ZZ-EFEM/Framework/AitexSorterUI/Controls/AtmRobotMultiLP.xaml.cs

using Aitex.Core.Common;
using Aitex.Core.UI.MVVM;
using Aitex.Sorter.UI.Controls.Common;
using MECF.Framework.Common.Equipment;
using System;
using System.Collections.Generic;
using System.ComponentModel;
using System.Linq;
using System.Threading;
using System.Windows;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using System.Windows.Media.Animation;

namespace Aitex.Sorter.UI.Controls
{
	/// <summary>
	/// AtmRobotMultiLP.xaml 的交互逻辑
	/// </summary>
	public partial class AtmRobotMultiLP : UserControl, INotifyPropertyChanged
	{
		protected readonly int MoveTime = 300;
		private const int AnimationTimeout = 3000; // seconds

		public int RotateAngle
		{
			get { return (int)GetValue(RotateAngleProperty); }
			set { SetValue(RotateAngleProperty, value); }
		}

		// Using a DependencyProperty as the backing store for RotateAngel.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty RotateAngleProperty =
			DependencyProperty.Register("RotateAngel", typeof(int), typeof(AtmRobotMultiLP), new PropertyMetadata(0));

		public ModuleName Station
		{
			get { return (ModuleName)GetValue(StationProperty); }
			set { SetValue(StationProperty, value); }
		}

		// Using a DependencyProperty as the backing store for Station.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty StationProperty =
			DependencyProperty.Register("Station", typeof(ModuleName), typeof(AtmRobotMultiLP), new PropertyMetadata(ModuleName.Robot));

		public ICommand Command
		{
			get { return (ICommand)GetValue(CommandProperty); }
			set { SetValue(CommandProperty, value); }
		}

		// Using a DependencyProperty as the backing store for Command.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty CommandProperty =
			DependencyProperty.Register("Command", typeof(ICommand), typeof(AtmRobotMultiLP), new PropertyMetadata(null));

		public string RobotBladeTarget
		{
			get { return (string)GetValue(RobotBladeTargetProperty); }
			set { SetValue(RobotBladeTargetProperty, value); }
		}

		public static readonly DependencyProperty RobotBladeTargetProperty =
			DependencyProperty.Register("RobotBladeTarget", typeof(string), typeof(AtmRobotMultiLP), new FrameworkPropertyMetadata(null, FrameworkPropertyMetadataOptions.AffectsRender));

		public Dictionary<string, StationPosition> StationPosition
		{
			get { return (Dictionary<string, StationPosition>)GetValue(StationPositionProperty); }
			set { SetValue(StationPositionProperty, value); }
		}

		// Using a DependencyProperty as the backing store for StationPosition.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty StationPositionProperty =
			DependencyProperty.Register("StationPosition", typeof(Dictionary<string, StationPosition>), typeof(AtmRobotMultiLP), new PropertyMetadata(null, StationPositionChangedCallback));

		public bool ShowDock
		{
			get { return (bool)GetValue(ShowDockProperty); }
			set { SetValue(ShowDockProperty, value); }
		}

		// Using a DependencyProperty as the backing store for ShowDock.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty ShowDockProperty =
			DependencyProperty.Register("ShowDock", typeof(bool), typeof(AtmRobotMultiLP), new PropertyMetadata(false));

		public WaferInfo[] RobotWafers
		{
			get { return (WaferInfo[])GetValue(RobotWafersProperty); }
			set { SetValue(RobotWafersProperty, value); }
		}

		// Using a DependencyProperty as the backing store for RobotWafers.  This enables animation, styling, binding, etc...
		public static readonly DependencyProperty RobotWafersProperty =
			DependencyProperty.Register("RobotWafers", typeof(WaferInfo[]), typeof(AtmRobotMultiLP), new PropertyMetadata(null));

		private string CurrentPosition
		{
			get; set;
		}

		private List<MenuItem> menu;
		public List<MenuItem> Menu
		{
			get
			{
				return menu;
			}
			set
			{
				menu = value;
				PropertyChanged?.Invoke(this, new PropertyChangedEventArgs("Menu"));
			}
		}

		public ICommand MoveCommand
		{
			get
			{
				return new DelegateCommand<string>(MoveTo);
			}
		}

		private AnimationQueue queue;

		public event PropertyChangedEventHandler PropertyChanged;

		static void StationPositionChangedCallback(DependencyObject d, DependencyPropertyChangedEventArgs e)
		{
			var self = (AtmRobotMultiLP)d;
			var positions = (Dictionary<string, StationPosition>)e.NewValue;
			self.Menu = positions.Select(x => new MenuItem() { Header = x.Key, Command = self.MoveCommand, CommandParameter = x.Key }).ToList();
		}

		public AtmRobotMultiLP()
		{
#if DEBUG
			System.Diagnostics.PresentationTraceSources.DataBindingSource.Switch.Level = System.Diagnostics.SourceLevels.Critical;
#endif
			InitializeComponent();
			root.DataContext = this;

			queue = new AnimationQueue("Robot Animation");
			queue.StatusUpdated += Queue_StatusUpdated;

			canvas1.Rotate(90);
			canvas2.Rotate(180);
			canvas3.Rotate(180);

			CurrentPosition = ModuleName.System.ToString();
		}

		protected override void OnRender(DrawingContext drawingContext)
		{
			base.OnRender(drawingContext);

			if (DesignerProperties.GetIsInDesignMode(this))
			{
				return;
			}

			if (RobotBladeTarget != null)
			{
				queue.EnqueueStatus(new AnimationParameter() { Target = RobotBladeTarget });
			}
		}

		private void Queue_StatusUpdated(object sender, StatusUpdateArgs e)
		{
			LogMsg(string.Format("Target: {0} - {1}", CurrentPosition, e.Parameter.Target));

			var nextEvent = new AutoResetEvent(false);

			var next = new Action(() =>
			{
				nextEvent.Set();
			});

			var wait = new Action(() =>
			{
				if (!nextEvent.WaitOne(AnimationTimeout))
				{
					LogMsg("Aniamtion time out!");
				}
			});

			var done = new Action(() =>
			{
				CurrentPosition = e.Parameter.Target;
				e.Event.Set();
			});

			var needMove = CurrentPosition != e.Parameter.Target;

			if (needMove)
			{
				Invoke(() => MoveRobot(e.Parameter.Target, next));
				wait();
			}

			done();
		}

		private void MoveRobot(string target, Action onComplete = null)
		{
			MoveToStart(CurrentPosition, () => TranslateTo(target, () => RetractArm(() => MoveToStart(target, () => MoveToEnd(target, onComplete)))));
		}

		private void RetractArm(Action onComplete = null)
		{
			canvas2.Rotate(180, true, 50, 0, 0, onComplete);
			canvas3.Rotate(180, true);
		}

		private void MoveToStart(string station, Action onComplete = null)
		{
			var position = StationPosition[station];
			canvas1.Rotate(position.StartPosition.Root, true, MoveTime, 0, 0, onComplete);
			canvas2.Rotate(position.StartPosition.Arm, true, MoveTime);
			canvas3.Rotate(position.StartPosition.Hand, true, MoveTime);
			CurrentPosition = station;
		}

		private void MoveToEnd(string station, Action onComplete = null)
		{
			var position = StationPosition[station];
			canvas1.Rotate(position.EndPosition.Root, true, MoveTime, 0, 0, onComplete);
			canvas2.Rotate(position.EndPosition.Arm, true, MoveTime);
			canvas3.Rotate(position.EndPosition.Hand, true, MoveTime);
			CurrentPosition = station;
		}

		private void TranslateTo(string station, Action onComplete = null)
		{
			var position = StationPosition[station];
			if (position.StartPosition.X.HasValue)
			{
				Translate(position.StartPosition.X.Value, onComplete);
			}
			else
			{
				onComplete?.Invoke();
			}
		}

		private void Translate(int x, Action onComplete = null)
		{
			var storyBoard = new Storyboard();
			var oldX = translate.X;
			var animation = new DoubleAnimation(oldX, x, TimeSpan.FromMilliseconds(MoveTime));
			storyBoard.Children.Add(animation);
			Storyboard.SetTarget(animation, root);
			var propertyChain = new DependencyProperty[]
					{
						Canvas.RenderTransformProperty,
						TransformGroup.ChildrenProperty,
						TranslateTransform.XProperty
					};
			string thePath = "(0).(1)[1].(2)";
			PropertyPath myPropertyPath = new PropertyPath(thePath, propertyChain);
			Storyboard.SetTargetProperty(animation, myPropertyPath);
			storyBoard.Completed += (s, e) =>
			{
				//InvalidateVisual();
				if (onComplete != null)
				{
					onComplete();
				}
			};
			storyBoard.Begin();
		}

		private void MoveTo(string target)
		{
			MoveRobot(target);
		}

		private void Invoke(Action action)
		{
			Dispatcher.Invoke(action);
		}

		private void LogMsg(string msg)
		{
			var source = "Robot";
			Console.WriteLine("{0} {1}", source, msg);
		}
	}

	public enum BladeStatusMultiLP
	{
		Extend,
		Retract
	}

	public class RobotPosition
	{
		public int? X;
		public int Root;
		public int Arm;
		public int Hand;
	}

	public class StationPosition
	{
		public RobotPosition StartPosition;
		public RobotPosition EndPosition;
	}
}