添加工具时出错", ex);
            }
        }

        /// <summary>
        /// 移除工具
        /// </summary>
        /// <param name="id"></param>
        async void ExecuteRemoveToolCommand(object id)
        {
            try
            {
                var tool = SelectProcedure.ToolInfo.FirstOrDefault(t => t.Id == (Guid)id);
                if (tool != null)
                {
                    var view = new ShowMessage($"{Lang.工具末端}", Lang.是否移除工具末端);
                    //show the dialog
                    var result = await DialogHost.Show(view, "RootDialog", null, null, null);
                    if (result != null && result is bool)
                    {
                        if (((bool)result))
                        {
                            SelectProcedure.ToolInfo.Remove(tool);
                        }
                    }
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-移除工具时出错", ex);
            }
        }

        /// <summary>
        /// 计算角度补偿值和工具坐标
        /// </summary>
        void ExecuteCalculateOffsetUAndToolCommand(object id)
        {
            try
            {
                if (Robot == null) return;
                var tool = SelectProcedure.ToolInfo.FirstOrDefault(t => t.Id == (Guid)id);
                if (tool == null)
                {
                    return;
                }
                IDialogParameters parameters = new DialogParameters();
                parameters.Add("ToolInfo", tool);
                _dialogService.Show("CalculateOffsetU", 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<ToolInfo>("ToolInfo");
                        if (param != null)
                        {
                            tool = param;
                        }
                    }

                });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面-计算角度补偿值和工具坐标时出错", ex);
            }
        }

        /// <summary>
        /// 重写视觉处理逻辑
        /// </summary>
        void ExecuteOverrideVisionTaskCommand()
        {
            string path = FilePath.ProductsPath + "//" + SelectProduct.Name + "//" + SelectProcedure.CameraName + "//" + SelectProcedure.Name + ".cs";
            string script = "";
            if (File.Exists(path))
            {
                script = FileHelper.ReadFile(path);
            }
            else
            {
                if (File.Exists(FilePath.ScriptVisionTemplatePath))
                {
                    script = FileHelper.ReadFile(FilePath.ScriptVisionTemplatePath);
                }
            }
            IDialogParameters parameters = new DialogParameters();
            parameters.Add("Script", script);
            parameters.Add("Path", path);
            _dialogService.Show("VisionScriptPage", 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<ToolInfo>("ToolInfo");
                    //if (param != null)
                    //{
                    //    tool = param;
                    //}
                }

            });
        }

        void ExecuteSelectSaveImagePathCommand()
        {
            if (SelectProcedure == null)
            {
                return;
            }
            using (FolderBrowserDialog dialog = new 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)
                {
                    SelectProcedure.SavePath = dialog.SelectedPath;
                }
            }
        }

        /// <summary>
        /// 移除自定义参数
        /// </summary>
        void ExecuteRemoveUserDefineParameterCommand()
        {
            if (SelectedUserDefineParam==null)
            {
                return;
            }
            SelectProcedure.UserDefineParameters.Remove(SelectedUserDefineParam);
        }

        bool CanExecuteRemoveUserDefineParameterCommand()
        {
            return SelectedUserDefineParam != null;
        }

        /// <summary>
        /// 增加自定义参数
        /// </summary>
        void ExecuteAddUserDefineParameterCommand()
        {
            if (SelectProcedure.UserDefineParameters==null)
            {
                SelectProcedure.UserDefineParameters = new ObservableCollection<ProcedureUserDefineParam>();
            }
            SelectProcedure.UserDefineParameters.Add(new ProcedureUserDefineParam() {  ParamName = (SelectProcedure.UserDefineParameters.Count + 1).ToString(), ParamValue = "" });
        }

        bool CanExecuteAddUserDefineParameterCommand()
        {
            return true;
        }
        #endregion

        #region 继承
        /// <summary>
        /// 确认导航请求时调用。此方法允许您在导航之前执行一些操作。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <param name="continuationCallback"></param>
        public void ConfirmNavigationRequest(NavigationContext navigationContext, Action<bool> continuationCallback)
        {
            continuationCallback(true);
        }

        /// <summary>
        /// 接收导航请求时调用。传入导航参数，包含有关导航目标的信息。
        /// </summary>
        /// <param name="navigationContext"></param>
        /// <exception cref="NotImplementedException"></exception>
        public async void OnNavigatedTo(NavigationContext navigationContext)
        {

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

                if (SelectProcedure.RobotId != Guid.Empty)
                {
                    Robot = _robotService.GetRobot(SelectProcedure.RobotId);
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("流程参数界面进入时出错！", 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)
        {

        }
        #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;
            }
        }
    }
}