CyberX8/CyberX8_MainPages/ViewModels/SRDHomePageViewModel.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Data;
using System.Windows.Input;
using System.Windows.Threading;
using MECF.Framework.Common.OperationCenter;
using Prism.Mvvm;
using Prism.Commands;
using MECF.Framework.Common.CommonData.SRD;
using MECF.Framework.Common.Persistent.SRD;
using Aitex.Core.RT.DataCenter;
using MECF.Framework.Common.CommonData.PUF;
using MECF.Framework.Common.DataCenter;
using MECF.Framework.Common.Utilities;
using MECF.Framework.Common.RecipeCenter;
using System.Collections.ObjectModel;
using CyberX8_MainPages.PMs;
using Aitex.Core.Utilities;
using CyberX8_Core;
using System.Windows.Documents;
using System.Windows;
using Aitex.Core.Common;
using Aitex.Core.Util;
using MECF.Framework.Common.WaferHolder;
using OpenSEMI.ClientBase;
using MECF.Framework.Common.Beckhoff.Station;
using CyberX8_MainPages.Unity;
using WaferInfo = OpenSEMI.ClientBase.WaferInfo;
using MECF.Framework.Common.Equipment;

namespace CyberX8_MainPages.ViewModels
{
    internal class SRDHomePageViewModel:BindableBase
    {
        #region 常量
        private const string COMMON_DATA = "CommonData";
        private const string PERSISTENT_VALUE = "PersistentValue";
        private const string WAFER_PRESENCE_STATUS = "WaferPresenceStatus";
        private const string SRD = "srd";
        private const string WAFER_HOLDER= "WaferHolder";
        private const string LOADER_DI_ENABLE = "LoaderDiEnable";
        private const string FACILITIES = "Facilities";
        private const string MOTION_DATA = "MotionData";
        private const double ARM_UI_HOME_POSITION = 25.682;
        private const double ARM_UI_CENTER_POSITION = -15;
        private const double ROTATION_UI_HOME_POSITION = 0;
        #endregion

        #region 内部变量

        #region SRD
        /// <summary>
        /// SRDRecipeContent
        /// </summary>
        private string _recipeContent;
        /// <summary>
        /// TimeRemaining 
        /// </summary>
        private double _timeRemaining;
        /// <summary>
        /// OfTotalTime 
        /// </summary>
        private double _totalTime;
        /// <summary>
        /// OperatingMode 
        /// </summary>
        private string _operatingMode;
        /// <summary>
        /// State
        /// </summary>
        private string _state;
        /// <summary>
        /// RecipeMode 
        /// </summary>
        private string _recipeMode;
        /// <summary>
        /// AchievedRunRecipeCycle
        /// </summary>
        private int _achievedRunRecipeCycle;
        /// <summary>
        /// Loader DI
        /// </summary>
        private bool _loaderDiEnable;
        #endregion

        #region wafer
        /// <summary>
        /// WaferID
        /// </summary>
        private string _waferID = "";
        /// <summary>
        /// SeqRecipe
        /// </summary>
        private string _seqRecipe;
        /// <summary>
        /// Wafer信息
        /// </summary>
        private WaferInfo _waferInfo;
        #endregion

        #region SRD recipe

        /// <summary>
        /// RecipeModuleName
        /// </summary>
        private string _recipeModuleName;

        /// <summary>
        /// RecipeType
        /// </summary>
        private string _recipeType;
        /// <summary>
        /// 当前选择Recipe节点
        /// </summary>
        private RecipeNode _selectedRecipeNode;
        /// <summary>
        /// Recipe节点
        /// </summary>
        private ObservableCollection<RecipeNode> _recipeNodes;
        // <summary>
        /// 当前Recipe
        /// </summary>
        private string _currentRecipe;
        #endregion

        #region Common
        /// <summary>
        /// 模块名称
        /// </summary>
        private string _module; 
        /// <summary>
        /// State Machine
        /// </summary>
        private string _stateMachine;
        /// <summary>
        /// Status
        /// </summary>
        private string _status;
        /// <summary>
        /// 数据
        /// </summary>
        private SrdCommonData _sRDCommonData;
        /// <summary>
        /// Threshold
        /// </summary>
        private SRDPersistentValue _sRDPersistent;
        /// <summary>
        /// WaferPresence
        /// </summary>
        private string _waferPresence;
        /// <summary>
        /// PresenceTest是否进行中
        /// </summary>
        private bool _isPresenceTesting;
        /// <summary>
        /// Test Without Wafers
        /// </summary>
        private bool _isWaferPresence;
        /// <summary>
        /// sRDArm运动数据
        /// </summary>
        private CommandMotionData _sRDArmMotionData;
        /// <summary>
        /// sRDRotation运动数据
        /// </summary>
        private CommandMotionData _sRDRotationMotionData;
        /// <summary>
        /// 页面功能启用
        /// </summary>
        private bool _isEnabled;
        /// <summary>
        /// AutoMode页面功能启用
        /// </summary>
        private bool _isAutoEnabled;
        #endregion

        #region 系统数据
        /// <summary>
        /// 定时器
        /// </summary>
        DispatcherTimer _timer;
        /// <summary>
        /// 查询后台数据集合
        /// </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>
        /// UiRecipeManager
        /// </summary>
        private UiRecipeManager _uiRecipeManager = new UiRecipeManager();
        #endregion

        #region UI related
        /// <summary>
        /// SRD Arm UI位置
        /// </summary>
        private double _srdArmUIPosition = ARM_UI_HOME_POSITION;
        /// <summary>
        /// SRD Rotation UI位置
        /// </summary>
        private double _srdRotationUIPosition = ROTATION_UI_HOME_POSITION;
        /// <summary>
        /// Arm Axis位置数据
        /// </summary>
        private BeckhoffStationAxis _armAxis;
        /// <summary>
        /// Arm UI位置比例
        /// </summary>
        private double _armUIRatio;
        #endregion
        #endregion

        #region 属性

        #region SRD
        /// <summary>
        /// SRDRecipeContent
        /// </summary>
        public string SRDRecipeContent
        {
            get { return _recipeContent; }
            set { SetProperty(ref _recipeContent, value); }
        }
        /// <summary>
        /// TimeRemaining 
        /// </summary>
        public double TimeRemaining
        {
            get { return _timeRemaining; }
            set { SetProperty(ref _timeRemaining, value); }
        }
        /// <summary>
        /// TotalTime  
        /// </summary>
        public double TotalTime
        {
            get { return _totalTime; }
            set { SetProperty(ref _totalTime, value); }
        }
        /// <summary>
        /// OperatingMode
        /// </summary>
        public string OperatingMode
        {
            get { return _operatingMode; }
            set { SetProperty(ref _operatingMode, value); }
        }
        /// <summary>
        /// State
        /// </summary>
        public string State
        {
            get { return _state; }
            set { SetProperty(ref _state, value); }
        }
        /// <summary>
        /// RecipeMode
        /// </summary>
        public string RecipeMode
        {
            get { return _recipeMode; }
            set { SetProperty(ref _recipeMode, value); }
        }
        /// <summary>
        /// Run Recipe已经完成的次数
        /// </summary>
        public int AchievedRunRecipeCycle
        {
            get { return _achievedRunRecipeCycle; }
            set { SetProperty(ref _achievedRunRecipeCycle, value); }
        }
        /// <summary>
        /// Loader DI
        /// </summary>
        public bool LoaderDiEnable 
        { 
            get { return _loaderDiEnable; } 
            set { SetProperty(ref _loaderDiEnable, value); } 
        }
        #endregion

        #region wafer
        /// <summary>
        /// WaferID
        /// </summary>
        public string WaferID
        {
            get { return _waferID; }
            set { SetProperty(ref _waferID, value); }
        }
        /// <summary>
        /// SeqRecipe
        /// </summary>
        public string SeqRecipe
        {
            get { return _seqRecipe; }
            set { SetProperty(ref _seqRecipe, value); }
        }
        /// <summary>
        /// Wafer信息
        /// </summary>
        public WaferInfo WaferInfo
        {
            get { return _waferInfo; }
            set { SetProperty(ref _waferInfo, value); }
        }
        #endregion

        #region SRD recipe
        /// <summary>
        /// RecipeModuleName
        /// </summary>
        public string RecipeModuleName
        {
            get { return _recipeModuleName; }
            set { SetProperty(ref _recipeModuleName, value); }
        }
        /// <summary>
        /// RecipeType
        /// </summary>
        public string RecipeType
        {
            get { return _recipeType; }
            set { SetProperty(ref _recipeType, value); }
        }
        /// <summary>
        /// 当前运行的Recipe
        /// </summary>
        public string CurrentRecipe
        {
            get { return _currentRecipe; }
            set { SetProperty(ref _currentRecipe, value); }
        }
        #endregion      

        #region Common
        /// <summary>
        /// 模块名称
        /// </summary>
        public string Module { get { return _module; } set { SetProperty(ref _module, value); } }
        /// <summary>
        /// StateMachine
        /// </summary>
        public string StateMachine
        {
            get { return _stateMachine; }
            set { SetProperty(ref _stateMachine, value); }
        }
            /// <summary>
            /// StateMachine
            /// </summary>
        public string Status
        {
            get { return _status; }
            set { SetProperty(ref _status, value); }
        }
        /// <summary>
        /// Commondata
        /// </summary>
        public SrdCommonData SRDCommonData
        {
            get { return _sRDCommonData; }
            set { SetProperty(ref _sRDCommonData, value); }
        }

        /// <summary>
        /// WaferPresence
        /// </summary>
        public string WaferPresence 
        { 
            get { return _waferPresence; }
            set { SetProperty(ref _waferPresence, value); }
        }

        /// <summary>
        /// Threshold
        /// </summary>
        public SRDPersistentValue SRDPersistent
        {
            get { return _sRDPersistent; }
            set { SetProperty(ref _sRDPersistent, value); }
        }
        /// <summary>
        /// Selected Recipe Node
        /// </summary>
        public RecipeNode SelectedRecipeNode
        {
            get { return _selectedRecipeNode; }
            set { SetProperty(ref _selectedRecipeNode, value); }
        }
        /// <summary>
        /// PresenceTest是否进行中
        /// </summary>
        public bool IsPresenceTesting
        {
            get { return _isPresenceTesting; }
            set { SetProperty(ref _isPresenceTesting, value); }
        }
        /// <summary>
        /// Test Without Wafers
        /// </summary>
        public bool IsWaferPresence
        {
            get { return _isWaferPresence; }
            set { SetProperty(ref _isWaferPresence, value); }
        }
        /// <summary>
        /// SRDArm运动数据
        /// </summary>
        public CommandMotionData SRDArmMotionData
        {
            get { return _sRDArmMotionData; }
            set { SetProperty(ref _sRDArmMotionData, value); }
        }
        /// <summary>
        /// SRDRotation运动数据
        /// </summary>
        public CommandMotionData SRDRotationMotionData
        {
            get { return _sRDRotationMotionData; }
            set { SetProperty(ref _sRDRotationMotionData, value); }
        }
        /// <summary>
        /// 页面功能启用
        /// </summary>
        public bool IsEnabled
        {
            get { return _isEnabled; }
            set { SetProperty(ref _isEnabled, value); }
        }
        /// <summary>
        /// AutoMode页面功能启用
        /// </summary>
        public bool IsAutoEnabled
        {
            get { return _isAutoEnabled; }
            set { SetProperty(ref _isAutoEnabled, value); }
        }
        #endregion

        #region UI related
        /// <summary>
        /// SRD ARM UI位置
        /// </summary>
        public double SRDArmUIPosition
        {
            get { return _srdArmUIPosition; }
            set { SetProperty(ref _srdArmUIPosition, value); }
        }
        /// <summary>
        /// SRD Rotation UI位置
        /// </summary>
        public double SRDRotationUIPosition
        {
            get { return _srdRotationUIPosition; }
            set { SetProperty(ref _srdRotationUIPosition, value); }
        }
        
        #endregion

        #endregion

        #region Command指令
        /// <summary>
        /// Initialize Command
        /// </summary>
        public ICommand InitializeCommand { get; set; }
        /// <summary>
        /// SwitchOn Command
        /// </summary>
        public ICommand SwitchOnCommand { get; set; }
        /// <summary>
        /// SwitchOff Command
        /// </summary>
        public ICommand SwitchOffCommand { get; set; }

        #endregion

        /// <summary>
        /// 构造函数
        /// </summary>
        public SRDHomePageViewModel()
        {
            InitializeCommand = new DelegateCommand<object>(InitializeAction);
            SwitchOnCommand = new DelegateCommand<object>(SwitchOnAction);
            SwitchOffCommand = new DelegateCommand<object>(SwitchOffAction);
        }

        /// <summary>
        /// 加载数据
        /// </summary>
        public void LoadData(string systemName)
        {
            Module = systemName;
            RecipeType = "srd";
            RecipeModuleName = "SRD Recipe";
            _rtDataKeys.Clear();
            _rtDataKeys.Add($"{Module}.IsHomed");
            _rtDataKeys.Add($"{Module}.{COMMON_DATA}");
            _rtDataKeys.Add($"{Module}.{PERSISTENT_VALUE}");
            _rtDataKeys.Add($"{Module}.{WAFER_PRESENCE_STATUS}");
            _rtDataKeys.Add($"{Module}.AchievedCycle");
            _rtDataKeys.Add($"{Module}.FsmState");
            _rtDataKeys.Add($"{Module}.CurrentStateMachine");
            _rtDataKeys.Add($"{Module}.CurrentStatus");
            _rtDataKeys.Add($"{Module}.WaferInfo");
            _rtDataKeys.Add($"{Module}.IsPresenceTesting");
            _rtDataKeys.Add($"{Module}.IsWaferPresence");
            _rtDataKeys.Add($"System.{FACILITIES}.{LOADER_DI_ENABLE}");
            _rtDataKeys.Add($"{Module}.Arm.{MOTION_DATA}");
            _rtDataKeys.Add($"{Module}.Rotation.{MOTION_DATA}");
            _rtDataKeys.Add($"Station.{Module}.Arm");
            _rtDataKeys.Add($"{Module}.CurrentRecipe");
            _rtDataKeys.Add($"{Module}.TotalTime");
            _rtDataKeys.Add($"{Module}.TimeRemain");

            if (_timer == null)
            {
                _timer = new DispatcherTimer();
                _timer.Interval = TimeSpan.FromMilliseconds(200);
                _timer.Tick += Timer_Tick; 
            }
            _timer.Start();

            _rtDataValueDic = QueryDataClient.Instance.Service.PollData(_rtDataKeys);
            if (_rtDataValueDic != null)
            {
                _armAxis = CommonFunction.GetValue<BeckhoffStationAxis>(_rtDataValueDic, $"Station.{Module}.Arm");
                //计算Arm位置比例
                if (_armAxis != null)
                {
                    double armHomePos = double.Parse(_armAxis.Stations[0].Position);
                    double armCenterPos = double.Parse(_armAxis.Stations[1].Position);
                    _armUIRatio = (ARM_UI_HOME_POSITION - ARM_UI_CENTER_POSITION) / (armHomePos - armCenterPos);
                }
                
            }
                       
        }
        /// <summary>
        /// 定时器执行
        /// </summary>
        /// <param name="sender"></param>
        /// <param name="e"></param>
        private void Timer_Tick(object sender, EventArgs e)
        {
            if (_rtDataKeys.Count != 0)
            {
                _rtDataValueDic = QueryDataClient.Instance.Service.PollData(_rtDataKeys);
                if (_rtDataValueDic != null)
                {
                    SRDCommonData = CommonFunction.GetValue<SrdCommonData>(_rtDataValueDic, $"{Module}.{COMMON_DATA}");
                    SRDPersistent = CommonFunction.GetValue<SRDPersistentValue>(_rtDataValueDic, $"{Module}.{PERSISTENT_VALUE}");
                    LoaderDiEnable = CommonFunction.GetValue<bool>(_rtDataValueDic, $"System.{FACILITIES}.{LOADER_DI_ENABLE}");
                    AchievedRunRecipeCycle = CommonFunction.GetValue<int>(_rtDataValueDic, $"{Module}.AchievedCycle");
                    WaferPresence = CommonFunction.GetValue<string>(_rtDataValueDic, $"{Module}.{WAFER_PRESENCE_STATUS}");
                    State = CommonFunction.GetValue<string>(_rtDataValueDic, $"{Module}.FsmState");
                    CurrentRecipe = CommonFunction.GetValue<string>(_rtDataValueDic, $"{Module}.CurrentRecipe");
                    IsWaferPresence = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{Module}.IsWaferPresence");
                    if (SRDPersistent != null)
                    {
                        if ("Manual".Equals(SRDPersistent.OperatingMode))
                        {
                            IsEnabled = true;
                            IsAutoEnabled = true;
                        }
                        else if ("Auto".Equals(SRDPersistent.OperatingMode))
                        {
                            if (!IsWaferPresence)
                            {                                
                                InvokeClient.Instance.Service.DoOperation($"{Module}.UpdateIsWaferPresenceAction", true);
                            }
                            IsAutoEnabled = true;
                            IsEnabled = false;
                        }
                        else
                        {
                            State = "Stopped";
                            IsEnabled = false;
                            IsAutoEnabled = false;
                        }
                    }

                    StateMachine = CommonFunction.GetValue<string>(_rtDataValueDic, $"{Module}.CurrentStateMachine");
                    Status = CommonFunction.GetValue<string>(_rtDataValueDic, $"{Module}.CurrentStatus");
                    IsPresenceTesting = CommonFunction.GetValue<bool>(_rtDataValueDic, $"{Module}.IsPresenceTesting");
                                      
                    SRDArmMotionData = CommonFunction.GetValue<CommandMotionData>(_rtDataValueDic, $"{Module}.Arm.{MOTION_DATA}");
                    SRDRotationMotionData = CommonFunction.GetValue<CommandMotionData>(_rtDataValueDic, $"{Module}.Rotation.{MOTION_DATA}");
                    //SRD Wafer信息
                    if (ModuleManager.ModuleInfos[Module].WaferManager.Wafers.Count != 0)
                    {
                        WaferInfo = ModuleManager.ModuleInfos[Module].WaferManager.Wafers[0];
                    }
                    //计算ARM UI位置
                    if (SRDArmMotionData != null)
                    {
                        SRDArmUIPosition = ARM_UI_HOME_POSITION + _armUIRatio * SRDArmMotionData.MotorPosition;
                    }
                    //计算Rotation UI位置
                    if (SRDRotationMotionData != null)
                    {
                        SRDRotationUIPosition = SRDRotationMotionData.MotorPosition;
                    }
                    TotalTime = CommonFunction.GetValue<int>(_rtDataValueDic, $"{Module}.TotalTime");
                    TimeRemaining = CommonFunction.GetValue<int>(_rtDataValueDic, $"{Module}.TimeRemain");
                    if (State == "Idle")
                    {
                        TimeRemaining = 0;
                    }
                }
            }
        }
        /// <summary>
        /// 隐藏
        /// </summary>
        public void Hide()
        {
            if (_timer != null)
            {
                _timer.Stop();
            }
        }

        #region 指令Action
        /// <summary>
        /// Home Action
        /// </summary>
        /// <param name="param"></param>
        private void HomeAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation($"{Module}.HomeAll");
        }

        /// <summary>
        /// Initialize Action
        /// </summary>
        /// <param name="param"></param>
        private void InitializeAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation($"{Module}.InitializeHome");
        }
        /// <summary>
        /// Switch On Action
        /// </summary>
        /// <param name="param"></param>
        private void SwitchOnAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation($"{Module}.SwitchOnAll");
        }
        /// <summary>
        /// Switch Off Action
        /// </summary>
        /// <param name="param"></param>
        private void SwitchOffAction(object param)
        {
            InvokeClient.Instance.Service.DoOperation($"{Module}.SwitchOffAll");
        }
        #endregion
    }
}