Display_D_HP/TeamAAS-VM/ViewModels/Calibration/CalibrationTeachCenterPointViewModel.cs

using Prism.Commands;
using Prism.Events;
using Prism.Ioc;
using Prism.Mvvm;
using Prism.Regions;
using Prism.Services.Dialogs;
using SixLabors.Fonts.Unicode;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Security.Cryptography;
using System.Threading.Tasks;
using System.Windows;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP;
using TeamAAS_VP.Core;
using TeamAAS_VP.Core.Robots;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Services;
using TeamAAS_VP.ViewModels.Product;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationTeachCenterPointViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        IConfigService _configService;
        IRobotService _robotService;
        ICameraService _cameraService;
        IFeederService _feederService;
        ISystemDatabaseService _systemDatabaseService;

        #region 属性
        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set { SetProperty(ref _SelectCalibration, value); }
        }

        private bool _IsShowTechHome = false;

        public bool IsShowTechHome
        {
            get { return _IsShowTechHome; }
            set { SetProperty(ref _IsShowTechHome, value); }
        }

        private bool _IsShowTechP0ModeSelect = true;
        /// <summary>
        /// 是否显示P0模式选择
        /// </summary>
        public bool IsShowTechP0ModeSelect
        {
            get { return _IsShowTechP0ModeSelect; }
            set { SetProperty(ref _IsShowTechP0ModeSelect, value); }
        }

        public Management management { get; set; }

        private IRobot _Robot;

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

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

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

        private DelegateCommand _TechHomeCommand;
        public DelegateCommand TechHomeCommand =>
            _TechHomeCommand ?? (_TechHomeCommand = new DelegateCommand(ExecuteTechHomeCommand));

        private DelegateCommand<object> _BlowOrInhalControlCommand;
        public DelegateCommand<object> BlowOrInhalControlCommand =>
            _BlowOrInhalControlCommand ?? (_BlowOrInhalControlCommand = new DelegateCommand<object>(ExecuteBlowOrInhalControlCommand));

        private DelegateCommand _TechMarkPointCommand;
        public DelegateCommand TechMarkPointCommand =>
            _TechMarkPointCommand ?? (_TechMarkPointCommand = new DelegateCommand(ExecuteTechMarkPointCommand));

        private DelegateCommand _MoveCenterCommand;
        public DelegateCommand MoveCenterCommand =>
            _MoveCenterCommand ?? (_MoveCenterCommand = new DelegateCommand(ExecuteMoveCenterCommand));

        private DelegateCommand _TechIndependentDownCameraMotionModulePointCommand;
        public DelegateCommand TechIndependentDownCameraMotionModulePointCommand =>
            _TechIndependentDownCameraMotionModulePointCommand ?? (_TechIndependentDownCameraMotionModulePointCommand = new DelegateCommand(ExecuteTechIndependentDownCameraMotionModulePointCommand));

        
        #endregion

        #region 事件

        #endregion

        public CalibrationTeachCenterPointViewModel(IRegionManager regionManager, IEventAggregator ea, IRegionNavigationService regionNavigationService, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ICameraService cameraService, IFeederService feederService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _regionNavigationService = regionNavigationService;
            _container = container;
            _dialogService = dialogService;
            _eventAggregator = ea;
            _configService = configService;
            _robotService = robotService;
            _cameraService = cameraService;
            _feederService = feederService;
            _systemDatabaseService = systemDatabaseService;
        }

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

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);

            if (SelectCalibration.CameraMount == Enums.CameraMount.MobileDown_XYPlatform)
            {
                if (SelectCalibration.CalibTechP0Mode == Enums.CalibTechP0Mode.CameraFindP0|| SelectCalibration.CalibTechP0Mode == Enums.CalibTechP0Mode.DownCameraMoveFindP0)
                {
                    _regionManager.RequestNavigate("CalibrationRegionContext", "FixedUpCameraFindP0", param);
                    return;
                }
                else
                {
                    _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
                }
            }
            //else if (Robot.Brand == Enums.RobotBrand.XYZ_Platform)
            //{
            //    _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
            //}
            else
            {
                _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool", param);
            }
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationEditVision", param);
        }

        /// <summary>
        /// 示教中心点
        /// </summary>
        async void ExecuteTechCenterCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.CenterPoint == null)
                {
                    SelectCalibration.CenterPoint = new RPoint();
                }
                SelectCalibration.CenterPoint.X = curpos.X;
                SelectCalibration.CenterPoint.Y = curpos.Y;
                SelectCalibration.CenterPoint.Z = curpos.Z;
                SelectCalibration.CenterPoint.U = curpos.U;
                SelectCalibration.CenterPoint.V = curpos.V;
                SelectCalibration.CenterPoint.W = curpos.W;
                SelectCalibration.CenterPoint.Hand = curpos.Hand;
                SelectCalibration.CenterPoint.Local = curpos.Local;
                SelectCalibration.CenterPoint.Tool = curpos.Tool;
                LogHelper.WriteLogInfo($"相机校准-示教中心点界面示教待机点:X:{SelectCalibration.CenterPoint.X} Y:{SelectCalibration.CenterPoint.Y}  Z:{SelectCalibration.CenterPoint.Z} ");
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"成功! X:{SelectCalibration.CenterPoint.X} Y:{SelectCalibration.CenterPoint.Y}  Z:{SelectCalibration.CenterPoint.Z}", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教中心点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教待机点
        /// </summary>
        async void ExecuteTechHomeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.HomePoint == null)
                {
                    SelectCalibration.HomePoint = new RPoint();
                }
                SelectCalibration.HomePoint.X = curpos.X;
                SelectCalibration.HomePoint.Y = curpos.Y;
                SelectCalibration.HomePoint.Z = curpos.Z;
                SelectCalibration.HomePoint.U = curpos.U;
                SelectCalibration.HomePoint.V = curpos.V;
                SelectCalibration.HomePoint.W = curpos.W;
                SelectCalibration.HomePoint.Hand = curpos.Hand;
                SelectCalibration.HomePoint.Local = curpos.Local;
                SelectCalibration.HomePoint.Tool = curpos.Tool;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "成功!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教待机点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 夹爪打开/关闭
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteBlowOrInhalControlCommand(object obj)
        {
            try
            {
                await Robot.CalibOutIOAsync(!(bool)obj);
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-夹爪打开/关闭点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教P0
        /// </summary>
        async void ExecuteTechMarkPointCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                if (SelectCalibration.MarkPoint == null)
                {
                    SelectCalibration.MarkPoint = new RPoint();
                }
                SelectCalibration.MarkPoint.X = curpos.X;
                SelectCalibration.MarkPoint.Y = curpos.Y;
                SelectCalibration.MarkPoint.Z = curpos.Z;
                SelectCalibration.MarkPoint.U = curpos.U;
                SelectCalibration.MarkPoint.V = curpos.V;
                SelectCalibration.MarkPoint.W = curpos.W;
                SelectCalibration.MarkPoint.Hand = curpos.Hand;
                SelectCalibration.MarkPoint.Local = curpos.Local;
                SelectCalibration.MarkPoint.Tool = curpos.Tool;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = "成功!", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教P0时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 移动至中心点
        /// </summary>
        async void ExecuteMoveCenterCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                if (SelectCalibration.CenterPoint.X==0 && SelectCalibration.CenterPoint.Y==0)
                {
                    MessageBox.Show("检测到机器人的XY为0，可能点位未示教！将不允许移动机器人");
                    return;
                }

                if (MessageBox.Show("是否移动机器人至中心点？请确认安全？","移动机器人",MessageBoxButton.YesNo,MessageBoxImage.Asterisk)!= MessageBoxResult.Yes)
                {
                    return;
                }


                await Robot.CalibMotionAsync(SelectCalibration.CenterPoint,null);
                
                LogHelper.WriteLogInfo($"相机校准-移动机器人至中心点界面示教待机点");
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"成功! X:{SelectCalibration.CenterPoint.X} Y:{SelectCalibration.CenterPoint.Y}  Z:{SelectCalibration.CenterPoint.Z}", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教中心点界面示教中心点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教独立XY模组移动点
        /// </summary>
        async void ExecuteTechIndependentDownCameraMotionModulePointCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                var curpos = await ((XYZU_Robot)Robot).GetCameraPosAsync(SelectCalibration.CameraMotionModuleIndex);
                if (SelectCalibration.IndependentDownCameraMotionModulePoint == null)
                {
                    SelectCalibration.IndependentDownCameraMotionModulePoint = new RPoint();
                }
                SelectCalibration.IndependentDownCameraMotionModulePoint.X = curpos.X;
                SelectCalibration.IndependentDownCameraMotionModulePoint.Y = curpos.Y;
                SelectCalibration.IndependentDownCameraMotionModulePoint.Z = curpos.Z;
                SelectCalibration.IndependentDownCameraMotionModulePoint.U = curpos.U;
                SelectCalibration.IndependentDownCameraMotionModulePoint.V = curpos.V;
                SelectCalibration.IndependentDownCameraMotionModulePoint.W = curpos.W;
                SelectCalibration.IndependentDownCameraMotionModulePoint.Hand = curpos.Hand;
                SelectCalibration.IndependentDownCameraMotionModulePoint.Local = curpos.Local;
                SelectCalibration.IndependentDownCameraMotionModulePoint.Tool = curpos.Tool;
                LogHelper.WriteLogInfo($"相机校准-示教独立XY模组移动点:X:{SelectCalibration.IndependentDownCameraMotionModulePoint.X} Y:{SelectCalibration.IndependentDownCameraMotionModulePoint.Y}  Z:{SelectCalibration.IndependentDownCameraMotionModulePoint.Z} ");
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"成功! X:{SelectCalibration.IndependentDownCameraMotionModulePoint.X} Y:{SelectCalibration.IndependentDownCameraMotionModulePoint.Y}  Z:{SelectCalibration.IndependentDownCameraMotionModulePoint.Z}", Duration = 1 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准-示教独立XY模组移动点时出错!", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }
        #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)
        {
            SelectCalibration = navigationContext.Parameters.GetValue<CalibrationInfo>("SelectCalibration");
            if (SelectCalibration != null)
            {
                Robot = _robotService.GetRobot(SelectCalibration.RobotId);
                if (SelectCalibration.CameraMount == Enums.CameraMount.FixedDown)
                {
                    IsShowTechHome = true;
                }

                if (SelectCalibration.CameraMount == Enums.CameraMount.FixedUp)
                {
                    IsShowTechP0ModeSelect = false;
                }
                else if (SelectCalibration.CameraMount == Enums.CameraMount.FixedDown)
                {
                    IsShowTechP0ModeSelect = false;
                }
                else if (SelectCalibration.CameraMount == Enums.CameraMount.MobileJ4)
                {
                    IsShowTechP0ModeSelect = true;
                }
                else if (SelectCalibration.CameraMount == Enums.CameraMount.MobileJ2)
                {
                    IsShowTechP0ModeSelect = true;
                }
                else if (SelectCalibration.CameraMount == Enums.CameraMount.MobileDown_XYPlatform)
                {
                    IsShowTechP0ModeSelect = true;
                }
            }
            else
            {
                IsShowTechHome = false;
            }
        }

        /// <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;
            }
        }
    }
}