BPASmartClient/BPASmartClient.MorkCL/ViewModel/DebugViewModel.cs

using BPASmartClient.CustomResource.Pages.Model;
using BPASmartClient.CustomResource.UserControls.MessageShow;
using BPASmartClient.MorkCL.HelpClass;
using System.Reflection.Metadata;
using System.Windows.Markup;

namespace BPASmartClient.MorkCL.ViewModel
{
    public class DebugViewModel : NotifyBase
    {
        private ushort heatGear;
        private ushort agitaFrequency;

        public DebugViewModel()
        {
            WriteAgitaParamCommand = new(async () =>
            {
                //if (!GetDeviceIsIdle(FryingPanSelect))
                //{
                //    return;
                //}
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW1", (ushort)(AgitaFrequency*100)));

                await SendWriteRequest("LB10");

                ShowNotify($"写入搅拌参数成功。");
            });

            StartAgitateCommand = new(() =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", true));
                ShowNotify($"写入搅拌启动成功。");
            });
            StopAgitateCommand = new(() =>
            {
                //if (!GetDeviceIsIdle(FryingPanSelect))
                //{
                //    return;
                //}
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB0", false));
                ShowNotify($"写入搅拌停止成功。");
            });

            WriteHeatParamCommand = new(async () =>
            {
                //if (!GetDeviceIsIdle(FryingPanSelect))
                //{
                //    return;
                //}
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, "LW0", HeatGear));

                await SendWriteRequest("LB9");
                ShowNotify($"写入加热参数成功。");
            });

            StartHeatCommand = new(() =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", true));
                ShowNotify($"写入加热启动成功。");
            });

            StopHeatCommand = new(() =>
            {
                //if (!GetDeviceIsIdle(FryingPanSelect))
                //{
                //    return;
                //}
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB3", false));
                ShowNotify($"写入加热停止成功。");
            });

            ChannelCuttingCommand = new(async () =>
            {
                //var channelIndex = ChannelSelect;
                //var weight = Convert.ToUInt16(Weight);
                //byte[] LWOffset = new byte[3] { 3, 4, 5 };
                //byte[] LBOffset = new byte[3] { 6, 7, 8 };

                //ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(FryingPanSelect, $"LW{LWOffset[channelIndex]}", weight));
                //await SendWriteRequest($"LB{LBOffset[channelIndex]}");
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                object[] para = new object[3];
                para[0]= FryingPanSelect;
                para[1] = ChannelSelect+1;
                para[2] = Convert.ToUInt16(Weight);

                await Task.Run(() => ActionManage.GetInstance.Send("DeviceCuttingControl", para));
                ShowNotify($"写入通道下料控制成功。");
            });

            GoFryLocCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                var loc = StirFryLocSelect + 17;

                await SendWriteRequest($"LB{loc}");
                ShowNotify($"写入去炒制位成功。");
            });
            GoHomeCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB12");
                ShowNotify($"写入回原点成功。");
            });
            GoSeasoningFeddLocCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB16");
                ShowNotify($"写入去调料投料位成功。");
            });

            OutDiningStartCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB13");
                ShowNotify($"写入出餐启动成功。");
            });

            FryPanCleanCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB14");
                ShowNotify($"写入炒锅清洗成功。");
            });

            SetAutoModeCommand = new(() =>
            {
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", true));
                ShowNotify($"设置设备自动模式成功。");
            });

            SetManualModeCommand = new(() =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, "LB20", false));
                ShowNotify($"设置设备手动模式成功。");
            });
            InitalDeviceCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                //复位所有变量。
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                ResetFryPanVariable(FryingPanSelect);
                await SendWriteRequest("LB21");
                ShowNotify($"设置设备初始化成功。");
            });

            StopDeviceCommand = new(async () =>
            {
                //if (!GetDeviceIsIdle(FryingPanSelect))
                //{
                //    return;
                //}
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB22");
                ShowNotify($"设置设备停止成功。");
            });

            //炒锅那边复位变量没有使用。
            GoCleanLocCommand = new(async () =>
            {
                if (!GetDeviceIsIdle(FryingPanSelect))
                {
                    return;
                }
                if (!MessageNotify.GetInstance.ShowDialog("确认是否进行手动操作？"))
                {
                    return;
                }
                await SendWriteRequest("LB23");
                ShowNotify($"设置设备去洗锅位成功。");
            });

            CancelFryPanTaskCommand = new((string device) =>
            {
                ActionManage.GetInstance.Send("CancelFryPanTask", device);
                ShowNotify($"[{device}#]取消当前任务成功");
            });

           
            ClearFryPanTaskCommand_1 = new(() =>
            {

            });
            ClearFryPanTaskCommand_2 = new(() =>
            {
            });

            InitRobotVarCommand = new(() =>
            {
                Task.Run(() =>
                {
                    ActionManage.GetInstance.Send("InitRobotAllVar");
                });
            });

            RobotGoCleanLocCommand = new(() =>
            {
                if (!MessageNotify.GetInstance.ShowDialog("确认是否将机械手移动到清洗位？"))
                {
                    return;
                }
                ActionManage.GetInstance.Send("RobotGoCleanLoc");
            });
        }

        #region 私有方法

        private async Task SendWriteRequest(string address)
        {
            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
            await Task.Delay(400);
            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, true));
            await Task.Delay(400);
            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(FryingPanSelect, address, false));
        }

        private void ShowNotify(string info)
        {
            NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, Application.Current.MainWindow, "提示", info);
        }

        private bool GetDeviceIsIdle(EDeviceType device)
        {
            if (ActionManage.GetInstance.SendResult("GetDeviceIsIdle", FryingPanSelect) is bool frypanisIdle)
            {
                if (frypanisIdle)
                {
                    return true;
                }
                else
                {
                    NoticeDemoViewModel.OpenMsg(EnumPromptType.Error, Application.Current.MainWindow, "失败", "当前炒锅正在炒菜，稍后再试。");
                }
            }
            return false;
        }
        /// <summary>
        /// 复位指定炒锅的所有变量。
        /// </summary>
        /// <param name="deviceType"></param>
        private void ResetFryPanVariable(EDeviceType deviceType)
        {
            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB0", false));
            ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB3", false));
            for (int i = 6; i <= 19; i++)
            {
                ActionManage.GetInstance.Send("WriteBool", new WriteModel<bool>(deviceType, "LB" + i, false));
            }
            for (int i = 0; i <= 5; i++)
            {
                ActionManage.GetInstance.Send("WriteUshort", new WriteModel<ushort>(deviceType, "LW" + i, 0));
            }
        }
        #endregion 私有方法

        #region 属性

        private EDeviceType fryingPanSelect = EDeviceType.炒锅1;

        /// <summary>炒锅选择。</summary>
        public EDeviceType FryingPanSelect
        {
            get { return fryingPanSelect; }
            set { fryingPanSelect = value; OnPropertyChanged(); }
        }

        /// <summary>搅拌频率</summary>
        public ushort AgitaFrequency
        {
            get => agitaFrequency; set
            {
                if (value >= 50)
                    agitaFrequency = 50;
                else if (value <= 1)
                    agitaFrequency = 1;
                else
                    agitaFrequency = value;
                OnPropertyChanged();
            }
        }

        /// <summary>加热档位</summary>
        public ushort HeatGear
        {
            get => heatGear; set
            {
                if (value >= 8)
                    heatGear = 8;
                else if (value <= 1)
                    heatGear = 1;
                else
                    heatGear = value;
                OnPropertyChanged();
            }
        }

        private float weight;

        /// <summary>下料重量</summary>
        public float Weight
        {
            get { return weight; }
            set { weight = value; }
        }

        private int channelSelect;

        /// <summary>下料通道选择。</summary>
        public int ChannelSelect
        {
            get { return channelSelect; }
            set { channelSelect = value; OnPropertyChanged(); }
        }

        private int stirFryLocSelect;

        /// <summary>炒制位选择。</summary>
        public int StirFryLocSelect
        {
            get { return stirFryLocSelect; }
            set { stirFryLocSelect = value; OnPropertyChanged(); }
        }

        public ObservableCollection<EDeviceType> DeviceTypes { get; set; } = new ObservableCollection<EDeviceType>() { EDeviceType.炒锅1, EDeviceType.炒锅2 };

        #endregion 属性

        #region 命令

        /// <summary>写入搅拌参数。</summary>
        public BPARelayCommand WriteAgitaParamCommand { get; set; }

        /// <summary>开始搅拌。</summary>
        public BPARelayCommand StartAgitateCommand { get; set; }

        /// <summary>停止搅拌。</summary>
        public BPARelayCommand StopAgitateCommand { get; set; }

        /// <summary>写入加热参数。</summary>
        public BPARelayCommand WriteHeatParamCommand { get; set; }

        /// <summary>开始加热。</summary>
        public BPARelayCommand StartHeatCommand { get; set; }

        /// <summary>停止加热。</summary>
        public BPARelayCommand StopHeatCommand { get; set; }

        /// <summary>通道下料启动。</summary>
        public BPARelayCommand ChannelCuttingCommand { get; set; }

        /// <summary>去炒制位。</summary>
        public BPARelayCommand GoFryLocCommand { get; set; }

        /// <summary>回原点/投料位置。</summary>
        public BPARelayCommand GoHomeCommand { get; set; }

        /// <summary>去调料投料位。</summary>
        public BPARelayCommand GoSeasoningFeddLocCommand { get; set; }

        /// <summary>出餐启动。</summary>
        public BPARelayCommand OutDiningStartCommand { get; set; }

        /// <summary>炒锅清洗。</summary>
        public BPARelayCommand FryPanCleanCommand { get; set; }
        /// <summary>
        /// 设为自动模式。
        /// </summary>
        public BPARelayCommand SetAutoModeCommand { get; set; }
        /// <summary>
        /// 设为手动模式。
        /// </summary>
        public BPARelayCommand SetManualModeCommand { get; set; }
        /// <summary>
        /// 初始化设备。
        /// </summary>
        public BPARelayCommand InitalDeviceCommand { get; set; }
        /// <summary>
        /// 设备停止。
        /// </summary>
        public BPARelayCommand StopDeviceCommand { get; set; }
        /// <summary>
        /// 设备去洗锅位置。
        /// </summary>
        public BPARelayCommand GoCleanLocCommand { get; set; }
        /// <summary>
        /// 取消指定炒锅当前任务。
        /// </summary>
        public BPARelayCommand<string> CancelFryPanTaskCommand { get; set; }
        /// <summary>
        /// 清空1#炒锅所有任务。
        /// </summary>
        public BPARelayCommand ClearFryPanTaskCommand_1 { get; set; }
        /// <summary>
        /// 清空2#炒锅所有任务。
        /// </summary>
        public BPARelayCommand ClearFryPanTaskCommand_2 { get; set; }
        /// <summary>
        /// 复位机器人所有由上位机下发的变量。
        /// </summary>
        public BPARelayCommand InitRobotVarCommand { get; set; }

        public BPARelayCommand RobotGoCleanLocCommand { get; set; }

        #endregion 命令
    }
}