BPASmartClient/BPASmartClient.MorkF/ViewModel/MaterialCalibrationViewModel.cs

using BPA.Helper;
using BPASmartClient.MorkF.Model;
using Google.Protobuf.WellKnownTypes;
using BPA.Helper;
 
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows;

namespace BPASmartClient.MorkF.ViewModel
{
    internal class MaterialCalibrationViewModel : NotifyBase
    {
        #region 菜品库控制
        #region 点位1
        public bool PositionOne { get { return _PositionOne; } set { _PositionOne = value; OnPropertyChanged(); } }
        private bool _PositionOne;
        public int OneX { get { return _OneX; } set { _OneX = value; OnPropertyChanged(); } }
        private int _OneX;
        public int OneY { get { return _OneY; } set { _OneY = value; OnPropertyChanged(); } }
        private int _OneY;
        #endregion
        #region 点位2
        public bool PositionTwo { get { return _PositionTwo; } set { _PositionTwo = value; OnPropertyChanged(); } }
        private bool _PositionTwo;
        public int TwoX { get { return _TwoX; } set { _TwoX = value; OnPropertyChanged(); } }
        private int _TwoX;
        public int TwoY { get { return _TwoY; } set { _TwoY = value; OnPropertyChanged(); } }
        private int _TwoY;
        #endregion
        #region 点位3
        public bool PositionThree { get { return _PositionThree; } set { _PositionThree = value; OnPropertyChanged(); } }
        private bool _PositionThree;
        public int ThreeX { get { return _ThreeX; } set { _ThreeX = value; OnPropertyChanged(); } }
        private int _ThreeX;
        public int ThreeY { get { return _ThreeY; } set { _ThreeY = value; OnPropertyChanged(); } }
        private int _ThreeY;
        #endregion
        #region 点位4
        public bool PositionFour { get { return _PositionFour; } set { _PositionFour = value; OnPropertyChanged(); } }
        private bool _PositionFour;
        public int FourX { get { return _FourX; } set { _FourX = value; OnPropertyChanged(); } }
        private int _FourX;
        public int FourY { get { return _FourY; } set { _FourY = value; OnPropertyChanged(); } }
        private int _FourY;
        #endregion
        #region 点位5
        public bool PositionFive { get { return _PositionFive; } set { _PositionFive = value; OnPropertyChanged(); } }
        private bool _PositionFive;
        public int FiveX { get { return _FiveX; } set { _FiveX = value; OnPropertyChanged(); } }
        private int _FiveX;
        public int FiveY { get { return _FiveY; } set { _FiveY = value; OnPropertyChanged(); } }
        private int _FiveY;
        #endregion
        #region 点位6
        public bool PositionSix { get { return _PositionSix; } set { _PositionSix = value; OnPropertyChanged(); } }
        private bool _PositionSix;
        public int SixX { get { return _SixX; } set { _SixX = value; OnPropertyChanged(); } }
        private int _SixX;
        public int SixY { get { return _SixY; } set { _SixY = value; OnPropertyChanged(); } }
        private int _SixY;
        #endregion
        #region 点位7
        public bool PositionSeven { get { return _PositionSeven; } set { _PositionSeven = value; OnPropertyChanged(); } }
        private bool _PositionSeven;
        public int SevenX { get { return _SevenX; } set { _SevenX = value; OnPropertyChanged(); } }
        private int _SevenX;
        public int SevenY { get { return _SevenY; } set { _SevenY = value; OnPropertyChanged(); } }
        private int _SevenY;
        #endregion
        #region 点位8
        public bool PositionEight { get { return _PositionEight; } set { _PositionEight = value; OnPropertyChanged(); } }
        private bool _PositionEight;
        public int EightX { get { return _EightX; } set { _EightX = value; OnPropertyChanged(); } }
        private int _EightX;
        public int EightY { get { return _EightY; } set { _EightY = value; OnPropertyChanged(); } }
        private int _EightY;
        #endregion
        #region 点位9
        public bool PositionNine { get { return _PositionNine; } set { _PositionNine = value; OnPropertyChanged(); } }
        private bool _PositionNine;
        public int NineX { get { return _NineX; } set { _NineX = value; OnPropertyChanged(); } }
        private int _NineX;
        public int NineY { get { return _NineY; } set { _NineY = value; OnPropertyChanged(); } }
        private int _NineY;
        #endregion
        #region 点位10
        public bool PositionTen { get { return _PositionTen; } set { _PositionTen = value; OnPropertyChanged(); } }
        private bool _PositionTen;
        public int TenX { get { return _TenX; } set { _TenX = value; OnPropertyChanged(); } }
        private int _TenX;
        public int TenY { get { return _TenY; } set { _TenY = value; OnPropertyChanged(); } }
        private int _TenY;
        #endregion
        #region 点位11
        public bool PositionEleven { get { return _PositionEleven; } set { _PositionEleven = value; OnPropertyChanged(); } }
        private bool _PositionEleven;
        public int ElevenX { get { return _ElevenX; } set { _ElevenX = value; OnPropertyChanged(); } }
        private int _ElevenX;
        public int ElevenY { get { return _ElevenY; } set { _ElevenY = value; OnPropertyChanged(); } }
        private int _ElevenY;
        #endregion
        #region 点位12
        public bool PositionTwelve { get { return _PositionTwelve; } set { _PositionTwelve = value; OnPropertyChanged(); } }
        private bool _PositionTwelve;
        public int TwelveX { get { return _TwelveX; } set { _TwelveX = value; OnPropertyChanged(); } }
        private int _TwelveX;
        public int TwelveY { get { return _TwelveY; } set { _TwelveY = value; OnPropertyChanged(); } }
        private int _TwelveY;
        #endregion
        #region 点位13
        public bool PositionThirteen { get { return _PositionThirteen; } set { _PositionThirteen = value; OnPropertyChanged(); } }
        private bool _PositionThirteen;
        public int ThirteenX { get { return _ThirteenX; } set { _ThirteenX = value; OnPropertyChanged(); } }
        private int _ThirteenX;
        public int ThirteenY { get { return _ThirteenY; } set { _ThirteenY = value; OnPropertyChanged(); } }
        private int _ThirteenY;
        #endregion
        #region 点位14
        public bool PositionFourteen { get { return _PositionFourteen; } set { _PositionFourteen = value; OnPropertyChanged(); } }
        private bool _PositionFourteen;
        public int FourteenX { get { return _FourteenX; } set { _FourteenX = value; OnPropertyChanged(); } }
        private int _FourteenX;
        public int FourteenY { get { return _FourteenY; } set { _FourteenY = value; OnPropertyChanged(); } }
        private int _FourteenY;
        #endregion
        #region 点位15
        public bool PositionFifteen { get { return _PositionFifteen; } set { _PositionFifteen = value; OnPropertyChanged(); } }
        private bool _PositionFifteen;
        public int FifteenX { get { return _FifteenX; } set { _FifteenX = value; OnPropertyChanged(); } }
        private int _FifteenX;
        public int FifteenY { get { return _FifteenY; } set { _FifteenY = value; OnPropertyChanged(); } }
        private int _FifteenY;
        #endregion
        #region 点位16
        public bool PositionSixteen { get { return _PositionSixteen; } set { _PositionSixteen = value; OnPropertyChanged(); } }
        private bool _PositionSixteen;
        public int SixteenX { get { return _SixteenX; } set { _SixteenX = value; OnPropertyChanged(); } }
        private int _SixteenX;
        public int SixteenY { get { return _SixteenY; } set { _SixteenY = value; OnPropertyChanged(); } }
        private int _SixteenY;
        #endregion
        #region 点位17
        public bool PositionSeventeen { get { return _PositionSeventeen; } set { _PositionSeventeen = value; OnPropertyChanged(); } }
        private bool _PositionSeventeen;
        public int SeventeenX { get { return _SeventeenX; } set { _SeventeenX = value; OnPropertyChanged(); } }
        private int _SeventeenX;
        public int SeventeenY { get { return _SeventeenY; } set { _SeventeenY = value; OnPropertyChanged(); } }
        private int _SeventeenY;
        #endregion
        #region 点位18
        public bool PositionEighteen { get { return _PositionEighteen; } set { _PositionEighteen = value; OnPropertyChanged(); } }
        private bool _PositionEighteen;
        public int EighteenX { get { return _EighteenX; } set { _EighteenX = value; OnPropertyChanged(); } }
        private int _EighteenX;
        public int EighteenY { get { return _EighteenY; } set { _EighteenY = value; OnPropertyChanged(); } }
        private int _EighteenY;
        #endregion
        #region 点位19
        public bool PositionNineteen { get { return _PositionNineteen; } set { _PositionNineteen = value; OnPropertyChanged(); } }
        private bool _PositionNineteen;
        public int NineteenX { get { return _NineteenX; } set { _NineteenX = value; OnPropertyChanged(); } }
        private int _NineteenX;
        public int NineteenY { get { return _NineteenY; } set { _NineteenY = value; OnPropertyChanged(); } }
        private int _NineteenY;
        #endregion
        #region 点位20
        public bool PositionTwenty { get { return _PositionTwenty; } set { _PositionTwenty = value; OnPropertyChanged(); } }
        private bool _PositionTwenty;
        public int TwentyX { get { return _TwentyX; } set { _TwentyX = value; OnPropertyChanged(); } }
        private int _TwentyX;
        public int TwentyY { get { return _TwentyY; } set { _TwentyY = value; OnPropertyChanged(); } }
        private int _TwentyY;
        #endregion
        #region 点位21
        public bool PositionTwentyOne { get { return _PositionTwentyOne; } set { _PositionTwentyOne = value; OnPropertyChanged(); } }
        private bool _PositionTwentyOne;
        public int TwentyOneX { get { return _TwentyOneX; } set { _TwentyOneX = value; OnPropertyChanged(); } }
        private int _TwentyOneX;
        public int TwentyOneY { get { return _TwentyOneY; } set { _TwentyOneY = value; OnPropertyChanged(); } }
        private int _TwentyOneY;
        #endregion
        #region 点位22
        public bool PositionTwentyTwo { get { return _PositionTwentyTwo; } set { _PositionTwentyTwo = value; OnPropertyChanged(); } }
        private bool _PositionTwentyTwo;
        public int TwentyTwoX { get { return _TwentyTwoX; } set { _TwentyTwoX = value; OnPropertyChanged(); } }
        private int _TwentyTwoX;
        public int TwentyTwoY { get { return _TwentyTwoY; } set { _TwentyTwoY = value; OnPropertyChanged(); } }
        private int _TwentyTwoY;
        #endregion
        #region 点位23
        public bool PositionTwentyThree { get { return _PositionTwentyThree; } set { _PositionTwentyThree = value; OnPropertyChanged(); } }
        private bool _PositionTwentyThree;
        public int TwentyThreeX { get { return _TwentyThreeX; } set { _TwentyThreeX = value; OnPropertyChanged(); } }
        private int _TwentyThreeX;
        public int TwentyThreeY { get { return _TwentyThreeY; } set { _TwentyThreeY = value; OnPropertyChanged(); } }
        private int _TwentyThreeY;
        #endregion
        #region 点位24
        public bool PositionTwentyFour { get { return _PositionTwentyFour; } set { _PositionTwentyFour = value; OnPropertyChanged(); } }
        private bool _PositionTwentyFour;
        public int TwentyFourX { get { return _TwentyFourX; } set { _TwentyFourX = value; OnPropertyChanged(); } }
        private int _TwentyFourX;
        public int TwentyFourY { get { return _TwentyFourY; } set { _TwentyFourY = value; OnPropertyChanged(); } }
        private int _TwentyFourY;
        #endregion
        #region 点位25
        public bool PositionTwentyFive { get { return _PositionTwentyFive; } set { _PositionTwentyFive = value; OnPropertyChanged(); } }
        private bool _PositionTwentyFive;
        public int TwentyFiveX { get { return _TwentyFiveX; } set { _TwentyFiveX = value; OnPropertyChanged(); } }
        private int _TwentyFiveX;
        public int TwentyFiveY { get { return _TwentyFiveY; } set { _TwentyFiveY = value; OnPropertyChanged(); } }
        private int _TwentyFiveY;
        #endregion
        #region 点位26
        public bool PositionTwentySix { get { return _PositionTwentySix; } set { _PositionTwentySix = value; OnPropertyChanged(); } }
        private bool _PositionTwentySix;
        public int TwentySixX { get { return _TwentySixX; } set { _TwentySixX = value; OnPropertyChanged(); } }
        private int _TwentySixX;
        public int TwentySixY { get { return _TwentySixY; } set { _TwentySixY = value; OnPropertyChanged(); } }
        private int _TwentySixY;
        #endregion
        #region 点位27
        public bool PositionTwentySeven { get { return _PositionTwentySeven; } set { _PositionTwentySeven = value; OnPropertyChanged(); } }
        private bool _PositionTwentySeven;
        public int TwentySevenX { get { return _TwentySevenX; } set { _TwentySevenX = value; OnPropertyChanged(); } }
        private int _TwentySevenX;
        public int TwentySevenY { get { return _TwentySevenY; } set { _TwentySevenY = value; OnPropertyChanged(); } }
        private int _TwentySevenY;
        #endregion
        #region 菜品库高度测距点位
        public bool PositionMaterialHeight { get { return _PositionMaterialHeight; } set { _PositionMaterialHeight = value; OnPropertyChanged(); } }
        private bool _PositionMaterialHeight;
        public int MaterialHeightX { get { return _MaterialHeightX; } set { _MaterialHeightX = value; OnPropertyChanged(); } }
        private int _MaterialHeightX;
        public int MaterialHeightY { get { return _MaterialHeightY; } set { _MaterialHeightY = value; OnPropertyChanged(); } }
        private int _MaterialHeightY;
        #endregion
        #region 炒锅1菜品交互位置
        public bool PositionFrying1 { get { return _PositionFrying1; } set { _PositionFrying1 = value; OnPropertyChanged(); } }
        private bool _PositionFrying1;
        public int Frying1X { get { return _Frying1X; } set { _Frying1X = value; OnPropertyChanged(); } }
        private int _Frying1X;
        public int Frying1Y { get { return _Frying1Y; } set { _Frying1Y = value; OnPropertyChanged(); } }
        private int _Frying1Y;
        #endregion
        #region 炒锅2菜品交互位置
        public bool PositionFrying2 { get { return _PositionFrying2; } set { _PositionFrying2 = value; OnPropertyChanged(); } }
        private bool _PositionFrying2;
        public int Frying2X { get { return _Frying2X; } set { _Frying2X = value; OnPropertyChanged(); } }
        private int _Frying2X;
        public int Frying2Y { get { return _Frying2Y; } set { _Frying2Y = value; OnPropertyChanged(); } }
        private int _Frying2Y;
        #endregion
        #region 第一层菜品库出菜位置
        public bool PositionMaterialOne { get { return _PositionMaterialOne; } set { _PositionMaterialOne = value; OnPropertyChanged(); } }
        private bool _PositionMaterialOne;
        public int MaterialOneX { get { return _MaterialOneX; } set { _MaterialOneX = value; OnPropertyChanged(); } }
        private int _MaterialOneX;
        #endregion
        #region 第二层菜品库出菜位置
        public bool PositionMaterialTwo { get { return _PositionMaterialTwo; } set { _PositionMaterialTwo = value; OnPropertyChanged(); } }
        private bool _PositionMaterialTwo;
        public int MaterialTwoX { get { return _MaterialTwoX; } set { _MaterialTwoX = value; OnPropertyChanged(); } }
        private int _MaterialTwoX;
        #endregion
        #region 第三层菜品库出菜位置
        public bool PositionMaterialThree { get { return _PositionMaterialThree; } set { _PositionMaterialThree = value; OnPropertyChanged(); } }
        private bool _PositionMaterialThree;
        public int MaterialThreeX { get { return _MaterialThreeX; } set { _MaterialThreeX = value; OnPropertyChanged(); } }
        private int _MaterialThreeX;
        #endregion
        #region 菜品库各传感器高度临时值
        public int Distance_1 { get { return _Distance_1; } set { _Distance_1 = value; OnPropertyChanged(); } }
        private int _Distance_1;
        public int Distance_2 { get { return _Distance_2; } set { _Distance_2 = value; OnPropertyChanged(); } }
        private int _Distance_2;
        public int Distance_3 { get { return _Distance_3; } set { _Distance_3 = value; OnPropertyChanged(); } }
        private int _Distance_3;
        #endregion

        #region 控制
        public int SettingX { get { return _settingX; } set { _settingX = value; OnPropertyChanged(); } }
        private int _settingX = 0;
        public int SettingY { get { return _settingY; } set { _settingY = value; OnPropertyChanged(); } }
        private int _settingY = 0;
        public int MoveSpeed { get { return _moveSpeed; } set { _moveSpeed = value; OnPropertyChanged(); } }
        private int _moveSpeed;

        public int SensingDistance_1 { get { return _sensingDistance_1; } set { _sensingDistance_1 = value; OnPropertyChanged(); } }
        private int _sensingDistance_1;
        public int SensingDistance_2 { get { return _sensingDistance_2; } set { _sensingDistance_2 = value; OnPropertyChanged(); } }
        private int _sensingDistance_2;
        public int SensingDistance_3 { get { return _sensingDistance_3; } set { _sensingDistance_3 = value; OnPropertyChanged(); } }
        private int _sensingDistance_3;

        public BPARelayCommand SetSpeed { get; set; }//速度设定
        public BPARelayCommand SetArmPosition { get; set; }//机器臂位置设定

        public BPARelayCommand GetTestDistance_1 { get; set; }//获取感应器距离1
        public BPARelayCommand GetTestDistance_2 { get; set; }//获取感应器距离2
        public BPARelayCommand GetTestDistance_3 { get; set; }//获取感应器距离3

        #endregion
        public bool Up { get { return _Up; } set { _Up = value; OnPropertyChanged(); } }
        private bool _Up;

        public bool Down { get { return _Down; } set { _Down = value; OnPropertyChanged(); } }
        private bool _Down;

        public bool Left { get { return _Left; } set { _Left = value; OnPropertyChanged(); } }
        private bool _Left;

        public bool Right { get { return _Right; } set { _Right = value; OnPropertyChanged(); } }
        private bool _Right;

        public bool Point { get { return _Point; } set { _Point = value; OnPropertyChanged(); } }
        private bool _Point;

        public string Str { get { return _str; }set { _str = value;OnPropertyChanged(); } }

        private string _str;

        /// <summary>
        /// 操作时，x轴移动的距离
        /// </summary>
        public int OperationX { get; set; } = 0;

        /// <summary>
        /// 操作时，y轴移动的距离
        /// </summary>
        public int OperationY { get; set; } = 0;

        /// <summary>
        /// Y轴大菜品库的间隙
        /// </summary>
        private const int bigMaterialClearanceY = 54000;

        /// <summary>
        /// Y轴小菜品库的间隙
        /// </summary>
        private const int smartMaterialClearanceY = 28000;

        /// <summary>
        /// X轴菜品库的间隙
        /// </summary>
        private const int materialClearanceX1 = 78000;

        /// <summary>
        /// X轴菜品库的间隙
        /// </summary>
        private const int materialClearanceX2 = 88000;

        /// <summary>
        /// 移动系数
        /// </summary>
        public int Factor = 1;

        /// <summary>
        /// 移动基础点位
        /// </summary>
        private int BasicPosition { get; set; } = 100;

        public BPARelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标

        public BPARelayCommand SaveCoordinate { get; set; }//设置机械臂基于当前坐标往左移动

        public BPARelayCommand ReadCoordinate { get; set; }//设置机械臂基于当前坐标往右移动

        public BPARelayCommand AutoCalculation { get; set; }//设置机械臂基于当前坐标往上移动

        public BPARelayCommand SetNowDownPosition { get; set; }//设置机械臂基于当前坐标往下移动

        public BPARelayCommand FoodLibInit { get; set; }//初始化
        public BPARelayCommand StartElectromagnetism { get; set; }//电磁阀启动
        public BPARelayCommand StopElectromagnetism { get; set; }
        public BPARelayCommand PawTurnFront { get; set; }//夹爪正转
        public BPARelayCommand PawTurnBack { get; set; }//夹爪反转
        public BPARelayCommand PawToPoint1 { get; set; }//夹爪位置1
        public BPARelayCommand PawToPoint2 { get; set; }//夹爪位置2
        public BPARelayCommand PawToPoint3 { get; set; }//夹爪位置3
        public BPARelayCommand GetDistance_1 { get; set; }//感应测距1
        public BPARelayCommand GetDistance_2 { get; set; }//感应测距2
        public BPARelayCommand GetDistance_3 { get; set; }//感应测距3

        private static object saveMaterialCoordinateLock = new object();
        /// <summary>
        /// 保存当前的坐标系
        /// </summary>
        public void SaveMaterialCoordinate()
        {
            MaterialCoordinate materialCoordinate = new MaterialCoordinate();

            foreach(var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
            {
                switch(dicNoMaterialCoordinate.Key)
                {
                    case "1":
                        dicNoMaterialCoordinate.Value.X = OneX;
                        dicNoMaterialCoordinate.Value.Y = OneY;
                        break;
                    case "2":
                        dicNoMaterialCoordinate.Value.X = TwoX;
                        dicNoMaterialCoordinate.Value.Y = TwoY;
                        break;
                    case "3":
                        dicNoMaterialCoordinate.Value.X = ThreeX;
                        dicNoMaterialCoordinate.Value.Y = ThreeY;
                        break;
                    case "4":
                        dicNoMaterialCoordinate.Value.X = FourX;
                        dicNoMaterialCoordinate.Value.Y = FourY;
                        break;
                    case "5":
                        dicNoMaterialCoordinate.Value.X = FiveX;
                        dicNoMaterialCoordinate.Value.Y = FiveY;
                        break;
                    case "6":
                        dicNoMaterialCoordinate.Value.X = SixX;
                        dicNoMaterialCoordinate.Value.Y = SixY;
                        break;
                    case "7":
                        dicNoMaterialCoordinate.Value.X = SevenX;
                        dicNoMaterialCoordinate.Value.Y = SevenY;
                        break;
                    case "8":
                        dicNoMaterialCoordinate.Value.X = EightX;
                        dicNoMaterialCoordinate.Value.Y = EightY;
                        break;
                    case "9":
                        dicNoMaterialCoordinate.Value.X = NineX;
                        dicNoMaterialCoordinate.Value.Y = NineY;
                        break;
                    case "10":
                        dicNoMaterialCoordinate.Value.X = TenX;
                        dicNoMaterialCoordinate.Value.Y = TenY;
                        break;
                    case "11":
                        dicNoMaterialCoordinate.Value.X = ElevenX;
                        dicNoMaterialCoordinate.Value.Y = ElevenY;
                        break;
                    case "12":
                        dicNoMaterialCoordinate.Value.X = TwelveX;
                        dicNoMaterialCoordinate.Value.Y = TwelveY;
                        break;
                    case "13":
                        dicNoMaterialCoordinate.Value.X = ThirteenX;
                        dicNoMaterialCoordinate.Value.Y = ThirteenY;
                        break;
                    case "14":
                        dicNoMaterialCoordinate.Value.X = FourteenX;
                        dicNoMaterialCoordinate.Value.Y = FourteenY;
                        break;
                    case "15":
                        dicNoMaterialCoordinate.Value.X = FifteenX;
                        dicNoMaterialCoordinate.Value.Y = FifteenY;
                        break;
                    case "16":
                        dicNoMaterialCoordinate.Value.X = SixteenX;
                        dicNoMaterialCoordinate.Value.Y = SixteenY;
                        break;
                    case "17":
                        dicNoMaterialCoordinate.Value.X = SeventeenX;
                        dicNoMaterialCoordinate.Value.Y = SeventeenY;
                        break;
                    case "18":
                        dicNoMaterialCoordinate.Value.X = EighteenX;
                        dicNoMaterialCoordinate.Value.Y = EighteenY;
                        break;
                    case "19":
                        dicNoMaterialCoordinate.Value.X = NineteenX;
                        dicNoMaterialCoordinate.Value.Y = NineteenY;
                        break;
                    case "20":
                        dicNoMaterialCoordinate.Value.X = TwentyX;
                        dicNoMaterialCoordinate.Value.Y = TwentyY;
                        break;
                    case "21":
                        dicNoMaterialCoordinate.Value.X = TwentyOneX;
                        dicNoMaterialCoordinate.Value.Y = TwentyOneY;
                        break;
                    case "22":
                        dicNoMaterialCoordinate.Value.X = TwentyTwoX;
                        dicNoMaterialCoordinate.Value.Y = TwentyTwoY;
                        break;
                    case "23":
                        dicNoMaterialCoordinate.Value.X = TwentyThreeX;
                        dicNoMaterialCoordinate.Value.Y = TwentyThreeY;
                        break;
                    case "24":
                        dicNoMaterialCoordinate.Value.X = TwentyFourX;
                        dicNoMaterialCoordinate.Value.Y = TwentyFourY;
                        break;
                    case "25":
                        dicNoMaterialCoordinate.Value.X = TwentyFiveX;
                        dicNoMaterialCoordinate.Value.Y = TwentyFiveY;
                        break;
                    case "26":
                        dicNoMaterialCoordinate.Value.X = TwentySixX;
                        dicNoMaterialCoordinate.Value.Y = TwentySixY;
                        break;
                    case "27":
                        dicNoMaterialCoordinate.Value.X = TwentySevenX;
                        dicNoMaterialCoordinate.Value.Y = TwentySevenY;
                        break;
                    default:
                        break;
                }
            }

            materialCoordinate.frying1.X = Frying1X;
            materialCoordinate.frying1.Y = Frying1Y;
            materialCoordinate.frying2.X = Frying2X;
            materialCoordinate.frying2.Y = Frying2Y;
            materialCoordinate.materialHeight.X = MaterialHeightX;
            materialCoordinate.materialHeight.Y = MaterialHeightY;
            materialCoordinate.distance_1 = Distance_1;
            materialCoordinate.distance_2 = Distance_2;
            materialCoordinate.distance_3 = Distance_3;
            materialCoordinate.MaterialOneX = MaterialOneX;
            materialCoordinate.MaterialTwoX = MaterialTwoX;
            materialCoordinate.MaterialThreeX = MaterialThreeX;

            Json<MaterialCoordinate>.Data = materialCoordinate;
            Json<MaterialCoordinate>.Save();
            //更新当前的菜品库数据
            MaterialCoordinate.GetInstance().frying1 = materialCoordinate.frying1;
            MaterialCoordinate.GetInstance().frying2 = materialCoordinate.frying2;
            MaterialCoordinate.GetInstance().materialHeight = materialCoordinate.materialHeight;
            MaterialCoordinate.GetInstance().dicNoMaterialCoordinate = materialCoordinate.dicNoMaterialCoordinate;
            MaterialCoordinate.GetInstance().MaterialOneX = materialCoordinate.MaterialOneX;
            MaterialCoordinate.GetInstance().MaterialTwoX = materialCoordinate.MaterialTwoX;
            MaterialCoordinate.GetInstance().MaterialThreeX = materialCoordinate.MaterialThreeX;
        }

        /// <summary>
        /// 读取坐标系
        /// </summary>
        /// <returns></returns>
        private MaterialCoordinate ReadMaterialCoordinate()
        {
            try
            {
                Json<MaterialCoordinate>.Read();
                MaterialCoordinate materialCoordinate = Json<MaterialCoordinate>.Data;
                return materialCoordinate;
            }
            catch (Exception ex)
            {
                return null;
            }
        }

        /// <summary>
        /// 从json文件中读取菜品库坐标系数据
        /// </summary>
        private void PhysicalMaterialCoordinate()
        {
            MaterialCoordinate materialCoordinate = ReadMaterialCoordinate();

            if(materialCoordinate == null)
            {
                return;
            }

            if (materialCoordinate.dicNoMaterialCoordinate.Count == 27)
            {
                foreach (var dicNoMaterialCoordinate in materialCoordinate.dicNoMaterialCoordinate)
                {
                    switch (dicNoMaterialCoordinate.Key)
                    {
                        case "1":
                            OneX = dicNoMaterialCoordinate.Value.X;
                            OneY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "2":
                            TwoX = dicNoMaterialCoordinate.Value.X;
                            TwoY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "3":
                            ThreeX = dicNoMaterialCoordinate.Value.X;
                            ThreeY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "4":
                            FourX = dicNoMaterialCoordinate.Value.X;
                            FourY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "5":
                            FiveX = dicNoMaterialCoordinate.Value.X;
                            FiveY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "6":
                            SixX = dicNoMaterialCoordinate.Value.X;
                            SixY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "7":
                            SevenX = dicNoMaterialCoordinate.Value.X;
                            SevenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "8":
                            EightX = dicNoMaterialCoordinate.Value.X;
                            EightY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "9":
                            NineX = dicNoMaterialCoordinate.Value.X;
                            NineY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "10":
                            TenX = dicNoMaterialCoordinate.Value.X;
                            TenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "11":
                            ElevenX = dicNoMaterialCoordinate.Value.X;
                            ElevenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "12":
                            TwelveX = dicNoMaterialCoordinate.Value.X;
                            TwelveY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "13":
                            ThirteenX = dicNoMaterialCoordinate.Value.X;
                            ThirteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "14":
                            FourteenX = dicNoMaterialCoordinate.Value.X;
                            FourteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "15":
                            FifteenX = dicNoMaterialCoordinate.Value.X;
                            FifteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "16":
                            SixteenX = dicNoMaterialCoordinate.Value.X;
                            SixteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "17":
                            SeventeenX = dicNoMaterialCoordinate.Value.X;
                            SeventeenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "18":
                            EighteenX = dicNoMaterialCoordinate.Value.X;
                            EighteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "19":
                            NineteenX = dicNoMaterialCoordinate.Value.X;
                            NineteenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "20":
                            TwentyX = dicNoMaterialCoordinate.Value.X;
                            TwentyY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "21":
                            TwentyOneX = dicNoMaterialCoordinate.Value.X;
                            TwentyOneY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "22":
                            TwentyTwoX = dicNoMaterialCoordinate.Value.X;
                            TwentyTwoY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "23":
                            TwentyThreeX = dicNoMaterialCoordinate.Value.X;
                            TwentyThreeY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "24":
                            TwentyFourX = dicNoMaterialCoordinate.Value.X;
                            TwentyFourY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "25":
                            TwentyFiveX = dicNoMaterialCoordinate.Value.X;
                            TwentyFiveY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "26":
                            TwentySixX = dicNoMaterialCoordinate.Value.X;
                            TwentySixY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "27":
                            TwentySevenX = dicNoMaterialCoordinate.Value.X;
                            TwentySevenY = dicNoMaterialCoordinate.Value.Y;
                            break;
                        case "MaterialHeight":
                            MaterialHeightX = materialCoordinate.materialHeight.X;
                            MaterialHeightY = materialCoordinate.materialHeight.Y;
                            break;
                        case "Frying1":
                            Frying1X = materialCoordinate.frying1.X;
                            Frying1Y = materialCoordinate.frying1.Y;
                            break;
                        case "Frying2":
                            Frying2X = materialCoordinate.frying2.X;
                            Frying2Y = materialCoordinate.frying2.Y;
                            break;
                        default:
                            break;
                    }
                }
            }

            MaterialOneX = materialCoordinate.MaterialOneX;
            MaterialTwoX = materialCoordinate.MaterialTwoX;
            MaterialThreeX = materialCoordinate.MaterialThreeX;
            MaterialHeightX = materialCoordinate.materialHeight.X;
            MaterialHeightY = materialCoordinate.materialHeight.Y;
            Frying1X = materialCoordinate.frying1.X;
            Frying1Y = materialCoordinate.frying1.Y;
            Frying2X = materialCoordinate.frying2.X;
            Frying2Y = materialCoordinate.frying2.Y;
            Distance_1 = materialCoordinate.distance_1;
            Distance_2 = materialCoordinate.distance_2;
            Distance_3 = materialCoordinate.distance_3;
        }

        /// <summary>
        /// 
        /// </summary>
        /// <param name="Num"></param>
        private void Calibration(string Num)
        {
            switch (Num)
            {
                case "1":
                    OneX = OneX + OperationX;
                    OneY = OneY + OperationX;
                    break;
                case "2":
                    TwoX = TwoX + OperationX;
                    TwoY = TwoY + OperationY;
                    break;
                case "3":
                    ThreeX = ThreeX + OperationX;
                    ThreeY = ThreeY + OperationY;
                    break;
                case "4":
                    FourX = FourX + OperationX;
                    FourY = FourY + OperationY;
                    break;
                case "5":
                    FiveX = FiveX + OperationX;
                    FiveY = FiveY + OperationY;
                    break;
                case "6":
                    SixX = SixX + OperationX;
                    SixY = SixY + OperationY;
                    break;
                case "7":
                    SevenX = SevenX + OperationX;
                    SevenY = SevenY + OperationY;
                    break;
                case "8":
                    EightX = EightX + OperationX;
                    EightY = EightY + OperationY;
                    break;
                case "9":
                    NineX = NineX + OperationX;
                    NineY = NineY + OperationY;
                    break;
                case "10":
                    TenX = TenX + OperationX;
                    TenY = TenY + OperationY;
                    break;
                case "11":
                    ElevenX = ElevenX + OperationX;
                    ElevenY = ElevenY + OperationY;
                    break;
                case "12":
                    TwelveX = TwelveX + OperationX;
                    TwelveY = TwelveY + OperationY;
                    break;
                case "13":
                    ThirteenX = ThirteenX + OperationX;
                    ThirteenY = ThirteenY + OperationY;
                    break;
                case "14":
                    FourteenX = FourteenX + OperationX;
                    FourteenY = FourteenY + OperationY;
                    break;
                case "15":
                    FifteenX = FifteenX + OperationX;
                    FifteenY = FifteenY + OperationY;
                    break;
                case "16":
                    SixteenX = SixteenX + OperationX;
                    SixteenY = SixteenY + OperationY;
                    break;
                case "17":
                    SeventeenX = SeventeenX + OperationX;
                    SeventeenY = SeventeenY + OperationY;
                    break;
                case "18":
                    EighteenX = EighteenX + OperationX;
                    EighteenY = EighteenY + OperationY;
                    break;
                case "19":
                    NineteenX = NineteenX + OperationX;
                    NineteenY = NineteenY + OperationY;
                    break;
                case "20":
                    TwentyX = TwentyX + OperationX;
                    TwentyY = TwentyY + OperationY;
                    break;
                case "21":
                    TwentyOneX = TwentyOneX + OperationX;
                    TwentyOneY = TwentyOneY + OperationY;
                    break;
                case "22":
                    TwentyTwoX = TwentyTwoX + OperationX;
                    TwentyTwoY = TwentyTwoY + OperationY;
                    break;
                case "23":
                    TwentyThreeX = TwentyThreeX + OperationX;
                    TwentyThreeY = TwentyThreeY + OperationY;
                    break;
                case "24":
                    TwentyFourX = TwentyFourX + OperationX;
                    TwentyFourY = TwentyFourY + OperationY;
                    break;
                case "25":
                    TwentyFiveX = TwentyFiveX + OperationX;
                    TwentyFiveY = TwentyFiveY + OperationY;
                    break;
                case "26":
                    TwentySixX = TwentySixX + OperationX;
                    TwentySixY = TwentySixY + OperationY;
                    break;
                case "27":
                    TwentySevenX = TwentySevenX + OperationX;
                    TwentySevenY = TwentySevenY + OperationY;
                    break;
                case "MaterialHeight":
                    MaterialHeightX = MaterialHeightX + OperationX;
                    MaterialHeightY = MaterialHeightY + OperationY;
                    break;
                case "Frying1":
                    Frying1X = Frying1X + OperationX;
                    Frying1Y = Frying1Y + OperationY;
                    break;
                case "Frying2":
                    Frying2X = Frying2X + OperationX;
                    Frying2Y = Frying2Y + OperationY;
                    break;
                case "MaterialOne":
                    MaterialOneX = MaterialOneX + OperationX;
                    break;
                case "MaterialTwo":
                    MaterialTwoX = MaterialTwoX + OperationX;
                    break;
                case "MaterialThree":
                    MaterialThreeX = MaterialThreeX + OperationX;
                    break;
                default:
                    break;
            }
            OperationX = 0;
            OperationY = 0;
        }

        private void SetPosition()
        {
            //判断是否有选择下发的设备
            if (!PositionOne && !PositionTwo && !PositionThree && !PositionFour && !PositionFive && !PositionSix && !PositionSeven && !PositionEight && !PositionNine
            && !PositionTen && !PositionEleven && !PositionTwelve && !PositionThirteen && !PositionFourteen && !PositionFifteen && !PositionSixteen && !PositionSeventeen && !PositionEighteen
            && !PositionNineteen && !PositionTwenty && !PositionTwentyOne && !PositionTwentyTwo && !PositionTwentyThree && !PositionTwentyFour && !PositionTwentyFive && !PositionTwentySix && !PositionTwentySeven
            && !PositionMaterialHeight && !PositionFrying1 && !PositionFrying2 && !PositionMaterialOne && !PositionMaterialThree &&!PositionMaterialTwo)
            {
                MessageBox.Show("未选择点位");
                return;
            }

            //if (PositionOne)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> {"1", OneX + OperationX, OneY + OperationY });//设定机械臂当前位置
            //}
            if (PositionTwo)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "2", TwoX + OperationX, TwoY + OperationY });//设定机械臂当前位置
            }
            if (PositionThree)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "3", ThreeX + OperationX, ThreeY + OperationY });//设定机械臂当前位置
            }
            if (PositionFour)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "4", FourX + OperationX, FourY + OperationY });//设定机械臂当前位置
            }
            if (PositionFive)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "5", FiveX + OperationX, FiveY + OperationY });//设定机械臂当前位置
            }
            if (PositionSix)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "6", SixX + OperationX, SixY + OperationY });//设定机械臂当前位置
            }
            if (PositionSeven)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "7", SevenX + OperationX, SevenY + OperationY });//设定机械臂当前位置
            }
            if (PositionEight)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "8", EightX + OperationX, EightY + OperationY });//设定机械臂当前位置
            }
            //if (PositionNine)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "9", NineX + OperationX, NineY + OperationY });//设定机械臂当前位置
            //}
            //if (PositionTen)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "10", TenX + OperationX, TenY + OperationY });//设定机械臂当前位置
            //}
            if (PositionEleven)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "11", ElevenX + OperationX, ElevenY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwelve)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "12", TwelveX + OperationX, TwelveY + OperationY });//设定机械臂当前位置
            }
            if (PositionThirteen)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "13", ThirteenX + OperationX, ThirteenY + OperationY });//设定机械臂当前位置
            }
            if (PositionFourteen)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "14", FourteenX + OperationX, FourteenY + OperationY });//设定机械臂当前位置
            }
            if (PositionFifteen)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "15", FifteenX + OperationX, FifteenY + OperationY });//设定机械臂当前位置
            }
            if (PositionSixteen)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "16", SixteenX + OperationX, SixteenY + OperationY });//设定机械臂当前位置
            }
            if (PositionSeventeen)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "17", SeventeenX + OperationX, SeventeenY + OperationY });//设定机械臂当前位置
            }
            //if (PositionEighteen)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "18", EighteenX + OperationX, EighteenY + OperationY });//设定机械臂当前位置
            //}
            //if (PositionNineteen)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "19", NineteenX + OperationX, NineteenY + OperationY });//设定机械臂当前位置
            //}
            if (PositionTwenty)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "20", TwentyX + OperationX, TwentyY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentyOne)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "21", TwentyOneX + OperationX, TwentyOneY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentyTwo)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "22", TwentyTwoX + OperationX, TwentyTwoY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentyThree)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "23", TwentyThreeX + OperationX, TwentyThreeY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentyFour)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "24", TwentyFourX + OperationX, TwentyFourY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentyFive)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "25", TwentyFiveX + OperationX, TwentyFiveY + OperationY });//设定机械臂当前位置
            }
            if (PositionTwentySix)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "26", TwentySixX + OperationX, TwentySixY + OperationY });//设定机械臂当前位置
            }
            //if (PositionTwentySeven)
            //{
            //    ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "27", TwentySevenX + OperationX, TwentySevenY + OperationY });//设定机械臂当前位置
            //}
            if (PositionMaterialHeight)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialHeight", MaterialHeightX + OperationX, MaterialHeightY + OperationY });//设定机械臂当前位置
            }
            if (PositionFrying1)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying1", Frying1X + OperationX, Frying1Y + OperationY });//设定机械臂当前位置
            }
            if (PositionFrying2)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "Frying2", Frying2X + OperationX, Frying2Y + OperationY });//设定机械臂当前位置
            }
            if(PositionMaterialOne)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialOne", MaterialOneX + OperationX, 0 });//设定机械臂当前位置
            }
            if (PositionMaterialTwo)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialTwo", MaterialTwoX + OperationX, 0 });//设定机械臂当前位置
            }
            if (PositionMaterialThree)
            {
                ActionManage.GetInstance.Send("CalibrationCoordination", new List<object> { "MaterialThree", MaterialThreeX + OperationX, 0 });//设定机械臂当前位置
            }
        }

        public MaterialCalibrationViewModel()
        {
            StartElectromagnetism = new BPARelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { false }); });//电磁阀启动
            StopElectromagnetism = new BPARelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { true }); });//电磁阀关闭

            FoodLibInit = new BPARelayCommand(() => { ActionManage.GetInstance.Send("FoodLibInit"); });//菜品库初始化
            PawToPoint1 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint1"); });//爪子去1号位
            PawToPoint2 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint2"); });//爪子去2号位
            PawToPoint3 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位
            PawTurnFront = new BPARelayCommand(() => { 
                ActionManage.GetInstance.Send("PawTurnFront");
            });//夹爪伸出
            PawTurnBack = new BPARelayCommand(() => { 
                ActionManage.GetInstance.Send("PawTurnBack");
            });//夹爪收缩
            GetDistance_1 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1
            GetDistance_2 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2
            GetDistance_3 = new BPARelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3

            SetSpeed = new BPARelayCommand(() => { ActionManage.GetInstance.Send("SetSpeed", new List<int> { MoveSpeed }); });//速度设定
            SetArmPosition = new BPARelayCommand(() => { 
                ActionManage.GetInstance.Send("SetArmPosition", new List<int> { SettingX, SettingY });
            });//设定移动位置

            PhysicalMaterialCoordinate();
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                TaskManage.GetInstance.Start(new Action(() =>
                {
                    if(o is List<string> nums)
                    {
                        Calibration(nums[0]);
                    }
                }), "CalibrationCallBack");
            }), "CalibrationCallBack");
            ActionManage.GetInstance.Register(new Action<object>((o) =>
            {
                TaskManage.GetInstance.Start(new Action(() =>
                {
                    if (o is List<string> nums)
                    {
                        int distance = 0;
                        bool ret = false;
                        ret = int.TryParse(nums[1], out distance);
                        if (ret == false) { return; }
                        if (nums[0] == "1")
                        { 
                            Distance_1= distance;
                        }
                        else if (nums[0] == "2")
                        {
                            Distance_2 = distance;
                        }
                        else if (nums[0] == "3")
                        {
                            Distance_3 = distance;
                        }
                    }
                }), "GetDistanceCallBack");
            }), "GetDistanceCallBack");
            SetNowPosition = new BPARelayCommand(() =>
            {
                if(!Point && !Left && !Right && !Down && !Up)
                {
                    MessageBox.Show("请选择需要移动的方式");
                    return;
                }

                if (!Point)
                {
                    if (!int.TryParse(Str, out Factor))
                    {
                        Factor = 1;
                    }
                    if(Factor > 100 || Factor<0)
                    {
                        MessageBox.Show("请输入有效系数");
                        return;
                    }
                }

                if(Left)
                {
                    OperationX = -1 * BasicPosition * Factor;
                }
                else if(Right)
                {
                    OperationX = BasicPosition * Factor;
                }
                else if(Down)
                {
                    OperationY = BasicPosition * Factor;
                }
                else if(Up)
                {
                    OperationY = -1 * BasicPosition * Factor;
                }
                else
                {
                    OperationX = 0;
                    OperationY = 0;
                }
                SetPosition();
            });
            SaveCoordinate = new BPARelayCommand(() =>
            {
                SaveMaterialCoordinate();
            });
            ReadCoordinate = new BPARelayCommand(() =>
            {
                PhysicalMaterialCoordinate();
            });
            AutoCalculation = new BPARelayCommand(() =>
            {
                AutoCalculationCoordination();
            });
        }

        /// <summary>
        /// 自动计算坐标
        /// </summary>
        private void AutoCalculationCoordination()
        {
            #region 菜品库一层计算
            //X轴改变
            TwoX = ThreeX = FourX = FiveX = SixX = SevenX = EightX = NineX = OneX;
            TwoY = OneY + 1000;
            ThreeY = OneY + 1000+smartMaterialClearanceY;
            FourY = OneY + 1000 + smartMaterialClearanceY + bigMaterialClearanceY;
            FiveY = OneY + 1000 + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
            SixY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
            SevenY = OneY + 3 * smartMaterialClearanceY + 2*bigMaterialClearanceY;
            EightY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            NineY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            #endregion 
            #region 菜品库二层计算
            //X轴改变
            TenX = ElevenX = TwelveX = ThirteenX = FourteenX = FifteenX = SixteenX = SeventeenX = EighteenX = (OneX + materialClearanceX1);
            TenY = OneY;
            ElevenY = OneY + 1000;
            TwelveY = OneY + smartMaterialClearanceY;
            ThirteenY = OneY + smartMaterialClearanceY + bigMaterialClearanceY;
            FourteenY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
            FifteenY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
            SixteenY = OneY + 3 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            SeventeenY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            EighteenY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            #endregion 
            #region 菜品库三层计算
            //X轴改变
            NineteenX = TwentyX = TwentyOneX = TwentyTwoX = TwentyThreeX = TwentyFourX = TwentyFiveX = TwentySixX = TwentySevenX = (OneX + 2 * materialClearanceX2);
            NineteenY = OneY;
            TwentyY = OneY + 1000;
            TwentyOneY = OneY + smartMaterialClearanceY;
            TwentyTwoY = OneY + smartMaterialClearanceY + bigMaterialClearanceY;
            TwentyThreeY = OneY + 2 * smartMaterialClearanceY + bigMaterialClearanceY;
            TwentyFourY = OneY + 3 * smartMaterialClearanceY + bigMaterialClearanceY;
            TwentyFiveY = OneY + 3 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            TwentySixY = OneY + 4 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            TwentySevenY = OneY + 5 * smartMaterialClearanceY + 2 * bigMaterialClearanceY;
            #endregion 
        }

        #endregion

    }
}