Display_D_HP/TeamAAS-VM/ViewModels/Product/PlcPointParamsViewModel.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.Core;
using TeamAAS_VP.Core.PLCs;
using TeamAAS_VP.Enums;
using TeamAAS_VP.Events;
using TeamAAS_VP.Interfaces;
using TeamAAS_VP.Models;
using TeamAAS_VP.Models.PLC;
using TeamAAS_VP.Models.Robot;
using TeamAAS_VP.Resources.Languages;

namespace TeamAAS_VP.ViewModels.Product
{
    public class PlcPointParamsViewModel : BindableBase, IConfirmNavigationRequest
    {
        IRegionManager _regionManager;
        IEventAggregator _eventAggregator;
        IContainerProvider _container;
        IDialogService _dialogService;
        IConfigService _configService;
        IRobotService _robotService;
        ISystemDatabaseService _systemDatabaseService;

        #region 属性

        private ProductModel _SelectProduct;

        /// <summary>
        /// 选中的产品
        /// </summary>
        public ProductModel SelectProduct
        {
            get { return _SelectProduct; }
            set { SetProperty(ref _SelectProduct, value); }
        }

        private PlcPoint _SelectedPoint;
        public PlcPoint SelectedPoint
        {
            get { return _SelectedPoint; }
            set { SetProperty(ref _SelectedPoint, value); }
        }

        private PlcPoint _selectedPointInDataGrid;
        public PlcPoint SelectedPointInDataGrid
        {
            get { return _selectedPointInDataGrid; }
            set
            {
                if (SetProperty(ref _selectedPointInDataGrid, value))
                {
                    SelectedPointInComboBox = value;
                    // update command availability
                    _MovePointUpCommand?.RaiseCanExecuteChanged();
                    _MovePointDownCommand?.RaiseCanExecuteChanged();
                    // 更新依赖可执行状态的命令
                    _TechPointCommand?.RaiseCanExecuteChanged();
                    _ExecuteMotion?.RaiseCanExecuteChanged();
                }
                // 可以同步到 SelectPoint 属性
                SelectedPoint = value;

            }
        }

        private PlcPoint _selectedPointInComboBox;
        public PlcPoint SelectedPointInComboBox
        {
            get { return _selectedPointInComboBox; }
            set
            {
                if (SetProperty(ref _selectedPointInComboBox, value))
                {
                    SelectedPointInDataGrid = value;
                }
                // 可以同步到 SelectPoint 属性
                SelectedPoint = value;

            }
        }

        private ObservableCollection<PlcPoint> _Points = new ObservableCollection<PlcPoint>();
        /// <summary>
        /// 点位集合
        /// </summary>
        public ObservableCollection<PlcPoint> Points
        {
            get { return _Points; }
            set { SetProperty(ref _Points, value); }
        }

        private MotionCommand _SelectMotionCommand;
        /// <summary>
        /// 选中的运动指令
        /// </summary>
        public MotionCommand SelectMotionCommand
        {
            get { return _SelectMotionCommand; }
            set { SetProperty(ref _SelectMotionCommand, value); }
        }

        public Management management { get; set; }

        private IRobot _Robot;

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

            }
        }

        private int _SelectedIndex;
        public int SelectedIndex
        {
            get { return _SelectedIndex; }
            set { SetProperty(ref _SelectedIndex, value); }
        }

        private double _Distance = 1;

        public double Distance
        {
            get { return _Distance; }
            set
            {
                SetProperty(ref _Distance, value);
                try
                {
                    if (Robot == null)
                    {
                        return;
                    }
                    _configService.UpdateRobotStepDistance(Robot.Id, value);
                }
                catch (Exception)
                {

                }
            }
        }
        #endregion

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

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

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

        private DelegateCommand<object> _ExecuteMotion;
        public DelegateCommand<object> ExecuteMotion =>
            _ExecuteMotion ?? (_ExecuteMotion = new DelegateCommand<object>(ExecuteExecuteMotion).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute).ObservesProperty(() => SelectedPointInDataGrid));

        private DelegateCommand<object> _JogCommand;
        public DelegateCommand<object> JogCommand =>
             _JogCommand ?? (_JogCommand = new DelegateCommand<object>(ExecuteJogCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute));

        private DelegateCommand _TechPointCommand;
        public DelegateCommand TechPointCommand =>
            _TechPointCommand ?? (_TechPointCommand = new DelegateCommand(ExecuteTechPointCommand).ObservesCanExecute(() => CanExecute).ObservesProperty(() => Robot).ObservesProperty(() => Robot.CanExecute).ObservesProperty(() => SelectedPointInDataGrid));

        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 _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));


        private DelegateCommand _SelectionChangedCommand;
        public DelegateCommand SelectionChangedCommand =>
            _SelectionChangedCommand ?? (_SelectionChangedCommand = new DelegateCommand(ExecuteSelectionChangedCommand));

        private DelegateCommand _AddPointCommand;
        public DelegateCommand AddPointCommand =>
            _AddPointCommand ?? (_AddPointCommand = new DelegateCommand(ExecuteAddPointCommand));

        private DelegateCommand _DeletePointCommand;
        public DelegateCommand DeletePointCommand =>
            _DeletePointCommand ?? (_DeletePointCommand = new DelegateCommand(ExecuteDeletePointCommand));

        private DelegateCommand _MovePointUpCommand;
        public DelegateCommand MovePointUpCommand => _MovePointUpCommand ?? (_MovePointUpCommand = new DelegateCommand(ExecuteMovePointUpCommand, CanMovePointUp));

        private DelegateCommand _MovePointDownCommand;
        public DelegateCommand MovePointDownCommand => _MovePointDownCommand ?? (_MovePointDownCommand = new DelegateCommand(ExecuteMovePointDownCommand, CanMovePointDown));


        #endregion

        #region 事件

        #endregion

        public PlcPointParamsViewModel(IRegionManager regionManager, IEventAggregator ea, IContainerProvider container, IDialogService dialogService,
            IConfigService configService, IRobotService robotService, ISystemDatabaseService systemDatabaseService)
        {
            _regionManager = regionManager;
            _eventAggregator = ea;
            _container = container;
            _dialogService = dialogService;
            _configService = configService;
            _systemDatabaseService = systemDatabaseService;
            //订阅权限登录事件
            _eventAggregator.GetEvent<UserLoginNotification>().Subscribe(LoginChange);
            management = _container.Resolve<Management>();
            _robotService = robotService;
        }

        #region 方法

        /// <summary>
        /// 下一步
        /// </summary>
        void ExecuteNextCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            _regionManager.RequestNavigate("ProductRegionContext", "ProductParams", param);
        }

        /// <summary>
        /// 上一步
        /// </summary>
        void ExecuteBackCommand()
        {
            NavigationParameters param = new NavigationParameters();
            param.Add("SelectProduct", SelectProduct);
            param.Add("SelectedProcedure", null);
            _regionManager.RequestNavigate("ProductRegionContext", "ProcessBasics", param);
        }

        /// <summary>
        /// 点动
        /// </summary>
        /// <param name="obj"></param>
        private async void ExecuteJogCommand(object obj)
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Timeout = 6000000;
                var items = ((string)obj).Split(':');
                switch (items[0])
                {
                    case "X+":
                        await Robot.JogAsync("X", double.Parse(items[1]));
                        break;
                    case "X-":
                        await Robot.JogAsync("X", -double.Parse(items[1]));
                        break;
                    case "Y+":
                        await Robot.JogAsync("Y", double.Parse(items[1]));
                        break;
                    case "Y-":
                        await Robot.JogAsync("Y", -double.Parse(items[1]));
                        break;
                    case "Z+":
                        await Robot.JogAsync("Z", double.Parse(items[1]));
                        break;
                    case "Z-":
                        await Robot.JogAsync("Z", -double.Parse(items[1]));
                        break;
                    case "U+":
                        await Robot.JogAsync("U", double.Parse(items[1]));
                        break;
                    case "U-":
                        await Robot.JogAsync("U", -double.Parse(items[1]));
                        break;
                    case "V+":
                        await Robot.JogAsync("V", double.Parse(items[1]));
                        break;
                    case "V-":
                        await Robot.JogAsync("V", -double.Parse(items[1]));
                        break;
                    case "W+":
                        await Robot.JogAsync("W", double.Parse(items[1]));
                        break;
                    case "W-":
                        await Robot.JogAsync("W", -double.Parse(items[1]));
                        break;
                    default:
                        break;
                }
                Robot.Timeout = 5000;

                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });

            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-机器人点动时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 执行运动
        /// </summary>
        /// <param name="obj"></param>
        async void ExecuteExecuteMotion(object parameter)
        {
            if (parameter == null)
            {
                return;
            }
            var values = (object[])parameter;
            var point = values[0] as RPoint;
            MotionCommand motionCmd = (MotionCommand)values[1];
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                Robot.Timeout = 6000000;
                switch (motionCmd)
                {
                    case MotionCommand.Go:
                        await Robot.GoAsync(point);
                        break;
                    case MotionCommand.Jump:
                        await Robot.JumpAsync(point, 0);
                        break;
                    case MotionCommand.Move:
                        await Robot.MoveAsync(point);
                        break;
                }
                Robot.Timeout = 5000;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-执行点位时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 示教点位
        /// </summary>
        /// <param name="point"></param>
        async void ExecuteTechPointCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            if (SelectedPoint == null) return;

            try
            {
                var curpos = await Robot.GetRobotPosAsync();
                SelectedPoint.X_Position = curpos.X;
                SelectedPoint.Y_Position = curpos.Y;
                SelectedPoint.Z_Position_Start = curpos.Z;
                SelectedPoint.U_Position = curpos.U;
                SelectedPoint.R_Position = curpos.V;
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位-示教点位时出错", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

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

        /// <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));
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点击操作时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 重置
        /// </summary>
        private async void ExecuteResetCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.ResetAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("重置机器人时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 锁定刹车
        /// </summary>
        private async void ExecuteSLockCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SLockAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人锁定刹车时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        /// <summary>
        /// 释放刹车
        /// </summary>
        private async void ExecutesFreeCommand()
        {
            if (Robot == null || !Robot.IsConnected) return;
            try
            {
                await Robot.SFreeAsync();
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = $"{Lang.完成}!", Duration = 0.4 });
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人释放刹车时出错！", ex);
                _eventAggregator.GetEvent<SnackbarMessageNotification>().Publish(new MessageParameter() { Msg = ex.Message, Duration = 1 });
            }
        }

        private bool CanExecute
        {
            get
            {
                // 命令可执行仅当机器人可执行且已选择点位
                if (Robot != null && Robot.CanExecute)
                {
                    return SelectedPointInDataGrid != null;
                }
                return false;
            }
        }

        /// <summary>
        /// 点位表切换时
        /// </summary>
        void ExecuteSelectionChangedCommand()
        {
            switch (SelectedIndex)
            {
                case 0:
                    Points = SelectProduct.PickCameraPoints;
                    break;
                case 1:
                    Points = SelectProduct.PickPoints;
                    break;
                case 2:
                    Points = SelectProduct.SecPosCameraPoints;
                    break;
                case 3:
                    Points = SelectProduct.ScrewCameraPoints;
                    break;
                case 4:
                    Points = SelectProduct.ScrewPoints;
                    break;
                case 5:
                    Points = SelectProduct.CheckCameraPoints;
                    break;
                default:
                    break;
            }
        }

        /// <summary>
        /// 增加点位
        /// </summary>
        void ExecuteAddPointCommand()
        {
            //添加点位
            Points.Add(new PlcPoint()
            {
                Number = Points.Count + 1,
            });
            // update commands
            _MovePointUpCommand?.RaiseCanExecuteChanged();
            _MovePointDownCommand?.RaiseCanExecuteChanged();
        }

        /// <summary>
        /// 移除点位
        /// </summary>
        void ExecuteDeletePointCommand()
        {
            if (SelectedPoint == null)
            {
                return;
            }
            // 确认删除
            if (MessageBox.Show("确认要删除选中的点位吗？", "删除点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            int removedIndex = Points.IndexOf(SelectedPoint);
            Points.Remove(SelectedPoint);
            //重新编号
            for (int i = 0; i < Points.Count; i++)
            {
                Points[i].Number = i + 1;
            }
            // adjust selection
            if (Points.Count > 0)
            {
                int newIndex = Math.Min(removedIndex, Points.Count - 1);
                SelectedPointInDataGrid = Points[newIndex];
            }
            else
            {
                SelectedPointInDataGrid = null;
            }
            // update commands
            _MovePointUpCommand?.RaiseCanExecuteChanged();
            _MovePointDownCommand?.RaiseCanExecuteChanged();
        }

        private bool CanMovePointUp()
        {
            return SelectedPointInDataGrid != null && Points.IndexOf(SelectedPointInDataGrid) > 0;
        }

        private bool CanMovePointDown()
        {
            return SelectedPointInDataGrid != null && Points.IndexOf(SelectedPointInDataGrid) >= 0 && Points.IndexOf(SelectedPointInDataGrid) < Points.Count - 1;
        }

        /// <summary>
        /// 向上移动点位
        /// </summary>
        void ExecuteMovePointUpCommand()
        {
            if (SelectedPointInDataGrid == null) return;
            // 确认移动
            if (MessageBox.Show("确认将选中点位上移一位吗？", "移动点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            int idx = Points.IndexOf(SelectedPointInDataGrid);
            if (idx <= 0) return;
            var item = SelectedPointInDataGrid;
            Points.Move(idx, idx - 1);
            // renumber
            for (int i = 0; i < Points.Count; i++) Points[i].Number = i + 1;
            SelectedPointInDataGrid = item;
            _MovePointUpCommand?.RaiseCanExecuteChanged();
            _MovePointDownCommand?.RaiseCanExecuteChanged();
        }

        /// <summary>
        /// 向下移动点位
        /// </summary>
        void ExecuteMovePointDownCommand()
        {
            if (SelectedPointInDataGrid == null) return;
            // 确认移动
            if (MessageBox.Show("确认将选中点位下移一位吗？", "移动点位", MessageBoxButton.YesNo, MessageBoxImage.Question) != MessageBoxResult.Yes)
            {
                return;
            }
            int idx = Points.IndexOf(SelectedPointInDataGrid);
            if (idx < 0 || idx >= Points.Count - 1) return;
            var item = SelectedPointInDataGrid;
            Points.Move(idx, idx + 1);
            // renumber
            for (int i = 0; i < Points.Count; i++) Points[i].Number = i + 1;
            SelectedPointInDataGrid = item;
            _MovePointUpCommand?.RaiseCanExecuteChanged();
            _MovePointDownCommand?.RaiseCanExecuteChanged();
        }
        #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)
        {
            try
            {
                SelectProduct = navigationContext.Parameters.GetValue<ProductModel>("SelectProduct");

                SelectedIndex = 0;
                Points = SelectProduct.PickCameraPoints;

                if (Robot == null)
                {
                    Robot = _robotService.GetRobotByNumber(1);
                }

                if (Robot != null && Robot.IsConnected)
                {
                    this.Distance = _configService.GetRobotStepDistance(Robot.Id);
                    Robot.EnterDebugMode = true;
                }
                else if (Robot != null)
                {
                    Robot.EnterDebugMode = true;
                }
            }
            catch (Exception ex)
            {
                LogHelper.WriteLogError("机器人点位界面进入时出错！", ex);
            }
        }

        /// <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)
        {
            //if (Robot != null)
            //{
            //    Robot.EnterDebugMode = false;
            //}
        }
        #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;
            }
        }
    }
}