Display_D_HP/TeamAAS-VM/ViewModels/Home/PickScrewAccuracyAnalyzerViewModel.cs

using MaterialDesignThemes.Wpf;
using Newtonsoft.Json;
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.Text;
using System.Threading;
using System.Threading.Tasks;
using System.Web.UI.WebControls;
using System.Windows;
using System.Windows.Threading;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.PLC;
using TeamAAS_VP.Models.Torque;
using TeamAAS_VP.Resources.Languages;
using TeamAAS_VP.Services;
using TeamAAS_VP.ViewModels.Product;
using static TeamAAS_VP.ViewModels.Product.VisionDynamicAccuracyAnalyzerViewModel;

namespace TeamAAS_VP.ViewModels.Home
{
    public class PickScrewAccuracyAnalyzerViewModel : BindableBase, IDialogAware
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IRobotService _robotService;
        ISystemDatabaseService _systemDatabaseService;
        IConfigService _configService;
        IPlcService _plcService;

        TorqueService _torqueService;

        //测试过程中控制取消的CTS
        CancellationTokenSource _cts;
        public PickScrewAccuracyAnalyzerViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container,
            IDialogService dialogService, IRobotService robotService, ISystemDatabaseService systemDatabaseService,
            IConfigService configService, TorqueService torqueService, IPlcService plcService)
        {
            _eventAggregator = ea;
            _configService = configService;
            _container = container;
            _robotService = robotService;
            _torqueService = torqueService;
            _plcService = plcService;
            management = _container.Resolve<Management>();
            MessageQueue = new SnackbarMessageQueue(TimeSpan.FromSeconds(2));
        }

        #region 属性

        private SnackbarMessageQueue _MessageQueue;
        public SnackbarMessageQueue MessageQueue
        {
            get { return _MessageQueue; }
            set { SetProperty(ref _MessageQueue, value); }
        }

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

        private int _MoveSpeed = 100;
        /// <summary>
        /// 移动速度
        /// </summary>
        public int MoveSpeed
        {
            get { return _MoveSpeed; }
            set { SetProperty(ref _MoveSpeed, value); }
        }

        private double _CycleTime;
        /// <summary>
        /// 单次的时长
        /// </summary>
        public double CycleTime
        {
            get { return _CycleTime; }
            set { SetProperty(ref _CycleTime, value); }
        }

        private int _RepeatCount = 10;
        /// <summary>
        /// 重复次数
        /// </summary>
        public int RepeatCount
        {
            get { return _RepeatCount; }
            set { SetProperty(ref _RepeatCount, value); }
        }

        private int _CurrentProgress;
        /// <summary>
        /// 当前进度
        /// </summary>
        public int CurrentProgress
        {
            get { return _CurrentProgress; }
            set { SetProperty(ref _CurrentProgress, value); }
        }

        private int _SuccessCount;
        /// <summary>
        /// 成功次数
        /// </summary>
        public int SuccessCount
        {
            get { return _SuccessCount; }
            set { SetProperty(ref _SuccessCount, value); }
        }

        private int _FailCount;
        /// <summary>
        /// 失败次数
        /// </summary>
        public int FailCount
        {
            get { return _FailCount; }
            set { SetProperty(ref _FailCount, value); }
        }

        private double _SuccessRate;
        /// <summary>
        /// 成功率
        /// </summary>
        public double SuccessRate
        {
            get { return _SuccessRate; }
            set { SetProperty(ref _SuccessRate, value); }
        }

        private string _Message = "等待开始...";
        public string Message
        {
            get { return _Message; }
            set { SetProperty(ref _Message, value); }
        }

        private bool _IsRunning;

        public bool IsRunning
        {
            get { return _IsRunning; }
            set { SetProperty(ref _IsRunning, value); }
        }

        private IRobot _Robot;

        public IRobot Robot
        {
            get { return _Robot; }
            set { SetProperty(ref _Robot, value); }
        }

        private ObservableCollection<PickDynamicTestResult> _TestResults;
        /// <summary>
        /// 测试结果列表
        /// </summary>
        public ObservableCollection<PickDynamicTestResult> TestResults
        {
            get { return _TestResults; }
            set { SetProperty(ref _TestResults, value); }
        }

        private RPoint _PointA = new RPoint();


        private TorqueProduceModel _Points;

        public TorqueProduceModel Points
        {
            get { return _Points; }
            set { SetProperty(ref _Points, value); }
        }

        private bool _IsScrewProvide2;

        public bool IsScrewProvide2
        {
            get { return _IsScrewProvide2; }
            set { SetProperty(ref _IsScrewProvide2, value); }
        }

        private bool _IsScrewProvide1;

        public bool IsScrewProvide1
        {
            get { return _IsScrewProvide1; }
            set { SetProperty(ref _IsScrewProvide1, value); }
        }


        #endregion

        #region 命令

        private DelegateCommand _StopTestCommand;
        public DelegateCommand StopTestCommand =>
            _StopTestCommand ?? (_StopTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

        //暂停测试命令
        private DelegateCommand _PauseTestCommand;
        public DelegateCommand PauseTestCommand =>
            _PauseTestCommand ?? (_PauseTestCommand = new DelegateCommand(() => { _cts?.Cancel(); }, () => IsRunning).ObservesProperty(() => IsRunning));

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

        private DelegateCommand _StartTestCommand;
        public DelegateCommand StartTestCommand =>
            _StartTestCommand ?? (_StartTestCommand = new DelegateCommand(ExecuteStartTestCommand).ObservesProperty(() => IsRunning));

        private DelegateCommand _SingleTestCommand;
        public DelegateCommand SingleTestCommand =>
            _SingleTestCommand ?? (_SingleTestCommand = new DelegateCommand(ExecuteSingleTestCommand));

        private DelegateCommand _ExportCSVCommand;
        public DelegateCommand ExportCSVCommand =>
            _ExportCSVCommand ?? (_ExportCSVCommand = new DelegateCommand(ExecuteExportCSVCommand, () => !IsRunning).ObservesProperty(() => IsRunning));

        private DelegateCommand _ClearDataCommand;
        public DelegateCommand ClearDataCommand =>
            _ClearDataCommand ?? (_ClearDataCommand = new DelegateCommand(ExecuteClearDataCommand, () => !IsRunning).ObservesProperty(() => IsRunning));


        #endregion

        /// <summary>
        /// 保存配置
        /// </summary>
        private void SaveConfig()
        {
            try
            {
                var ConfigModel = new PickScrewAccuracyAnalyzerrConfigModel
                {
                    RepeatCount = this.RepeatCount,
                    MoveSpeed = this.MoveSpeed,
                    IsScrewProvide1 = this.IsScrewProvide1,
                    IsScrewProvide2 = this.IsScrewProvide2,
                };
                FileHelper.WriteJsonFile(ConfigModel, FilePath.PickScrewAccuracyAnalyzerrConfigurationPath);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("保存视觉动态精度分析仪配置时出错", ex);
            }
        }

        private void ExecuteLoadedCommand()
        {
            try
            {
                var res = FileHelper.ReadJsonFile<PickScrewAccuracyAnalyzerrConfigModel>(FilePath.PickScrewAccuracyAnalyzerrConfigurationPath);
                this.RepeatCount = res.RepeatCount;
                this.MoveSpeed = res.MoveSpeed;
                this.IsScrewProvide2 = res.IsScrewProvide2;
                this.IsScrewProvide1 = res.IsScrewProvide1;
            }
            catch (Exception ex)
            {
                MessageBox.Show(ex.Message);
            }
        }

        private void ExecuteSingleTestCommand()
        {

        }

        private async void ExecuteStartTestCommand()
        {
            IsRunning = true;
            _cts = new CancellationTokenSource();
            CurrentProgress = 0;
            SuccessCount = 0;
            SuccessRate = 0;
            FailCount = 0;
            TestResults = new ObservableCollection<PickDynamicTestResult>();
            Message = "测试进行中...";
            PlcAddressConfig addressConfig = _configService.GetPlcAddresses();
            OpcUaClientPLC plc = _plcService.GetPlcByNumber(addressConfig.PlcNo) as OpcUaClientPLC;
            try
            {
                var result = System.Windows.MessageBox.Show("确定进行连续测试吗？", "提示", System.Windows.MessageBoxButton.YesNo, System.Windows.MessageBoxImage.Question);
                if (result != System.Windows.MessageBoxResult.Yes)
                {
                    return;
                }

                if (Robot == null || !Robot.IsConnected)
                {
                    SendTaskMessage("机器人未连接，无法示教！");
                    return;
                }
                //为机器人设置移动速度
                await Robot.CalibParameAsync(new PickInfo(), MoveSpeed, 0, false, 0, 0);

                while (CurrentProgress < RepeatCount)
                {
                    if (IsScrewProvide1)
                    {
                        while(!await plc.ReadNodeAsync<bool>(addressConfig.ScrewProvide1.Address))
                        {
                            Message = "螺丝供料机1未到位，可暂停等待";
                            if (_cts.Token.IsCancellationRequested)
                            {
                                Message = "测试已取消！";
                                break;
                            }
                        }
                    }
                    if (IsScrewProvide2)
                    {
                        while (!await plc.ReadNodeAsync<bool>(addressConfig.ScrewProvide2.Address))
                        {
                            Message = "螺丝供料机2未到位，可暂停等待";
                            if (_cts.Token.IsCancellationRequested)
                            {
                                Message = "测试已取消！";
                                break;
                            }
                        }
                    }
                    DateTime startTime = DateTime.Now;
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        break;
                    }
                    bool isSuccess1 = await _torqueService.Throw_Screw_Async(Robot, plc, addressConfig, Points, MoveSpeed);
                    if (!isSuccess1)
                    {
                        SendTaskMessage("机器人移动到抛料点失败！");
                        return;
                    }
                    if (_cts.Token.IsCancellationRequested)
                    {
                        Message = "测试已取消！";
                        break;
                    }

                    bool isSuccess2 = await _torqueService.Pick_Screw_Async(Robot, plc, addressConfig, Points);
                    if (isSuccess2)
                    {
                        SuccessCount++;
                        CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;
                        TestResults.Add(new PickDynamicTestResult()
                        {
                            Index = CurrentProgress + 1,
                            X_Position = Points.TorquePoints[1].X_Position,
                            Y_Position = Points.TorquePoints[1].Y_Position,
                            Z_Position = Points.TorquePoints[1].Z_Position_Start,
                            Timestamp = DateTime.Now,
                            CycleTime = this.CycleTime,
                            IsPickSuccess = isSuccess2
                        });
                    }
                    else
                    {
                        FailCount++;
                        CycleTime = DateTime.Now.Subtract(startTime).TotalSeconds;
                        TestResults.Add(new PickDynamicTestResult()
                        {
                            Index = CurrentProgress + 1,
                            X_Position = Points.TorquePoints[1].X_Position,
                            Y_Position = Points.TorquePoints[1].Y_Position,
                            Z_Position = Points.TorquePoints[1].Z_Position_Start,
                            Timestamp = DateTime.Now,
                            CycleTime = this.CycleTime,
                            IsPickSuccess = isSuccess2
                        });
                    }
                    CurrentProgress++;
                    SuccessRate = (double)SuccessCount / CurrentProgress * 100;
                    SendTaskMessage($"测试进行中... {CurrentProgress}/{RepeatCount}");
                }
                if (CurrentProgress >= RepeatCount)
                {
                    Message = "测试完成！";
                    
                }

            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("取料重复测试时出错！", ex);
            }
            finally
            {
                await _torqueService.Throw_Screw_Async(Robot, plc, addressConfig, Points, MoveSpeed);
                IsRunning = false;
            }
        }

        public void SendTaskMessage(string msg)
        {
            App.Current.Dispatcher.Invoke(() =>
            {
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = msg, Duration = 1 });
            });
        }

        private void ExecuteExportCSVCommand()
        {
            if (TestResults == null || TestResults.Count == 0)
            {
                SendTaskMessage("无测试数据，无法导出。");
                return;
            }
            try
            {
                var dlg = new Microsoft.Win32.SaveFileDialog
                {
                    DefaultExt = "csv",
                    Filter = "CSV 文件 (*.csv)|*.csv|所有文件 (*.*)|*.*",
                    FileName = "TestResults.csv",
                    Title = "保存测试结果为 CSV"
                };

                bool? dlgResult = dlg.ShowDialog();
                if (dlgResult != true)
                    return;

                string path = dlg.FileName;
                if (File.Exists(path))
                {
                    File.Delete(path);
                }
                using (StreamWriter sw = new StreamWriter(path, true))
                {
                    //初始化文件,写入标题行
                    sw.WriteLine("序号,状态,位置X,位置Y,位置Z,循环时间,时间戳");
                    foreach (var item in TestResults)
                    {
                        sw.WriteLine($"{item.Index},{item.IsPickSuccess},{item.X_Position},{item.Y_Position},{item.Z_Position},{item.CycleTime},{item.Timestamp}");
                    }
                }
            }
            catch (Exception ex)
            {
                MessageBox.Show("写入数据失败" + ex);
            }
        }


        private void ExecuteClearDataCommand()
        {
            TestResults.Clear();
        }

        #region 继承
        public string Title { get; set; } = "动态取料测试";

        public event Action<IDialogResult> RequestClose;

        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {
            SaveConfig();
        }

        public void OnDialogOpened(IDialogParameters parameters)
        {
            if (parameters.ContainsKey("PickScrewPoint") && parameters.ContainsKey("Robot"))
            {
                Points = parameters.GetValue<TorqueProduceModel>("PickScrewPoint");
                Robot = parameters.GetValue<IRobot>("Robot");
            }
        }
        #endregion

    }
}