BPASmartClient/BPASmartClient.MorkF/ViewModel/DebugViewModel.cs

using BPASmartClient.Business;
using BPASmartClient.Device;
using BPASmartClient.Helper;
using BPASmartClient.MorkF.Model;
using Microsoft.Toolkit.Mvvm.ComponentModel;
using Microsoft.Toolkit.Mvvm.Input;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace BPASmartClient.MorkF.ViewModel
{
    internal class DebugViewModel : ObservableObject
    {
        public bool SimOrderEnable { get { return General_Config.SimOrderAllow; } set { General_Config.SimOrderAllow = value; OnPropertyChanged(); } }
        /// <summary>
        /// 设备数据
        /// </summary>
        public ObservableCollection<VariableMonitor> variableMonitors { get; set; }

        /// <summary>
        /// 设备ID
        /// </summary>
        public int DeviceId { get; set; }

        #region 设备控制
        public int FoodMenuID { get { return _foodMenuID; } set { _foodMenuID = value; OnPropertyChanged(); } }
        private int _foodMenuID;
        public RelayCommand PlcInite { get; set; }
        public RelayCommand FoodPlcInite { get; set; }
        public RelayCommand Plc1Reset { get; set; }
        public RelayCommand StartOrder { get; set; }
       
        public RelayCommand StopLocalOrder { get; set; }
        public RelayCommand ModeChange { get; set; }


        #endregion

        #region 菜品控制
        public string RealX { get { return _realX; } set { _realX = value; OnPropertyChanged(); } }
        private string _realX;
        public string RealY { get { return _realY; } set { _realY = value; OnPropertyChanged(); } }
        private string _realY;

        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 SettingNowX { get { return _settingNowX; } set { _settingNowX = value; OnPropertyChanged(); } }
        private int _settingNowX = 0;
        public int SettingNowY { get { return _settingNowY; } set { _settingNowY = value; OnPropertyChanged(); } }
        private int _settingNowY = 0;

        public int MoveSpeed { get { return _moveSpeed; } set { _moveSpeed = value; OnPropertyChanged(); } }
        private int _moveSpeed;
        public string SensingDistance_1 { get { return _sensingDistance_1; } set { _sensingDistance_1 = value; OnPropertyChanged(); } }
        private string _sensingDistance_1 ;
        public string SensingDistance_2 { get { return _sensingDistance_2; } set { _sensingDistance_2 = value; OnPropertyChanged(); } }
        private string _sensingDistance_2 ;
        public string SensingDistance_3 { get { return _sensingDistance_3; } set { _sensingDistance_3 = value; OnPropertyChanged(); } }
        private string _sensingDistance_3;
        public bool PawPositon1 { get { return _pawPositon1; } set { _pawPositon1 = value; OnPropertyChanged(); } }
        private bool _pawPositon1;
        public bool PawPositon2 { get { return _pawPositon2; } set { _pawPositon2 = value; OnPropertyChanged(); } }
        private bool _pawPositon2;
        public bool PawPositon3 { get { return _pawPositon3; } set { _pawPositon3 = value; OnPropertyChanged(); } }
        private bool _pawPositon3;

        public bool ArmRunUp { get { return _armRunUp; } set { _armRunUp = value; OnPropertyChanged(); } }
        private bool _armRunUp;
        public bool ArmRunDown { get { return _armRunDown; } set { _armRunDown = value; OnPropertyChanged(); } }
        private bool _armRunDown;
        public bool ArmRunLeft { get { return _armRunLeft; } set { _armRunLeft = value; OnPropertyChanged(); } }
        private bool _armRunLeft;
        public bool ArmRunRight { get { return _armRunRight; } set { _armRunRight = value; OnPropertyChanged(); } }
        private bool _armRunRight;
        public bool ArmRunEnable { get { return _ArmRunEnable; } set { _ArmRunEnable = value; OnPropertyChanged(); } }
        private bool _ArmRunEnable = true;

        public string ArmButtonName { get { return _ArmButtonName; } set { _ArmButtonName = value; OnPropertyChanged(); } }
        private string _ArmButtonName = "启动";
        public string ModeButten { get { return _ModeButten; } set { _ModeButten = value; OnPropertyChanged(); } }
        private string _ModeButten = "联网模式";
        
        public RelayCommand SetNowPosition { get; set; }//设置机械臂当前坐标
        public RelayCommand FoodLibInit { get; set; }//初始化
        public RelayCommand SurplusCheck { get; set; }//初始化
        public RelayCommand StartElectromagnetism { get; set; }//电磁阀启动
        public RelayCommand StopElectromagnetism { get; set; }
        public RelayCommand SetSpeed { get; set; }//速度设定
        public RelayCommand GetDistance_1 { get; set; }//感应测距1
        public RelayCommand GetDistance_2 { get; set; }//感应测距2
        public RelayCommand GetDistance_3 { get; set; }//感应测距3
        public RelayCommand PawTurnFront { get; set; }//夹爪正转
        public RelayCommand PawTurnBack { get; set; }//夹爪反转
        public RelayCommand SetArmPosition { get; set; }//机器臂位置设定
        public RelayCommand ArmRun { get; set; }//机械臂运动
        public RelayCommand PawToPoint1 { get; set; }//感应测距1
        public RelayCommand PawToPoint2 { get; set; }//感应测距2
        public RelayCommand PawToPoint3 { get; set; }//感应测距3

        #endregion


        #region 配料仓控制
        public List<string> PassageWays { get; set; } = new List<string>() 
        { 
            "通道1",
            "通道2",
            "通道3",
            "通道4",
            "通道5",
            "通道6",
            "通道7",
            "通道8",
            "通道9",
            "通道10",
            "通道11",
            "通道12",
            "通道13",
            "通道14",
        };
        public int PassagePosition { get { return _passagePosition; } set { _passagePosition = value; OnPropertyChanged(); } }
        private int _passagePosition;
        public int Weight { get { return _weight; } set { _weight = value; OnPropertyChanged(); } }
        private int _weight;
        public RelayCommand OutMaterials { get; set; }
        #endregion

        #region 炒锅1
        public RelayCommand Pot1SimOrder { get; set; }
        public RelayCommand AddOil { get; set; }
        public RelayCommand StartFire { get; set; }
        public RelayCommand StopFire { get; set; }
        public RelayCommand StartStir { get; set; }
        public RelayCommand StopStir { get; set; }
        public RelayCommand MagnetOn { get; set; }
        public RelayCommand MagnetOff { get; set; }
        public RelayCommand OutFood { get; set; }
        public RelayCommand StirArmGoOrigin { get; set; }
        public RelayCommand StirArmGoWork { get; set; }
        public RelayCommand HBOTGoWork { get; set; }
        public RelayCommand OutMeal { get; set; }
        public RelayCommand SetFire { get; set; }
        public RelayCommand SetFry { get; set; }
        public RelayCommand SetStir { get; set; }
        public List<int> lstFire { get; set; } = new List<int>() { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };
        public List<int> lstFry { get; set; } = new List<int>() { 1, 2 };
        public List<int> lstStir { get; set; } = new List<int>() { 1, 2, 3 };
        public int FireGear { get { return _fireGear; } set { _fireGear = value; OnPropertyChanged(); } }
        private int _fireGear;
        public int FryGear { get { return _fryeGear; } set { _fryeGear = value; OnPropertyChanged(); } }
        private int _fryeGear;
        public int StirGear { get { return _stirGear; } set { _stirGear = value; OnPropertyChanged(); } }
        private int _stirGear;
        #region 模拟
        public int OilTime { get { return _oilTime; } set { _oilTime = value; OnPropertyChanged(); } }
        private int _oilTime = 10;
        public int OilFirGear { get { return _oilFirGear; } set { _oilFirGear = value; OnPropertyChanged(); } }
        private int _oilFirGear = 3;
        public int OilStrGear { get { return _oilStrGear; } set { _oilStrGear = value; OnPropertyChanged(); } }
        private int _oilStrGear = 1;

        public int Food1Time { get { return _food1Time; } set { _food1Time = value; OnPropertyChanged(); } }
        private int _food1Time = 30;
        public int Food1FirGear { get { return _food1FirGear; } set { _food1FirGear = value; OnPropertyChanged(); } }
        private int _food1FirGear = 6;
        public int Food1StrGear { get { return _food1StrGear; } set { _food1StrGear = value; OnPropertyChanged(); } }
        private int _food1StrGear = 2;

        public int Food2Time { get { return _food2Time; } set { _food2Time = value; OnPropertyChanged(); } }
        private int _food2Time = 30;
        public int Food2FirGear { get { return _food2FirGear; } set { _food2FirGear = value; OnPropertyChanged(); } }
        private int _food2FirGear = 6;
        public int Food2StrGear { get { return _food2StrGear; } set { _food2StrGear = value; OnPropertyChanged(); } }
        private int _food2StrGear = 2;
        #endregion
        #endregion


        #region 炒锅2
        public RelayCommand SecAddOil { get; set; }
        public RelayCommand SecTempTurnOff { get; set; }
        public RelayCommand SecOneBlock { get; set; }
        public RelayCommand SecTwoBlock { get; set; }
        public RelayCommand SecThreeBlock { get; set; }
        public RelayCommand SecOverTurnOff { get; set; }
        public RelayCommand SecOverOneBlock { get; set; }
        public RelayCommand SecOverTwoBlock { get; set; }
        public RelayCommand SecOverThreeBlock { get; set; }
        public RelayCommand SecOverGoOn { get; set; }
        public RelayCommand SecOverGoDown { get; set; }
        public RelayCommand SecAutoModel { get; set; }
        public RelayCommand SecManualModel { get; set; }
        #endregion

        public DebugViewModel()
        {
            #region 设备控制
            PlcInite = new RelayCommand(() => { ActionManage.GetInstance.Send("InitCommand"); });
            Plc1Reset = new RelayCommand(() => { ActionManage.GetInstance.Send("Plc1Reset"); });
            StartOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("StartOrder", FoodMenuID); });
            StopLocalOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("StopLocalOrder"); });
            ModeChange = new RelayCommand(() => { 
                ActionManage.GetInstance.Send("ModeChange"); 
                if(ModeButten == "联网模式")
                {
                    ModeButten = "本地模式";
                }
                else
                {
                    ModeButten = "联网模式";
                }
            });
            #endregion

            #region 菜品控制

            FoodLibInit = new RelayCommand(() => { ActionManage.GetInstance.Send("FoodLibInit"); });//菜品库初始化
            SurplusCheck = new RelayCommand(() => { ActionManage.GetInstance.Send("SurplusCheck"); });//菜品库初始化
            StartElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { false }); });//电磁阀启动
            StopElectromagnetism = new RelayCommand(() => { ActionManage.GetInstance.Send("Electromagnetism", new List<bool> { true });});//电磁阀关闭
            SetSpeed = new RelayCommand(() => 
            { 
                ActionManage.GetInstance.Send("SetSpeed", new List<int> { MoveSpeed }); 
            });//设定速度
            PawToPoint1 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint1"); });//爪子去1号位
            PawToPoint2 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint2"); });//爪子去2号位
            PawToPoint3 = new RelayCommand(() => { ActionManage.GetInstance.Send("PawToPoint3"); });//爪子去3号位
            GetDistance_1 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_1"); });//感应距离1
            GetDistance_2 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_2"); });//感应距离2
            GetDistance_3 = new RelayCommand(() => { ActionManage.GetInstance.Send("GetDistance_3"); });//感应距离3
            PawTurnFront = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnFront"); });//夹爪正转
            PawTurnBack = new RelayCommand(() => { ActionManage.GetInstance.Send("PawTurnBack"); });//夹爪反转
            SetArmPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetArmPosition", new List<int> { SettingX, SettingY }); });//设定机械臂位置
            SetNowPosition = new RelayCommand(() => { ActionManage.GetInstance.Send("SetNowPosition", new List<int> { SettingX, SettingY }); });//设定机械臂当前位置
            ArmRun = new RelayCommand(() => {
                //判断是否都未点击
                if(!ArmRunDown&&!ArmRunUp&&!ArmRunLeft&&!ArmRunRight)
                {
                    return;
                }
                ArmRunEnable = !ArmRunEnable;
                if(ArmRunEnable)
                {
                    ArmButtonName = "启动";
                }
                else
                {
                    ArmButtonName = "停止";
                }
                if(ArmRunUp)
                {
                    ActionManage.GetInstance.Send("ArmRunUp", !ArmRunEnable);
                }
                else if(ArmRunDown)
                {
                    ActionManage.GetInstance.Send("ArmRunDown", !ArmRunEnable);
                }
                else if (ArmRunLeft)
                {
                    ActionManage.GetInstance.Send("ArmRunLeft", !ArmRunEnable);
                }
                else if(ArmRunRight)
                {
                    ActionManage.GetInstance.Send("ArmRunRight", !ArmRunEnable);
                }
            });//设定机械臂位置
            #endregion

            #region 配料仓控制
            OutMaterials = new RelayCommand(() => { ActionManage.GetInstance.Send("OutMaterials" ,new List<int> { PassagePosition + 1,Weight } ); });
            #endregion

            #region 炒锅1
            Pot1SimOrder = new RelayCommand(() => { ActionManage.GetInstance.Send("模拟小炒锅1订单",new List<int> { OilTime,OilFirGear,OilStrGear,Food1Time,Food1FirGear,Food1StrGear,Food2Time,Food2FirGear,Food2StrGear }); });//模拟订单
            AddOil = new RelayCommand(() => { ActionManage.GetInstance.Send("AddOil", 1); });//加油
            StartFire = new RelayCommand(() => { ActionManage.GetInstance.Send("StartFire"); });//加热启动
            StopFire = new RelayCommand(() => { ActionManage.GetInstance.Send("StopFire"); });//加热停止
            StartStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StartStir"); });//搅拌启动
            StopStir = new RelayCommand(() => { ActionManage.GetInstance.Send("StopStir"); });//搅拌停止
            MagnetOn = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOn"); });//磁吸开启
            MagnetOff = new RelayCommand(() => { ActionManage.GetInstance.Send("MagnetOff"); });//磁吸开启
            OutFood = new RelayCommand(() => { ActionManage.GetInstance.Send("OutFood"); });//倒菜启动
            StirArmGoOrigin = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoOrigin"); });//搅拌臂去原点位
            StirArmGoWork = new RelayCommand(() => { ActionManage.GetInstance.Send("StirArmGoWork"); });//搅拌臂去炒制位
            HBOTGoWork = new RelayCommand(() => { ActionManage.GetInstance.Send("HBOTGoWork"); });//放盒子到位
            OutMeal = new RelayCommand(() => { ActionManage.GetInstance.Send("OutMeal"); });//出餐启动
            SetFire = new RelayCommand(() => { ActionManage.GetInstance.Send("SetFire", new List<int> { FireGear }); });//加热挡位设定
            SetStir = new RelayCommand(() => { ActionManage.GetInstance.Send("SetStir", new List<int> { StirGear }); });//搅拌挡位设定
            SetFry = new RelayCommand(() => { ActionManage.GetInstance.Send("SetFry", new List<int> { FryGear }); });//炒锅选择
            #endregion

            #region 炒锅2
            SecAddOil = new RelayCommand(() => { ActionManage.GetInstance.Send("AddOil", 2); });
            SecTempTurnOff = new RelayCommand(() => { ActionManage.GetInstance.Send("TakeOff", 2); });
            SecOneBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OneBlock", 2); });
            SecTwoBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("TwoBlock", 2); });
            SecThreeBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("ThreeBlock", 2); });
            SecOverTurnOff = new RelayCommand(() => { ActionManage.GetInstance.Send("OverTurnOff", 2); });
            SecOverOneBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverOneBlock", 2); });
            SecOverTwoBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverTwoBlock", 2); });
            SecOverThreeBlock = new RelayCommand(() => { ActionManage.GetInstance.Send("OverThreeBlock", 2); });
            SecOverGoOn = new RelayCommand(() => { ActionManage.GetInstance.Send("OverGoOn", 2); });
            SecOverGoDown = new RelayCommand(() => { ActionManage.GetInstance.Send("OverGoDown", 2); });
            SecAutoModel = new RelayCommand(() => { ActionManage.GetInstance.Send("AutoModel", 2); });
            SecManualModel = new RelayCommand(() => { ActionManage.GetInstance.Send("ManualModel", 2); });
            #endregion

            Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices().ForEach(device =>
            {
                if (device.Name == "MorkT") DeviceId = device.DeviceId
                ;
            });

            ThreadManage.GetInstance().StartLong(new Action(() =>
            {
                 //variableMonitors = Plugin.GetInstance()?.GetPlugin<DeviceMgr>()?.GetDevices()?.FirstOrDefault(p => p.DeviceId == DeviceId)?.variableMonitors;

                if(variableMonitors != null)
                {
                    RealX = variableMonitors.FirstOrDefault(p => p.Notes == "机械手臂X").CurrentValue;
                    RealY = variableMonitors.FirstOrDefault(p => p.Notes == "机械手臂Y").CurrentValue;
                }
            }), "获取小炒数据");
        }

    }
}