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using System;
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using System.Collections.Generic;
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using System.Collections.ObjectModel;
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using System.IO;
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using System.Linq;
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using System.Threading;
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using System.Windows;
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using System.Windows.Forms;
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using System.Windows.Input;
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using GummingCommon;
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using GummingEntity;
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using GummingSupport;
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using GummingControl;
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using System.Text;
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using GummingBusiness;
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using Newtonsoft.Json;
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using GummingLine;
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using System.Threading.Tasks;
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namespace Gumming
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{
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public class RobotStatusViewModule : ViewModelBase
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{
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#region base parameters
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private int rows = 20;
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private int pagenumber = 1;
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public RobotStatusView View { get; set; }
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private bool IsConfirm;
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private bool isLoading;
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#endregion
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#region constructor
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public RobotStatusViewModule()
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{
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View = new RobotStatusView();
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View.DataContext = this;
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Status = new int[5];
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InitializeCommands();
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InitializeParameters();
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LoadTimer();
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RobotAxises = new ObservableCollection<ComboEntity>();
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RobotAxises.Add(new ComboEntity() { RecId = "T", ComboCode = "T", ComboName = "T" });
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RobotAxises.Add(new ComboEntity() { RecId = "Z", ComboCode = "Z", ComboName = "Z" });
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RobotAxises.Add(new ComboEntity() { RecId = "R", ComboCode = "R", ComboName = "R" });
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RobotAxises.Add(new ComboEntity() { RecId = "W", ComboCode = "W", ComboName = "W" });
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SelectedRobotAxis = RobotAxises[0];
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}
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private void InitializeCommands()
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{
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AddCommand = new DelegateCommand(OnAddCommand);
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MintusCommand = new DelegateCommand(OnMintusCommand);
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SpeedCommand = new DelegateCommand(OnSpeedCommand);
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}
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public override void InitializeParameters(object content = null)
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{
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IsConfirm = false;
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WindowTitle = "";
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}
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~RobotStatusViewModule()
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{
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}
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public void LoadDefaultValue()
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{
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}
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public void OnMoveSpeedTextChangedCommand(string value)
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{
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MoveSpeed = Common.ToInt(value);
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}
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private void LoadTimer()
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{
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Thread tr = new Thread(new ThreadStart((Action)(() =>
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{
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string message;
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HardRobotCommandEntity command;
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while (!Global.IsTermination)
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{
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try
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{
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if (this.IsActiveChildPage)
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{
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View.Dispatcher.Invoke((Action)(() =>
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{
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ErrorCode = Global.RobotErrorCode;
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ErrorInfo = Global.RobotErrorMessage;
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ErrorCause = Global.RobotErrorCause;
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ErrorWay = Global.RobotErrorWay;
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}));
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command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.STAT);
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message = Robot.Send(command.CommandCode);
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View.Dispatcher.Invoke((Action)(() =>
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{
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CurrentStatus = message;
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}));
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command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.RCP);
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message = Robot.Send(string.Format("{0} {1}", command.CommandCode, command.CommandParam));
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string[] messages = message.Split(',');
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View.Dispatcher.Invoke((Action)(() =>
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{
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CoordTRead = messages.Length > 0 ? Common.ToDecimal(messages[0]) : 0;
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CoordRRead = messages.Length > 2 ? Common.ToDecimal(messages[1]) : 0;
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CoordZRead = messages.Length > 1 ? Common.ToDecimal(messages[2]) : 0;
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CoordLRead = messages.Length > 3 ? Common.ToDecimal(messages[3]) : 0;
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}));
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command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.RSPP);
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message = Robot.Send(string.Format("{0} {1}", command.CommandCode, command.CommandParam));
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string[] speeds = message.Split(',');
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View.Dispatcher.Invoke((Action)(() =>
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{
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MoveSpeedRead = (speeds.Length > 0 && speeds[0] != ">" ? Common.ToInt(speeds[0]) : 0);
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}));
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}
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}
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catch (Exception ex)
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{
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Global.WriteErrorLog(ex);
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}
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Thread.Sleep(5000);
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}
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})));
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tr.IsBackground = true;
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tr.Start();
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}
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#endregion
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#region Binding Properties
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public string WindowTitle { get; private set; }
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private int[] _Status;
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public int[] Status
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{
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get
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{
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return _Status;
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}
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set
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{
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_Status = value;
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OnPropertyChanged("Status");
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}
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}
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private string _ControlName;
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public string ControlName
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{
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get
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{
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return _ControlName;
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}
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set
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{
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_ControlName = value;
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OnPropertyChanged("ControlName");
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}
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}
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private string _ErrorCode;
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public string ErrorCode
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{
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get
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{
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return _ErrorCode;
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}
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set
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{
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_ErrorCode = value;
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OnPropertyChanged("ErrorCode");
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}
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}
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private string _CurrentStatus;
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public string CurrentStatus
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{
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get
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{
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return _CurrentStatus;
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}
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set
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{
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_CurrentStatus = value;
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OnPropertyChanged("CurrentStatus");
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}
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}
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private decimal _CoordTRead;
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public decimal CoordTRead
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{
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get
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{
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return _CoordTRead;
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}
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set
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{
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_CoordTRead = value;
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OnPropertyChanged("CoordTRead");
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}
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}
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private decimal _CoordZRead;
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public decimal CoordZRead
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{
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get
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{
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return _CoordZRead;
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}
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set
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{
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_CoordZRead = value;
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OnPropertyChanged("CoordZRead");
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}
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}
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private string _ErrorCause;
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public string ErrorCause
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{
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get
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{
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return _ErrorCause;
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}
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set
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{
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_ErrorCause = value;
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OnPropertyChanged("ErrorCause");
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}
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}
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private string _ErrorWay;
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public string ErrorWay
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{
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get
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{
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return _ErrorWay;
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}
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set
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{
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_ErrorWay = value;
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OnPropertyChanged("ErrorWay");
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}
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}
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private string _ErrorInfo;
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public string ErrorInfo
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{
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get
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{
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return _ErrorInfo;
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}
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set
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{
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_ErrorInfo = value;
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OnPropertyChanged("ErrorInfo");
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}
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}
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private bool _ProgressEnabled;
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public bool ProgressEnabled
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{
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get
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{
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return _ProgressEnabled;
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}
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set
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{
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_ProgressEnabled = value;
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OnPropertyChanged("ProgressEnabled");
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}
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}
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private decimal _CoordRRead;
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public decimal CoordRRead
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{
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get
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{
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return _CoordRRead;
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}
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set
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{
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_CoordRRead = value;
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OnPropertyChanged("CoordRRead");
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}
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}
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private decimal _CoordLRead;
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public decimal CoordLRead
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{
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get
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{
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return _CoordLRead;
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}
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set
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{
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_CoordLRead = value;
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OnPropertyChanged("CoordLRead");
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}
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}
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private decimal _CoordTWrite;
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public decimal CoordTWrite
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{
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get
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{
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return _CoordTWrite;
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}
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set
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{
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_CoordTWrite = value;
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OnPropertyChanged("CoordTWrite");
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}
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}
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private decimal _CoordZWrite;
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public decimal CoordZWrite
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{
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get
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{
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return _CoordZWrite;
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}
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set
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{
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_CoordZWrite = value;
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OnPropertyChanged("CoordZWrite");
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}
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}
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private decimal _CoordRWrite;
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public decimal CoordRWrite
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{
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get
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{
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return _CoordRWrite;
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}
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set
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{
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_CoordRWrite = value;
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OnPropertyChanged("CoordRWrite");
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}
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}
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private decimal _CoordLWrite;
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public decimal CoordLWrite
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{
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get
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{
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return _CoordLWrite;
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}
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set
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{
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_CoordLWrite = value;
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OnPropertyChanged("CoordLWrite");
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}
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}
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private int _MoveSpeed;
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public int MoveSpeed
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{
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get
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{
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return _MoveSpeed;
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}
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set
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{
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_MoveSpeed = value;
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OnPropertyChanged("MoveSpeed");
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}
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}
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private int _MoveSpeedRead;
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public int MoveSpeedRead
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{
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get
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{
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return _MoveSpeedRead;
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}
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set
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{
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_MoveSpeedRead = value;
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OnPropertyChanged("MoveSpeedRead");
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}
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}
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private ObservableCollection<ComboEntity> _RobotAxises;
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public ObservableCollection<ComboEntity> RobotAxises
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{
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get
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{
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return _RobotAxises;
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}
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set
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{
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_RobotAxises = value;
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OnPropertyChanged("RobotAxises");
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}
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}
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private ComboEntity _SelectedRobotAxis;
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public ComboEntity SelectedRobotAxis
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{
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get
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{
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return _SelectedRobotAxis;
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}
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set
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{
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_SelectedRobotAxis = value;
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OnPropertyChanged("SelectedRobotAxis");
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}
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}
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private double _MovePosition;
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public double MovePosition
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{
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get
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{
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return _MovePosition;
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}
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set
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{
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_MovePosition = value;
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OnPropertyChanged("MovePosition");
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}
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}
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#endregion
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#region Binding Commands
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private ICommand _MintusCommand;
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public ICommand MintusCommand
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{
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get
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{
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return _MintusCommand;
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}
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set
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{
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_MintusCommand = value;
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OnPropertyChanged("MintusCommand");
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}
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}
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private ICommand _AddCommand;
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public ICommand AddCommand
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{
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get
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{
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return _AddCommand;
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}
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set
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{
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_AddCommand = value;
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OnPropertyChanged("AddCommand");
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}
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}
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private ICommand _SpeedCommand;
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public ICommand SpeedCommand
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{
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get
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{
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return _SpeedCommand;
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}
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set
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{
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_SpeedCommand = value;
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OnPropertyChanged("SpeedCommand");
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}
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}
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#endregion
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#region Private Methods
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private void OnAddCommand(Object sender)
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{
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if (Helpering.IsRunning)
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{
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ShowErrorBox(string.Format("<22>䷽<EFBFBD><E4B7BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
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return;
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}
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if (SelectedRobotAxis == null)
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{
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ShowMessageBox(string.Format("<22><>ѡ<EFBFBD><D1A1>Ҫ<EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>"));
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return;
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}
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int statusIndex = 0;
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if (Status[statusIndex] == 1)
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{
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return;
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}
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int CanNext = 0;
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Status[statusIndex] = 1;
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OnPropertyChanged("Status");
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Thread tr = new Thread(new ThreadStart((Action)(() =>
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{
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try
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{
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var command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.MOVR);
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var message = Robot.Send(string.Format("{0} {1},{2}", command.CommandCode, SelectedRobotAxis.ComboCode, MovePosition));
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CanNext = 2;
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}
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catch
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{
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CanNext = 1;
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}
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})));
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tr.IsBackground = true;
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tr.Start();
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//<2F>ȴ<EFBFBD><C8B4><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
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while (CanNext == 0)
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{
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Helpering.Sleep(100);
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}
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Status[statusIndex] = 0;
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OnPropertyChanged("Status");
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}
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private void OnMintusCommand(Object sender)
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{
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if (Helpering.IsRunning)
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{
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ShowErrorBox(string.Format("<22>䷽<EFBFBD><E4B7BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
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return;
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}
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|
if (SelectedRobotAxis == null)
|
|
|
{
|
|
|
ShowMessageBox(string.Format("<22><>ѡ<EFBFBD><D1A1>Ҫ<EFBFBD>ƶ<EFBFBD><C6B6><EFBFBD><EFBFBD><EFBFBD>"));
|
|
|
return;
|
|
|
}
|
|
|
int statusIndex = 1;
|
|
|
if (Status[statusIndex] == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
int CanNext = 0;
|
|
|
Status[statusIndex] = 1;
|
|
|
OnPropertyChanged("Status");
|
|
|
Thread tr = new Thread(new ThreadStart((Action)(() =>
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
var command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.MOVR);
|
|
|
var message = Robot.Send(string.Format("{0} {1},-{2}", command.CommandCode, SelectedRobotAxis.ComboCode, MovePosition));
|
|
|
|
|
|
CanNext = 2;
|
|
|
}
|
|
|
catch
|
|
|
{
|
|
|
CanNext = 1;
|
|
|
}
|
|
|
})));
|
|
|
tr.IsBackground = true;
|
|
|
tr.Start();
|
|
|
//<2F>ȴ<EFBFBD><C8B4><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
|
|
|
while (CanNext == 0)
|
|
|
{
|
|
|
Helpering.Sleep(100);
|
|
|
}
|
|
|
Status[statusIndex] = 0;
|
|
|
OnPropertyChanged("Status");
|
|
|
}
|
|
|
public void OnSpeedCommand(Object sender)
|
|
|
{
|
|
|
if (Helpering.IsRunning)
|
|
|
{
|
|
|
ShowErrorBox(string.Format("<22>䷽<EFBFBD><E4B7BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD><D6B6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
|
|
|
return;
|
|
|
}
|
|
|
int statusIndex = 3;
|
|
|
if (Status[statusIndex] == 1)
|
|
|
{
|
|
|
return;
|
|
|
}
|
|
|
int CanNext = 0;
|
|
|
Status[statusIndex] = 1;
|
|
|
OnPropertyChanged("Status");
|
|
|
Thread tr = new Thread(new ThreadStart((Action)(() =>
|
|
|
{
|
|
|
try
|
|
|
{
|
|
|
var command = Global.RobotCommands.FirstOrDefault(q => q.CommandCode == Constant.SSPP);
|
|
|
var message = Robot.Send(string.Format("{0} {1},{2},{2},{2},{2}", command.CommandCode, command.CommandParam, MoveSpeed));
|
|
|
|
|
|
CanNext = 2;
|
|
|
}
|
|
|
catch
|
|
|
{
|
|
|
CanNext = 1;
|
|
|
}
|
|
|
})));
|
|
|
tr.IsBackground = true;
|
|
|
tr.Start();
|
|
|
//<2F>ȴ<EFBFBD><C8B4><EFBFBD>Ϣ<EFBFBD><CFA2><EFBFBD><EFBFBD>
|
|
|
while (CanNext == 0)
|
|
|
{
|
|
|
Helpering.Sleep(100);
|
|
|
}
|
|
|
Status[statusIndex] = 0;
|
|
|
OnPropertyChanged("Status");
|
|
|
}
|
|
|
#endregion
|
|
|
}
|
|
|
}
|
