HightWay_AirPot_WCS/SlnMesnac.WPF/ViewModel/MainWindowViewModel.cs

using GalaSoft.MvvmLight;
using GalaSoft.MvvmLight.Command;
using HslCommunication.Enthernet;
using Microsoft.Extensions.DependencyInjection;
using Microsoft.Extensions.Logging;
using SlnMesnac.Business.@base;
using SlnMesnac.Config;
using SlnMesnac.Model.AirportApiEntity;
using SlnMesnac.Repository;
using SlnMesnac.Repository.service;
using SlnMesnac.TouchSocket;
using SlnMesnac.WPF.Page.ControlPage;
using SlnMesnac.WPF.Page.Generate;
using SlnMesnac.WPF.Page.IndexPage;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading;
using System.Threading.Tasks;
using System.Windows;

namespace SlnMesnac.WPF.ViewModel
{
    public class MainWindowViewModel : ViewModelBase
    {
        private readonly ILogger<MainWindowViewModel> _logger;
        private readonly ILogger<BaseTaskInfoBusiness> _BaseTaskInfoBusinesslogger;
        private readonly ILogger<BaseAGVBusiness> _baseAGVBusinessLogger;
        private readonly ILogger<VisionBusiness> _VisionBusinessLogger;
        private readonly ILogger<BaseStateRefreshBusiness> _StateRefreshBusinessLogger;
        private IAirportTaskService _Taskservice;
        private IAGVStateService _AGVStateService;
        private IAGVMapPointService _AGVMapPointService;
        private IAGVSettingService _AGVSettingService;
        private IAGVJobService _agvJobService;
        private IVisionSettingService _visionSettingService;
        private TcpServer _tcpServer;
        //代码生成
        private readonly GenerateControl generateControl = new GenerateControl();
        private IndexContent indexContent = new IndexContent();
        private UserTaskControl taskControl = new UserTaskControl();
        private AppConfig _appConfig;
        private AirPorthttpClient _airPorthttpClient;
        private BaseTaskInfoBusiness _baseTaskInfoBusiness;
        private BaseStateRefreshBusiness _baseStateRefreshBusiness;
        private BaseAGVBusiness _baseAGVBusiness;
        private VisionBusiness _visionBusiness;

        #region 参数定义
        /// <summary>
        /// PLC设备状态
        /// </summary>
        private int _PlcStatus = 0;
        public int PlcStatus
        {
            get { return _PlcStatus; }
            set { _PlcStatus = value; RaisePropertyChanged(nameof(PlcStatus)); }
        }
        /// <summary>
        /// 箱壳扫码器状态
        /// </summary>
        private int _ShellScannerStatus = 0;
        public int ShellScannerStatus
        {
            get { return _ShellScannerStatus; }
            set { _ShellScannerStatus = value; RaisePropertyChanged(nameof(ShellScannerStatus)); }
        }

        /// <summary>
        /// 内胆扫码器状态
        /// </summary>
        private int _BoldScannerStatus = 0;
        public int BoldScannerStatus
        {
            get { return _BoldScannerStatus; }
            set { _BoldScannerStatus = value; RaisePropertyChanged(nameof(BoldScannerStatus)); }
        }

        public System.Windows.Controls.UserControl _content;

        public System.Windows.Controls.UserControl UserContent
        {
            get { return _content; }

            set
            {
                _content = value;
                RaisePropertyChanged(nameof(UserContent));
            }
        }
        #endregion

        #region 事件定义
        /// <summary>
        /// 界面跳转按钮事件
        /// </summary>
        public RelayCommand<object> ControlOnClickCommand { get; set; }

        /// <summary>
        /// 打开系统键盘
        /// </summary>
        public RelayCommand OpenSystemKeyboardCommand { get; set; }

        /// <summary>
        /// 窗体控制
        /// </summary>
        public RelayCommand<object> FormControlCommand { get; set; }
        #endregion

        public MainWindowViewModel()
        {
            _appConfig = App.ServiceProvider.GetService<AppConfig>();
            _logger = App.ServiceProvider.GetService<ILogger<MainWindowViewModel>>();
            _BaseTaskInfoBusinesslogger = App.ServiceProvider.GetService<ILogger<BaseTaskInfoBusiness>>();
            _baseAGVBusinessLogger = App.ServiceProvider.GetService<ILogger<BaseAGVBusiness>>();
            _VisionBusinessLogger = App.ServiceProvider.GetService<ILogger<VisionBusiness>>();
            _Taskservice = App.ServiceProvider.GetService<IAirportTaskService>();
            _AGVStateService = App.ServiceProvider.GetService<IAGVStateService>();
            _AGVMapPointService = App.ServiceProvider.GetService<IAGVMapPointService>();
            _AGVSettingService = App.ServiceProvider.GetService<IAGVSettingService>();
            _agvJobService = App.ServiceProvider.GetService<IAGVJobService>();
            _visionSettingService = App.ServiceProvider.GetService<IVisionSettingService>();
            _tcpServer = App.ServiceProvider.GetService<TcpServer>();
            _airPorthttpClient = App.ServiceProvider.GetService<AirPorthttpClient>();
            _baseTaskInfoBusiness = BaseTaskInfoBusiness.GetInstance(_BaseTaskInfoBusinesslogger, 
                _Taskservice, _AGVStateService, _AGVMapPointService, _agvJobService, 
                _tcpServer, _airPorthttpClient, _baseAGVBusiness, _visionBusiness);
            _baseAGVBusiness = BaseAGVBusiness.GetInstance(_baseAGVBusinessLogger, _airPorthttpClient, _AGVStateService, _AGVMapPointService, _appConfig);
            _visionBusiness = VisionBusiness.GetInstance(_VisionBusinessLogger, _tcpServer, _Taskservice, _visionSettingService, _AGVStateService, _agvJobService);
            _baseStateRefreshBusiness = BaseStateRefreshBusiness.GetInstance(_StateRefreshBusinessLogger, _AGVStateService, _airPorthttpClient, _AGVSettingService);
            ControlOnClickCommand = new RelayCommand<object>(obj => ControlOnClick(obj));
            FormControlCommand = new RelayCommand<object>(x => FormControl(x));
            StopAllTaskActionInvoke();
            _tcpServer.RefreshStateAction += (_clientIP, _state) =>
            {
                if (_clientIP == _appConfig.AMRIP)
                {
                    ShellScannerStatus = _state ? 1 : 2;
                }
            };
            //
            UserContent = indexContent;
        }

        /// <summary>
        ///  窗体控制
        /// </summary>
        /// <param name="obj"></param>
        private void FormControl(object obj)
        {
            try
            {
                string controlType = obj as string;
                switch (controlType)
                {
                    // 关闭当前窗口
                    case "Exit":
                        //Environment.Exit(0);
                        Application.Current.Shutdown();
                        break;
                    case "Generate":
                        UserContent = generateControl;
                        break;
                    // 还原 或者 最大化当前窗口
                    case "Normal":
                        if (Application.Current.MainWindow.WindowState == WindowState.Normal)
                        {
                            Application.Current.MainWindow.WindowState = WindowState.Maximized;
                            break;
                        }
                        if (Application.Current.MainWindow.WindowState == WindowState.Maximized)
                        {
                            Application.Current.MainWindow.WindowState = WindowState.Normal;
                            break;
                        }
                        break;

                    // 最小化当前窗口
                    case "Minimized":
                        Application.Current.MainWindow.WindowState = WindowState.Minimized;
                        break;
                    case "DeliverNeedPosition":
                        //AMR就绪请求视觉初步开始工作
                        _visionBusiness.TotalJudge = true;
                        _visionBusiness.RequestVisionStartWork(StackState.NXAGVNeedPositioning, 0, _tcpServer.VID);
                        break;
                    case "DeilverNoPosition":
                        //AMR就绪请求无定向AGV开始工作
                        _visionBusiness.TotalJudge = true;
                        _visionBusiness.RequestVisionStartWork(StackState.NXAGVNoPositioning, 0, _tcpServer.VID);
                        break;
                    case "AMRNoPosition":
                        //AMR就绪请求无定向AMR开始工作
                        _visionBusiness.TotalJudge = true;
                        _visionBusiness.RequestVisionStartWork(StackState.NXAMRNoPositioning, 0, _tcpServer.VID);
                        break;
                    case "VisionEnd":
                        //码垛结束，请求视觉系统复位
                        _visionBusiness.RequestVisionReplace(_tcpServer.VID);
                        break;
                    case "Get800":
                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车进入位置任务pause");
                        break;
                    case "Out800":
                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S800-B").First().AGVGUID, "800小车入库任务pause");
                        break;
                    case "Get1000":
                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车进入位置任务pause");
                        break;
                    case "Out1000":
                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000小车入库任务pause");
                        break;
                    case "Reset1000":
                        _baseAGVBusiness.EndTaskAndClearErrorAndDownloadTask(_appConfig.AGVConfig.Where(x => x.AGVName == "S1000-A").First().AGVGUID, "1000校正模板");
                        break;
                    case "ManualStop800Task":
                        //手动停止任务
                        _baseAGVBusiness.EndTaskAndClearError("S800-B");
                        break;
                    case "ManualClear800Error":
                        //手动清除报警
                        _baseAGVBusiness.ClaerError("S800-B");
                        break;
                    case "ManualStop1000Task":
                        _baseAGVBusiness.EndTaskAndClearError("S1000-A");
                        break;
                    case "StartAGVStateRefresh":
                        _baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Start);
                        break;
                    case "StopAGVStateRefresh":
                        _baseStateRefreshBusiness.AGVStateUpdateTimerOperation(TimerControl.Stop);
                        break;
                    case "StartTaskRefresh":
                        _baseTaskInfoBusiness.TaskStateUpdateTimerOperation(TimerControl.Start);
                        break;
                    case "StopTaskRefresh":
                        _baseTaskInfoBusiness.TaskStateUpdateTimerOperation(TimerControl.Stop);
                        break;
                    default:
                        break;
                }
            }
            catch (Exception ex)
            {
                _logger.LogError("窗体控制逻辑异常" + ex.Message);
            }
        }

        public void StopAllTaskActionInvoke()
        {
            taskControl.StopTaskAction = () =>
            {
                List<AirportTask> taskList = _Taskservice.GetTaskInfos(x => x.taskstate == "抓取中" && x.taskstate == "派车中").ToList();
                //任务状态设置为已终止并且机械臂复位
                foreach(var taskInfo in taskList)
                {
                    _visionBusiness.RequestVisionReplace(_visionSettingService.GetVisionSettingByAMRGUID(taskInfo.amragvno).VisionID);
                    taskInfo.visiontaskno = null;
                    taskInfo.amragvisarrive = null;
                    taskInfo.amragvno = null;
                    taskInfo.deliveragvno = null;
                    taskInfo.deliveragvisarrive = null;
                    taskInfo.finishtime = DateTime.Now;
                    taskInfo.taskstate = "已终止";
                }
                //agv全部停止
                _logger.LogInformation("已成功全部停止");
            };
        }

        /// <summary>
        /// 界面跳转
        /// </summary>
        private void ControlOnClick(object obj)
        {
            try
            {
                string info = obj as string;
                switch (info)
                {
                    case "Index":
                        UserContent = indexContent;
                        break;
                    case "Control":
                        UserContent = taskControl;
                        break;
                    default: break;
                }
            }
            catch (Exception ex)
            {
                _logger.LogError("界面跳转逻辑异常", ex);
            }
        }

    }
}