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


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.Linq;
using System.Windows;
using TeamAAS_VP.Events;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP;
using System.ComponentModel;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Models.Calibration;
using Team.FFFeederService.Interfaces;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibrationBasicsViewModel : BindableBase, IDataErrorInfo, 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 ObservableCollection<CameraInfo> _Cameras;
        public ObservableCollection<CameraInfo> Cameras
        {
            get { return _Cameras; }
            set { SetProperty(ref _Cameras, value); }
        }

        private ObservableCollection<RobotInfo> _Robots;

        public ObservableCollection<RobotInfo> Robots
        {
            get { return _Robots; }
            set
            {
                SetProperty(ref _Robots, value);
                RaisePropertyChanged(nameof(Error));
            }
        }

        private ObservableCollection<FeederInfo> _Feeders;

        public ObservableCollection<FeederInfo> Feeders
        {
            get { return _Feeders; }
            set { SetProperty(ref _Feeders, value);
            }
        }

        private CalibrationInfo _SelectCalibration;

        public CalibrationInfo SelectCalibration
        {
            get { return _SelectCalibration; }
            set
            {
                SetProperty(ref _SelectCalibration, value);
                if (value != null)
                {
                    Robots = new ObservableCollection<RobotInfo>(_configService.GetAllRobots());
                    Feeders = new ObservableCollection<FeederInfo>(_configService.GetAllFeeders());
                    SelectRobot = Robots.FirstOrDefault(r => r.Id == value.RobotId);
                    SelectFeeder = Feeders.FirstOrDefault(r => r.Id == value.FeederId);
                }
            }
        }

        private RobotInfo _SelectRobot;

        public RobotInfo SelectRobot
        {
            get { return _SelectRobot; }
            set
            {
                SetProperty(ref _SelectRobot, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.RobotId = value.Id;
                }
            }
        }

        private FeederInfo _SelectFeeder;

        public FeederInfo SelectFeeder
        {
            get { return _SelectFeeder; }
            set
            {
                SetProperty(ref _SelectFeeder, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.FeederId = value.Id;
                }
            }
        }

        private CameraInfo _SelectCamera;

        public CameraInfo SelectCamera
        {
            get { return _SelectCamera; }
            set
            {
                SetProperty(ref _SelectCamera, value);
                if (value != null && SelectCalibration != null)
                {
                    SelectCalibration.CameraID = value.Id;
                    SelectCalibration.CameraName = value.CameraName;
                }
                else
                {
                    SelectCalibration.CameraID = Guid.Empty;
                    SelectCalibration.CameraName = "";
                }
            }
        }


        private Management _management;

        public Management management
        {
            get { return _management; }
            set { SetProperty(ref _management, 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 _SelectCameraMountChangedCommand;
        public DelegateCommand SelectCameraMountChangedCommand =>
            _SelectCameraMountChangedCommand ?? (_SelectCameraMountChangedCommand = new DelegateCommand(ExecuteSelectCameraMountChangedCommand));

        #endregion

        #region 事件

        #endregion

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

        #region 方法
        void ExecuteLoadedCommand()
        {
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
        /// <summary>
        /// 下一步
        /// </summary>
        async void ExecuteNextCommand()
        {
            try
            {
                if (SelectCalibration != null)
                {
                    if (SelectCalibration.Pick != null && (SelectCalibration.Pick.Inhal > -1 || SelectCalibration.Pick.Blow > -1))
                    {
                        IRobot Robot = _robotService.GetRobot(SelectCalibration.RobotId);
                        if (Robot.IsConnected)
                        {
                            //发送校准的参数
                            await Robot.CalibParameAsync(SelectCalibration.Pick, SelectCalibration.Speed, SelectCalibration.Accel, SelectCalibration.Power, SelectCalibration.WaitSuction, SelectCalibration.WaitBlow);
                            await Robot.CalibOutIOAsync(true);
                        }
                    }
                    if (SelectCalibration.FeederId != Guid.Empty)
                    {
                        var feeder = _feederService.GetFeeder(SelectCalibration.FeederId);
                        if (feeder.IsConnected)
                        {
                            await feeder.OpenLightAsync();
                        }
                    }

                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("相机校准参数配置点击下一步时出错!", ex);
                MessageBox.Show(ex.Message);
            }
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectCalibration", SelectCalibration);
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationCameraParams", param);
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationHome");
        }

        void ExecuteSelectCameraMountChangedCommand()
        {
            ValidateProperty(nameof(SelectCalibration));
            RaisePropertyChanged(nameof(Error));
        }

        // 手动触发验证
        public string ValidateProperty(string propertyName)
        {
            return this[propertyName]; // 主动调用索引器
        }
        #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");
            Robots = new ObservableCollection<RobotInfo>(_configService.GetAllRobots());
            Feeders = new ObservableCollection<FeederInfo>(_configService.GetAllFeeders());
            Cameras = new ObservableCollection<CameraInfo>(_configService.GetAllCameras());
            if (SelectCalibration.CameraID != Guid.Empty)
            {
                SelectCamera = _configService.GetAllCameras().FirstOrDefault(c => c.Id == SelectCalibration.CameraID);
            }
            if (SelectCalibration.RobotId != Guid.Empty)
            {
                IRobot Robot = _robotService.GetRobot(SelectCalibration.RobotId);
                if (Robot!=null)
                {
                    Robot.EnterDebugMode = true;
                }
                

            }
        }

        /// <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)
        {
            try
            {
                SelectCalibration = _container.Resolve<CalibrationHomeViewModel>().SelectCalibration;
                if (SelectCalibration != null)
                {
                    if (SelectCalibration.RobotId!=Guid.Empty)
                    {
                        IRobot Robot = _robotService.GetRobot(SelectCalibration.RobotId);
                        Robot.EnterDebugMode = false;
                        
                    }

                }
            }
            catch (Exception)
            {
            }
        }
        #endregion

        private bool _IsAllowEdit = false;

        public bool IsAllowEdit
        {
            get { return _IsAllowEdit; }
            set { SetProperty(ref _IsAllowEdit, value); }
        }

        public string Error{
            get
            {
                //var errors = new List<string>()
                //{
                //    this[nameof(SelectCalibration)],
                //    this[nameof(SelectRobot)],
                //};
                
                //return string.Join(Environment.NewLine, errors.Where(e => !string.IsNullOrEmpty(e)));
                string err1 = this[nameof(SelectCalibration)];
                string err2 = this[nameof(SelectRobot)];
                if (!string.IsNullOrEmpty(err1))
                {
                    return err1;
                }
                if (!string.IsNullOrEmpty(err2))
                {
                    return err2;
                }
                return string.Empty;
            }
        }

        public string this[string columnName]
        {

            get
            {
                string result = string.Empty;
                switch (columnName)
                {
                    case nameof(SelectCalibration):
                        if (SelectCalibration != null && SelectRobot != null)
                        {
                            switch (SelectRobot.RobotBrand)
                            {
                                case RobotBrand.Default:
                                    break;
                                case RobotBrand.EPSON:
                                case RobotBrand.FANUC:
                                case RobotBrand.Schneider:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileDown_XYPlatform)
                                    {
                                        result = "Unsupported camera installation method!";
                                    }
                                    break;
                                case RobotBrand.XYZ_Platform:
                                case RobotBrand.XYZU_Platform:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileJ2 || SelectCalibration.CameraMount == CameraMount.MobileJ4)
                                    {
                                        result = "Unsupported camera installation method!";
                                    }
                                    break;
                                default:
                                    break;
                            }
                        }
                        break;
                    case nameof(SelectRobot):
                        if (SelectCalibration != null && SelectRobot != null)
                        {
                            switch (SelectRobot.RobotBrand)
                            {
                                case RobotBrand.Default:
                                    break;
                                case RobotBrand.EPSON:
                                case RobotBrand.FANUC:
                                case RobotBrand.Schneider:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileDown_XYPlatform)
                                    {
                                        result = "不支持的相机校准方式！";
                                    }
                                    break;
                                case RobotBrand.XYZ_Platform:
                                case RobotBrand.XYZU_Platform:
                                    if (SelectCalibration.CameraMount == CameraMount.MobileJ2 || SelectCalibration.CameraMount == CameraMount.MobileJ4)
                                    {
                                        result = "不支持的相机校准方式！";
                                    }
                                    break;
                                default:
                                    break;
                            }
                        }
                        break;
                        //case nameof(SelectFeeder):
                        //    if (SelectFeeder == null)
                        //    {
                        //        result = "请选择喂料器";
                        //    }
                        //    break;
                        //case nameof(SelectCamera):
                        //    if (SelectCamera == null)
                        //    {
                        //        result = "请选择相机";
                        //    }
                        //    break;
                }
                return result;
            }
        }

        private void LoginChange(Models.User user)
        {
            if (user.userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = true;
            }
        }
    }
}