BPASmartClient/BPASmartClient.JXJFoodSmallStation/ViewModel/RobotViewModel.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using Microsoft.Toolkit.Mvvm.ComponentModel;
using System.Collections.ObjectModel;
using BPASmartClient.JXJFoodSmallStation.Model;
using BPASmartClient.Helper;
using Microsoft.Toolkit.Mvvm.Input;
using BPASmartClient.CustomResource.UserControls.MessageShow;
using BPASmartClient.CustomResource.UserControls;
using System.Diagnostics;
using BPASmartClient.JXJFoodSmallStation.Model.Siemens;
using BPASmartClient.JXJFoodSmallStation.Model.HK_PLC;
using System.Threading;
using System.ComponentModel;
using System.Runtime.CompilerServices;
using BPASmartClient.CustomResource.Pages.Model;

namespace BPASmartClient.JXJFoodSmallStation.ViewModel
{
    public class RobotViewModel : ObservableObject
    {
        public RobotViewModel()
        {
            ThreadManage.GetInstance().StartLong(() => 
            {
                IsRunProgramNum = GVL_SmallStation.GetInstance.RobotProgramNum;
                RobotIsAutoMode = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(2);
                RobotIsAutoRun = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(3);
                RobotIsStop = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(4);
                RobotIsRun = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(5);
                RobotIsAlarm = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(6);
                RobotIsHomed = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(7);
                //RobotGetEmptyBarrelComplete = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(8);
                //RobotPutEmptyBarrelComplete = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(9);
                //RobotGetFullBarrelComplete = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(10);
                //RobotPutFullBarrelComplete = GVL_SmallStation.GetInstance.RobotStatus.GetBitValue(11);

                Thread.Sleep(10);

            },"机器人状态",true);
            SystemStart = new RelayCommand(() => {
                ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX0.1");
                MessageNotify.GetInstance.ShowUserLog($"手动控制，机器人启动");
                NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"机器人启动，操作完成!");
            });
            SystemStop = new RelayCommand(() => {
                ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX0.2");
                MessageNotify.GetInstance.ShowUserLog($"手动控制，机器人停止");
                NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"机器人停止，操作完成!");
            });
            EStopReset = new RelayCommand(() => {
                ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX0.3");
                MessageNotify.GetInstance.ShowUserLog($"手动控制，机器人急停复位");
                NoticeDemoViewModel.OpenMsg(EnumPromptType.Success, App.MainWindow, "提示", $"机器人急停复位，操作完成!");
            });

            //TestRobotRun = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX100.4");
            //});
            //AutoMode = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendFalseCommand", "DB4.DBX100.3");
            //});
            //TestMode = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX100.3");
            //});

            //RobotGetEmptyBarrel = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX100.7");
            //});
            //RobotPutEmptyBarrel = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX101.0");
            //});
            //RobotGetFullBarrel = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX101.1");
            //});
            //RobotPutFullBarrel = new RelayCommand(() => {
            //    ActionManage.GetInstance.Send("RobotSendTrueCommand", "DB4.DBX101.2");
            //});
            //SetProgramNumCommand = new RelayCommand(() =>{
            //    ActionManage.GetInstance.Send("RobotSetProgramNum", SetProgramNum);
            //});
        }
        public RelayCommand SystemStart { get; set; }
        public RelayCommand SystemStop { get; set; }
        public RelayCommand EStopReset { get; set; }

        public RelayCommand TestRobotRun { get; set; }
        public RelayCommand AutoMode { get; set; }
        public RelayCommand TestMode { get; set; }

        public RelayCommand RobotGetEmptyBarrel { get; set; }
        public RelayCommand RobotPutEmptyBarrel { get; set; }
        public RelayCommand RobotGetFullBarrel { get; set; }
        public RelayCommand RobotPutFullBarrel { get; set; }
        public RelayCommand SetProgramNumCommand { get; set; }

        public static short IsRunProgramNum { get { return _runProgramNum; } set { _runProgramNum = value; OnStaticPropertyChanged(); } }
        private static short _runProgramNum;
        public short SetProgramNum { get { return _SetProgramNum; } set { _SetProgramNum = value; OnPropertyChanged(); } }
        private short _SetProgramNum;

        public static bool RobotIsAutoMode { get { return _RobotIsAutoMode; } set { _RobotIsAutoMode = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsAutoMode;
        public static bool RobotIsAutoRun { get { return _RobotIsAutoRun; } set { _RobotIsAutoRun = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsAutoRun;
        public static bool RobotIsStop { get { return _RobotIsStop; } set { _RobotIsStop = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsStop;
        public static bool RobotIsRun { get { return _RobotIsRun; } set { _RobotIsRun = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsRun;
        public static bool RobotIsAlarm { get { return _RobotIsAlarm; } set { _RobotIsAlarm = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsAlarm;
        public static bool RobotIsHomed { get { return _RobotIsHomed; } set { _RobotIsHomed = value; OnStaticPropertyChanged(); } }
        private static bool _RobotIsHomed;
        public bool RobotGetEmptyBarrelComplete { get { return _RobotGetEmptyBarrelComplete; } set { _RobotGetEmptyBarrelComplete = value; OnPropertyChanged(); } }
        private bool _RobotGetEmptyBarrelComplete;
        public bool RobotPutEmptyBarrelComplete { get { return _RobotPutEmptyBarrelComplete; } set { _RobotPutEmptyBarrelComplete = value; OnPropertyChanged(); } }
        private bool _RobotPutEmptyBarrelComplete;
        public bool RobotGetFullBarrelComplete { get { return _RobotGetFullBarrelComplete; } set { _RobotGetFullBarrelComplete = value; OnPropertyChanged(); } }
        private bool _RobotGetFullBarrelComplete;

        public bool RobotPutFullBarrelComplete { get { return _RobotPutFullBarrelComplete; } set { _RobotPutFullBarrelComplete = value; OnPropertyChanged(); } }
        private bool _RobotPutFullBarrelComplete;


        public static event EventHandler<PropertyChangedEventArgs> StaticPropertyChanged;
        public static void OnStaticPropertyChanged([CallerMemberName] string PropName = "")
        {
            StaticPropertyChanged?.Invoke(null, new PropertyChangedEventArgs(PropName));
        }
    }
}