CyberX8/CyberX8_MainPages/ViewModels/TransporterTeachViewModel.cs

using Aitex.Core.Common;
using Aitex.Core.RT.DataCenter;
using Aitex.Core.RT.Log;
using Aitex.Core.UI.Dialog;
using Aitex.Core.UI.MVVM;
using Aitex.Core.Util;
using Aitex.Core.Utilities;
using Caliburn.Micro.Core;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.CommonData.Transporter;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Equipment;
using MECF.Framework.Common.Layout;
using MECF.Framework.Common.RecipeCenter;
using MECF.Framework.Common.Utilities;
using CyberX8_Core;
using CyberX8_MainPages.PMs;
using CyberX8_Themes.UserControls;
using Prism.Mvvm;
using System;
using System.Collections.Generic;
using System.Collections.ObjectModel;
using System.ComponentModel;
using System.IO;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading.Tasks;
using System.Timers;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Threading;

namespace CyberX8_MainPages.ViewModels
{
    public class TransporterTeachViewModel : BindableBase
    {
        #region 常量 
        private const string MOTOR_POSITION = "MotorPosition";
        private const string IS_SWITCH_ON = "IsSwitchOn";
        private const string IS_HOMED = "IsHomed";
        private const string IS_MOVING = "IsMoving";
        private const string CURRENT_STATION = "CurrentStation";
        private const string TRANSPORTER_DATA = "TransporterData";
        private const string MOTION_DATA = "MotionData";
        #endregion
        #region 内部变量
        private string _module;
        #region Gantry
        private string _gantryModuleName;
        private double _gantryMotionPosition;
        private string _gantryCurrentStation;
        private string _gantryCurrentCellName;
        private bool _gantryIsHomed;
        private bool _gantryIsMoving;
        private bool _gantryIsSwitchOn;
        private bool _gantryTorqueLimited;
        private CommandMotionData _gantryMotionData;
        #endregion

        #region Elevator
        private string _elevatorModuleName;
        private double _elevatorMotionPosition;
        private string _elevatorCurrentStation;
        private string _elevatorCurrentCellName;
        private bool _elevatorIsHomed;
        private bool _elevatorIsMoving;
        private bool _elevatorIsSwitchOn;
        private bool _elevatorTorqueLimited;
        private bool _elevatorIsInUpPlace;
        private CommandMotionData _elevatorMotionData;
        #endregion

        private TransporterData _transporterData;
        private bool _locked;
        private bool _unlocked;
        private bool _clamped;
        private bool _unclamped;
        private List<string> _teachPositionList=new List<string>();
        private ProcessLayout _processLayout;


        /// <summary>
        /// 名称与Cell字典(key-Cell Id,value-cell 名称)
        /// </summary>
        private Dictionary<string, string> _cellIdCellNameDic = new Dictionary<string, string>();
        /// RT查询key集合
        /// </summary>
        private List<string> _rtDataKeys = new List<string>();
        /// <summary>
        /// rt查询key数值字典
        /// </summary>
        private Dictionary<string, object> _rtDataValueDic = new Dictionary<string, object>();
        /// <summary>
        /// 定时器
        /// </summary>
        private DispatcherTimer _timer;
        #endregion

        #region 属性

        public string Module { get { return _module; } set { SetProperty(ref _module, value); } }

        public List<string> TeachPositionList { get { return _teachPositionList; } set { SetProperty(ref _teachPositionList, value); } }

        public bool Locked { get { return _locked; } set { SetProperty(ref _locked, value); } }

        public bool Unlocked { get { return _unlocked; } set { SetProperty(ref _unlocked, value); } }   

        public bool Clamped { get { return _clamped; } set { SetProperty(ref _clamped, value); } }  

        public bool Unclamped { get { return _unclamped; } set { SetProperty(ref _unclamped, value); } }

        #region Gantry
        /// <summary>
        /// Gantry 模块名称
        /// </summary>
        public string GantryModuleName { get { return _gantryModuleName; } set { SetProperty(ref _gantryModuleName, value); } }
        /// <summary>
        /// Gantry Motion Position
        /// </summary>
        public double GantryMotionPosition{ get { return _gantryMotionPosition; } set { SetProperty(ref _gantryMotionPosition, value); } }
        /// <summary>
        /// Gantry当前位置
        /// </summary>
        public string GantryCurrentStation{ get { return _gantryCurrentStation; } set { SetProperty(ref _gantryCurrentStation, value); } }
        /// <summary>
        /// Gantry 当前Cell名称
        /// </summary>
        public string GantryCurrentCellName { get { return _gantryCurrentCellName; } set { SetProperty(ref _gantryCurrentCellName, value); } }

        public bool GantryIsHomed { get { return _gantryIsHomed; } set { SetProperty(ref _gantryIsHomed, value); } }

        public bool GantryIsSwitchOn { get { return _gantryIsSwitchOn; } set { SetProperty(ref _gantryIsSwitchOn, value); } }   

        public bool GantryIsMoving { get { return _gantryIsMoving; } set { SetProperty(ref _gantryIsMoving, value); } }
        
        public bool GantryTorqueLimited { get { return _gantryTorqueLimited; } set { SetProperty(ref _gantryTorqueLimited , value); } }

        public CommandMotionData GantryMotionData { get { return _gantryMotionData; } set { SetProperty(ref _gantryMotionData, value); } }
        #endregion

        #region Elevator

        public string ElevatorModuleName { get { return _elevatorModuleName; } set { SetProperty(ref _elevatorModuleName, value); } }
        /// <summary>
        /// Elevator Motion Position
        /// </summary>
        public double ElevatorMotionPosition { get { return _elevatorMotionPosition; } set { SetProperty(ref _elevatorMotionPosition, value); } }
        /// <summary>
        /// Elevator当前位置
        /// </summary>
        public string ElevatorCurrentStation { get { return _elevatorCurrentStation; } set { SetProperty(ref _elevatorCurrentStation, value); } }

        /// <summary>
        /// Elevator当前位置
        /// </summary>
        public string ElevatorCurrentCellName { get { return _elevatorCurrentCellName; } set { SetProperty(ref _elevatorCurrentCellName, value); } }

        public bool ElevatorIsHomed { get { return _elevatorIsHomed; } set { SetProperty(ref _elevatorIsHomed, value); } }  

        public bool ElevatorIsSwitchOn { get { return _elevatorIsSwitchOn; } set { SetProperty(ref _elevatorIsSwitchOn, value); } }

        public bool ElevatorIsMoving { get { return _elevatorIsMoving; } set { SetProperty(ref _elevatorIsMoving, value); } }

        public bool ElevatorTorqueLimited { get { return _elevatorTorqueLimited; } set { SetProperty(ref _elevatorTorqueLimited , value); } }   
        
        public bool ElevatorIsInUpPlace { get { return _elevatorIsInUpPlace; } set { SetProperty(ref _elevatorIsInUpPlace, value); } }   

        public CommandMotionData ElevatorMotionData { get { return _elevatorMotionData; } set { SetProperty(ref _elevatorMotionData, value); } }
        #endregion

        /// <summary>
        /// Transporter数据
        /// </summary>
        public TransporterData TransporterData { get { return _transporterData; } set { SetProperty(ref _transporterData, value); } }   
        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public TransporterTeachViewModel()
        {
        }

        /// <summary>
        /// 加载数据
        /// </summary>
        public void LoadData(string systemName)
        {
            Module = systemName;
            LoadLayout();
            int startCellId = (int)QueryDataClient.Instance.Service.GetConfig($"Transporter.{Module}.StartCellId");
            int endCellId= (int)QueryDataClient.Instance.Service.GetConfig($"Transporter.{Module}.EndCellId");
            if(_processLayout!=null&&TeachPositionList.Count==0)
            {
                List<string> lst = GetCellItemsByRange(startCellId, endCellId, _processLayout.Items);
                TeachPositionList.AddRange(lst);
            }
            GantryModuleName = $"{Module}.Gantry";
            ElevatorModuleName = $"{Module}.Elevator" ;
            AddDataKeys();
            if (_timer == null)
            {
                _timer = new DispatcherTimer();
                _timer.Interval = TimeSpan.FromMilliseconds(200);
                _timer.Tick += Timer_Tick; ;
            }
            _timer.Start();
        }
        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        /// <exception cref="NotImplementedException"></exception>
        private void Timer_Tick(object sender, EventArgs e)
        {
            if (_rtDataKeys.Count != 0)
            {
                _rtDataValueDic = QueryDataClient.Instance.Service.PollData(_rtDataKeys);
                if (_rtDataValueDic != null)
                {
                    GantryMotionPosition = CommonFunction.GetValue<double>(_rtDataValueDic, $"{GantryModuleName}.{MOTOR_POSITION}");
                    GantryIsHomed = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{GantryModuleName}.{IS_HOMED}");
                    GantryIsSwitchOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{GantryModuleName}.{IS_SWITCH_ON}");
                    GantryIsMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{GantryModuleName}.{IS_MOVING}");
                    GantryCurrentStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(_rtDataValueDic, $"{GantryModuleName}.{CURRENT_STATION}"), GantryModuleName);
                    GantryMotionData = CommonFunction.GetValue<CommandMotionData>(_rtDataValueDic, $"{GantryModuleName}.{MOTION_DATA}");
                    if (GantryMotionData != null)
                    {
                        GantryTorqueLimited = GantryMotionData.TorqueLimited;
                    }
                    if (_cellIdCellNameDic.ContainsKey(GantryCurrentStation))
                    {
                        GantryCurrentCellName = _cellIdCellNameDic[GantryCurrentStation];
                    }
                    else
                    {
                        GantryCurrentCellName = GantryCurrentStation;
                    }

                    ElevatorMotionPosition = CommonFunction.GetValue<double>(_rtDataValueDic, $"{ElevatorModuleName}.{MOTOR_POSITION}");
                    ElevatorIsHomed = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ElevatorModuleName}.{IS_HOMED}");
                    ElevatorIsSwitchOn = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ElevatorModuleName}.{IS_SWITCH_ON}");
                    ElevatorIsMoving = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{ElevatorModuleName}.{IS_MOVING}");
                    ElevatorCurrentStation = CommonFunction.GetCurrentStationLastContent(CommonFunction.GetValue<string>(_rtDataValueDic, $"{ElevatorModuleName}.{CURRENT_STATION}"), ElevatorModuleName);
                    
                    ElevatorIsInUpPlace = "UP".Equals(ElevatorCurrentStation) ? true : false;
                    
                    if (_cellIdCellNameDic.ContainsKey(ElevatorCurrentStation))
                    {
                        ElevatorCurrentCellName = _cellIdCellNameDic[ElevatorCurrentStation];
                    }
                    else
                    {
                        ElevatorCurrentCellName = ElevatorCurrentStation;
                    }
                    ElevatorMotionData = CommonFunction.GetValue<CommandMotionData>(_rtDataValueDic, $"{ElevatorModuleName}.{MOTION_DATA}");
                    if (ElevatorMotionData != null)
                    {
                        ElevatorTorqueLimited = ElevatorMotionData.TorqueLimited;
                    }

                    TransporterData = CommonFunction.GetValue<TransporterData>(_rtDataValueDic, $"{Module}.{TRANSPORTER_DATA}");
                    if (TransporterData != null)
                    {
                        Locked = TransporterData.Locked1 && TransporterData.Locked2;
                        Unlocked = TransporterData.Unlocked1 && TransporterData.Unlocked2;
                        Clamped = TransporterData.ImmobilizeExtended1 && TransporterData.ImmobilizeExtended2;
                        Unclamped = TransporterData.ImmobilizeRetracted1 && TransporterData.ImmobilizeRetracted2;
                    }
                }
            }
        }

        /// <summary>
        /// 获取指定范围的单元项集合
        /// </summary>
        /// <param name="startCellId"></param>
        /// <param name="endCellId"></param>
        /// <param name="items"></param>
        /// <returns></returns>
        private List<string> GetCellItemsByRange(int startCellId, int endCellId, List<ProcessLayoutCellItem> items)
        {
            List<string> lst = new List<string>();
            foreach (ProcessLayoutCellItem item in items)
            {
                if (item.CellId >= startCellId && item.CellId <= endCellId)
                {
                    if (!string.IsNullOrEmpty(item.ModuleName))
                    {
                        lst.Add(item.ModuleName);
                        _cellIdCellNameDic[$"Cell{item.CellId}"] = item.ModuleName;
                    }
                }
            }
            return lst;
        }
        /// <summary>
        /// 隐藏
        /// </summary>
        public void Hide()
        {
            if (_timer != null)
            {
                _timer.Stop();
            }
        }
        /// <summary>
        /// 加载Layout
        /// </summary>
        private void LoadLayout()
        {
            _rtDataKeys.Clear();
            _rtDataKeys.Add("System.Layout");
            _rtDataValueDic = QueryDataClient.Instance.Service.PollData(_rtDataKeys);
            if (_rtDataValueDic != null)
            {
                _processLayout = CommonFunction.GetValue<ProcessLayout>(_rtDataValueDic, "System.Layout");
            }
        }
        /// <summary>
        /// 初始化查询数据集合
        /// </summary>
        private void AddDataKeys()
        {
            _rtDataKeys.Clear();
            _rtDataKeys.Add($"{GantryModuleName}.{MOTOR_POSITION}");
            _rtDataKeys.Add($"{GantryModuleName}.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"{GantryModuleName}.{IS_HOMED}");
            _rtDataKeys.Add($"{GantryModuleName}.{IS_MOVING}");
            _rtDataKeys.Add($"{GantryModuleName}.{CURRENT_STATION}");
            _rtDataKeys.Add($"{GantryModuleName}.{MOTION_DATA}");

            _rtDataKeys.Add($"{ElevatorModuleName}.{MOTOR_POSITION}");
            _rtDataKeys.Add($"{ElevatorModuleName}.{IS_SWITCH_ON}");
            _rtDataKeys.Add($"{ElevatorModuleName}.{IS_HOMED}");
            _rtDataKeys.Add($"{ElevatorModuleName}.{IS_MOVING}");
            _rtDataKeys.Add($"{ElevatorModuleName}.{CURRENT_STATION}");
            _rtDataKeys.Add($"{ElevatorModuleName}.{MOTION_DATA}");

            _rtDataKeys.Add($"{Module}.{TRANSPORTER_DATA}");
        }
    }
}