Display_D_HP/TeamAAS-VM/Controls/RobotManual.xaml.cs

using Prism.Commands;
using Prism.Ioc;
using Prism.Unity;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.Linq;
using System.Runtime.CompilerServices;
using System.Text;
using System.Threading.Tasks;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Data;
using System.Windows.Documents;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Imaging;
using System.Windows.Navigation;
using System.Windows.Shapes;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.Robots;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.ViewModels;
using TeamAAS_VP.Views;

namespace TeamAAS_VP.Controls
{
    /// <summary>
    /// RobotManual.xaml 的交互逻辑
    /// </summary>
    public partial class RobotManual : UserControl,INotifyPropertyChanged
    {
        IConfigService _configService;

        public RobotManual()
        {
            InitializeComponent();
            DataContext = this;
            this.Loaded += RobotManual_Loaded;
        }

        private void RobotManual_Loaded(object sender, RoutedEventArgs e)
        {
            
        }

        #region 属性
        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot,value);
                try
                {
                    if (value!=null)
                    {
                        if (_configService==null)
                            _configService = ((PrismApplication)(App.Current)).Container.Resolve<IConfigService>();
                        this.Distance = _configService.GetRobotStepDistance(value.Id);
                    }
                    if (value is FanucRobot)
                    {
                        Tools = new ObservableCollection<int> { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 };
                        SelectTool = Robot.SelectedTool;
                    }
                    else
                    {
                        Tools = new ObservableCollection<int> { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 };
                        SelectTool = Robot.SelectedTool;
                    }
                }
                catch (Exception)
                {

                }
            }
        }

        private double _Distance=1;

        public double Distance
        {
            get { return _Distance; }
            set { SetProperty(ref _Distance, value); 
                try
                {
                    if (Robot==null)
                    {
                        return;
                    }
                    if (_configService == null)
                        _configService = ((PrismApplication)(App.Current)).Container.Resolve<IConfigService>();
                    _configService.UpdateRobotStepDistance(Robot.Id, value);
                }
                catch (Exception)
                {

                }
            }
        }

        private ObservableCollection<int> _Tools = new ObservableCollection<int>();
        /// <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)
                        {

                        }
                    }
                }
            }
        }
        #endregion

        #region 命令

        private DelegateCommand _ConnectCommand;
        public DelegateCommand ConnectCommand =>
            _ConnectCommand ?? (_ConnectCommand = new DelegateCommand(ExecuteConnectCommand));



        private DelegateCommand _DisConnectCommand;
        public DelegateCommand DisConnectCommand =>
            _DisConnectCommand ?? (_DisConnectCommand = new DelegateCommand(ExecuteDisConnectCommand));



        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<object> _JogCommand;
        public DelegateCommand<object> JogCommand =>
            _JogCommand ?? (_JogCommand = new DelegateCommand<object>(ExecuteJogCommand).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));
        #endregion

        #region 事件

        #endregion

        #region 方法

        private void ShowMsg(string msg)
        {
            if (snackbar.MessageQueue==null)
            {
                snackbar.MessageQueue = new MaterialDesignThemes.Wpf.SnackbarMessageQueue();
            }
            snackbar.MessageQueue.Clear();
            snackbar.MessageQueue?.Enqueue(
                msg,
                null,
                null,
                null,
                false,
                true,
                TimeSpan.FromSeconds(0.4));
        }
        /// <summary>
        /// 连接机器人
        /// </summary>
        private async void ExecuteConnectCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.ConnectAsync();
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.连接机器人时出错,ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 断开机器人
        /// </summary>
        private void ExecuteDisConnectCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Disconnect();
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.断开机器人时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        /// <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));
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.机器人点击操作时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 重置
        /// </summary>
        private async void ExecuteResetCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.ResetAsync();
                
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.重置机器人时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var items = ((string)obj).Split(':');
                //如果移动距离大于10mm，则提示用户确认
                double distance = double.Parse(items[1]);
                if (Math.Abs(distance) >= 10)
                {
                    if (MessageBox.Show(string.Format(Lang.确认要点动距离0mm吗,distance), Lang.确认点动, MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
                    {
                        return;
                    }
                }
                Robot.Timeout = 6000000;
                switch (items[0])
                {
                    case "X+":
                        await Robot.JogAsync("X", distance);
                        break;
                    case "X-":
                        await Robot.JogAsync("X", -distance);
                        break;
                    case "Y+":
                        await Robot.JogAsync("Y", distance);
                        break;
                    case "Y-":
                        await Robot.JogAsync("Y", -distance);
                        break;
                    case "Z+":
                        await Robot.JogAsync("Z", distance);
                        break;
                    case "Z-":
                        await Robot.JogAsync("Z", -distance);
                        break;
                    case "U+":
                        await Robot.JogAsync("U", distance);
                        break;
                    case "U-":
                        await Robot.JogAsync("U", -distance);
                        break;
                    case "V+":
                        await Robot.JogAsync("V", distance);
                        break;
                    case "V-":
                        await Robot.JogAsync("V", -distance);
                        break;
                    case "W+":
                        await Robot.JogAsync("W", distance);
                        break;
                    case "W-":
                        await Robot.JogAsync("W", -distance);
                        break;
                    default:
                        break;
                }
                Robot.Timeout = 5000;

                
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.机器点动时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 锁定刹车
        /// </summary>
        private async void ExecuteSLockCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SLockAsync();
                
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.机器人锁定刹车时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        /// <summary>
        /// 释放刹车
        /// </summary>
        private async void ExecutesFreeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SFreeAsync();
                
                ShowMsg($"{Lang.完成}!");
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError(Lang.机器人释放刹车时出错, ex);
                ShowMsg(ex.Message);
            }
        }

        private bool CanExecute
        {
            get
            {
                if (Robot != null)
                {
                    return Robot.CanExecute;
                }
                else
                {
                    return false;
                }
            }
        }
        #endregion

        #region 属性通知
        /// <summary>
        /// Occurs when a property value changes.
        /// </summary>
        public event PropertyChangedEventHandler PropertyChanged;

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Checks if a property already matches a desired value. Sets the property and
        /// notifies listeners only when necessary.
        /// </summary>
        /// <typeparam name="T">Type of the property.</typeparam>
        /// <param name="storage">Reference to a property with both getter and setter.</param>
        /// <param name="value">Desired value for the property.</param>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers that
        /// support CallerMemberName.</param>
        /// <param name="onChanged">Action that is called after the property value has been changed.</param>
        /// <returns>True if the value was changed, false if the existing value matched the
        /// desired value.</returns>
        protected virtual bool SetProperty<T>(ref T storage, T value, Action onChanged, [CallerMemberName] string propertyName = null)
        {
            if (EqualityComparer<T>.Default.Equals(storage, value)) return false;

            storage = value;
            onChanged?.Invoke();
            RaisePropertyChanged(propertyName);

            return true;
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="propertyName">Name of the property used to notify listeners. This
        /// value is optional and can be provided automatically when invoked from compilers
        /// that support <see cref="CallerMemberNameAttribute"/>.</param>
        protected void RaisePropertyChanged([CallerMemberName] string propertyName = null)
        {
            OnPropertyChanged(new PropertyChangedEventArgs(propertyName));
        }

        /// <summary>
        /// Raises this object's PropertyChanged event.
        /// </summary>
        /// <param name="args">The PropertyChangedEventArgs</param>
        protected virtual void OnPropertyChanged(PropertyChangedEventArgs args)
        {
            PropertyChanged?.Invoke(this, args);
        }
        #endregion
    }
}