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

using Cognex.VisionPro;
using Cognex.VisionPro.ToolBlock;
using MathNet.Numerics.LinearAlgebra;
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.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;
using Team.FFFeederService.Interfaces;
using TeamAAS_VP.Core;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models.Calibration;
using TeamAAS_VP.Models.Robot;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.Calibration
{
    public class CalibIndependentCameraViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IRegionNavigationService _regionNavigationService;
        IContainerProvider _container;
        IDialogService _dialogService;
        IEventAggregator _eventAggregator;
        IRobotService _robotService;
        IFeederService _feederService;
        ICameraService _cameraService;
        ISystemDatabaseService _systemDatabaseService;
        ICameraCalibrationService _cameraCalibrationService;
        private CancellationTokenSource _cts;
        #region 属性
        private ICogImage _Image;

        public ICogImage Image
        {
            get { return _Image; }
            set { SetProperty(ref _Image, value); }
        }

        private Cognex.VisionPro.CogGraphicCollection _Graphic;

        public Cognex.VisionPro.CogGraphicCollection Graphic
        {
            get { return _Graphic; }
            set { SetProperty(ref _Graphic, value); }
        }

        private CalibrationInfo _SelectCalibration;

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

        public Management management { get; set; }
        public IRobot Robot { get; set; }

        private bool _IsRunning = true;

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

        private ICamera _Camera;

        public ICamera Camera
        {
            get { return _Camera; }
            set { SetProperty(ref _Camera, value); }
        }
        #endregion

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

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

        private DelegateCommand _StartCalibCommand;
        public DelegateCommand StartCalibCommand =>
            _StartCalibCommand ?? (_StartCalibCommand = new DelegateCommand(ExecuteStartCalibCommand).ObservesCanExecute(() => IsRunning));

        #endregion

        #region 事件

        #endregion

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

        #region 方法

        /// <summary>
        /// 开始校准
        /// </summary>
        async void ExecuteStartCalibCommand()
        {
            try
            {
                //弹窗提示是否开始独立移动相机刚体变换校准
                MessageBoxResult msgResult = MessageBox.Show(Lang.是否开始独立移动相机位置校准, Lang.自动校准, MessageBoxButton.YesNo, MessageBoxImage.Question);
                if (msgResult != MessageBoxResult.Yes)
                {
                    return;
                }

                IsRunning = false;
                _cts = new CancellationTokenSource();
                (bool IsSuccess, double[,] RotationMatrix, double[,] TranslationMatrix) = await _cameraCalibrationService.CalculateIndependentCameraRigidTransformationMatrix(SelectCalibration, Robot, _cts.Token);
                if (!IsSuccess)
                {
                    MessageBox.Show(Lang.独立移动相机位置校准失败, $"{Lang.自动校准}", MessageBoxButton.OK, MessageBoxImage.Warning);
                    return;
                }
                SelectCalibration.IndependentDownCameraMotionModuleRotationMatrix = RotationMatrix;
                SelectCalibration.IndependentDownCameraMotionModuleTranslationMatrix = TranslationMatrix;
                //NavigationParameters param = new NavigationParameters();
                //param.Add("SelectCalibration", SelectCalibration);
                //_regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationAuto", param);
                
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("独立移动相机位置校准时出错!", ex);
                MessageBox.Show(ex.Message);
            }
            finally
            {
                try
                {
                    if (_cts != null && !_cts.IsCancellationRequested)
                        _cts.Cancel();
                    _cts?.Dispose();
                    _cts = null;
                }
                catch (Exception)
                {

                }
                IsRunning = true;
            }
        }

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

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

            _regionManager.RequestNavigate("CalibrationRegionContext", "CalibrationSelectTool", param);
        }

        /// <summary>
        /// 相机拍照
        /// </summary>
        /// <returns></returns>
        private async Task<(bool IsSuccess, double X, double Y, double U, int ImageWidth, int ImageHeight)> CaptureAndProcess()
        {
            await Task.Delay(200);
            //采集图像
            if (Camera != null)
            {
                ICogImage image = Camera.Grab();
                if (SelectCalibration.IsDistortionCorrection && SelectCalibration.CalibCheckerboardTool != null)
                {
                    SelectCalibration.CalibCheckerboardTool.InputImage = image;
                    SelectCalibration.CalibCheckerboardTool.Run();
                    image = SelectCalibration.CalibCheckerboardTool.OutputImage;
                }
                SelectCalibration.ToolBlock.Inputs["InputImage"].Value = image;

            }
            App.Current.Dispatcher.Invoke(() =>
            {
                Graphic = null;
                Image = (ICogImage)SelectCalibration.ToolBlock.Inputs["InputImage"].Value;
            });

            SelectCalibration.ToolBlock.Run();
            CogToolBlockTerminalCollection outputCollection = SelectCalibration.ToolBlock.Outputs;
            App.Current.Dispatcher.Invoke(() =>
            {
                Graphic = outputCollection["Graphic"].Value as CogGraphicCollection;
            });

            bool Found = (bool)(outputCollection["Found"].Value);
            if (Found)
            {
                var strpoints = outputCollection["Point"].Value.ToString();
                string[] items = strpoints.Split(',');
                double x = double.Parse(items[0]);
                double y = double.Parse(items[1]);
                return (true, x, y, 0, Image.Width, Image.Height);
            }
            else
            {
                return (false, 0, 0, 0, Image.Width, Image.Height);
            }
        }

        #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);
            }
            Camera = _cameraService.GetCamera(SelectCalibration.CameraID);
            _cameraCalibrationService.CaptureAndProcessCallback = null;
            _cameraCalibrationService.CaptureAndProcessCallback = CaptureAndProcess;
            if (_systemDatabaseService.GetCurrentUser().userPart == Enums.UserPart.Operator)
            {
                IsAllowEdit = false;
            }
            else
            {
                IsAllowEdit = 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)
        {
            _cameraCalibrationService.CaptureAndProcessCallback = null;
        }
        #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;
            }
        }
    }
}