OHV/Dev/OHV/OHV.Module.Interactivity/PopUp/LockServoViewModel.cs

using OHV.Common.Events;
using OHV.Common.Model;
using OHV.Common.Shareds;
using OHV.SqliteDAL;
using Prism.Commands;
using Prism.Events;
using Prism.Mvvm;
using Prism.Services.Dialogs;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Input;
using System.Windows.Media;
using static OHV.Common.Events.AxisControlEventArgs;

namespace OHV.Module.Interactivity.PopUp
{
    public class LockServoViewModel : BindableBase, IDialogAware
    {
        private DelegateCommand<string> _closeDialogCommand;
        public DelegateCommand<string> CloseDialogCommand =>
            _closeDialogCommand ?? ( _closeDialogCommand = new DelegateCommand<string>( CloseDialog ) );

        private string _title = "LockServoView";
        public string Title
        {
            get { return this._title; }
            set
            {
                this.SetProperty( ref this._title , value );
            }
        }

        private string _selectAxis = string.Empty;
        public string SelectAxis
        {
            get => this._selectAxis;
            set { this.SetProperty( ref this._selectAxis , value ); }
        }

        private string _selectedPosition = string.Empty;
        public string SelectedPosition
        {
            get => this._selectedPosition;
            set
            {
                this.SetProperty( ref this._selectedPosition , value );
            }
        }

        double _jogVelocity = 5;
        public double JogVelocity
        {
            get { return this._jogVelocity; }
            set { this.SetProperty( ref this._jogVelocity , value ); }
        }

        #region Binding Lock Left
        private double _targetPosLockLeft;
        public double TargetPosLockLeft
        {
            get { return this._targetPosLockLeft; }
            set { this.SetProperty( ref this._targetPosLockLeft , value ); }
        }

        private double _currentLockLeft;
        public double CurrentLockLeft
        {
            get { return this._currentLockLeft; }
            set { this.SetProperty( ref this._currentLockLeft , value ); }
        }

        private double _differenceLockLeft;
        public double DifferenceLockLeft
        {
            get { return this._differenceLockLeft; }
            set { this.SetProperty( ref this._differenceLockLeft , value ); }
        }

        Brush _leftAxisBrush = Brushes.Gray;
        public Brush LeftAxisBrush
        {
            get { return this._leftAxisBrush; }
            set { SetProperty( ref this._leftAxisBrush , value ); }
        }

        private Brush posLockBrush = Brushes.Gray;

        public Brush PosLockBrush
        {
            get { return posLockBrush; }
            set { SetProperty( ref this.posLockBrush , value ); }
        }

        private bool isLeftServoOn;

        public bool IsLeftServoOn
        {
            get { return isLeftServoOn; }
            set { SetProperty( ref isLeftServoOn , value ); }
        }

        private bool isLeftServoOriginReturn;

        public bool IsLeftServoOriginReturn
        {
            get { return isLeftServoOriginReturn; }
            set { SetProperty( ref isLeftServoOriginReturn , value ); }
        }

        private bool isLeftServoFalut;

        public bool IsLeftServoFault
        {
            get { return isLeftServoFalut; }
            set { SetProperty( ref isLeftServoFalut , value ); }
        }
        #endregion

        #region Binding Lock Right
        private double _targetPosLockRight;
        public double TargetPosLockRight
        {
            get { return this._targetPosLockRight; }
            set { this.SetProperty( ref this._targetPosLockRight , value ); }
        }

        private double _currentLockRight;
        public double CurrentLockRight
        {
            get { return this._currentLockRight; }
            set { this.SetProperty( ref this._currentLockRight , value ); }
        }

        private double _differenceLockRight;
        public double DifferenceLockRight
        {
            get { return this._differenceLockRight; }
            set { this.SetProperty( ref this._differenceLockRight , value ); }
        }

        Brush _rightAxisBrush = Brushes.Gray;
        public Brush RightAxisBrush
        {
            get { return this._rightAxisBrush; }
            set { SetProperty( ref this._rightAxisBrush , value ); }
        }

        private Brush posUnlockBursh = Brushes.Gray;

        public Brush PosUnlockBrush
        {
            get { return posUnlockBursh; }
            set { SetProperty( ref this.posUnlockBursh , value ); }
        }

        private bool isRightServoOn;
        public bool IsRightServoOn
        {
            get { return isRightServoOn; }
            set { SetProperty( ref isRightServoOn , value ); }
        }

        private bool isRightServoOriginReturn;

        public bool IsRightServoOriginReturn
        {
            get { return isRightServoOriginReturn; }
            set { SetProperty( ref isRightServoOriginReturn , value ); }
        }

        private bool isRightServoFalut;

        public bool IsRightServoFault
        {
            get { return isRightServoFalut; }
            set { SetProperty( ref isRightServoFalut , value ); }
        }

        #endregion

        #region ICommand
        public ICommand SelectAxisCommand { get; set; }
        public ICommand KeyInTargetPosCommand { get; set; }
        public ICommand SelectPosCommand { get; set; }
        public ICommand MoveToCommand { get; set; }
        public ICommand CurrentToTargetCommand { get; set; }
        public ICommand ServoOnCommand { get; set; }
        public ICommand ServoOffCommand { get; set; }
        public ICommand FaultResetCommand { get; set; }
        public ICommand OriginCommand { get; set; }
        public ICommand JogCommand { get; set; }
        public ICommand SelectedPosDataSave { get; set; }
        public ICommand JogVelPopupCommand { get; set; }
        public ICommand JogStopCommand { get; set; } 
        public ICommand AllOriginCommand { get; set; }
        #endregion

        public event Action<IDialogResult> RequestClose;

        IEventAggregator eventAggregator;
        MessageController messageController;
        SqliteManager sql;

        public LockServoViewModel( IEventAggregator ea , MessageController _messageController , SqliteManager _sql )
        {
            this.SelectAxisCommand = new DelegateCommand<object>( ExecuteSelectAxisCommand );
            this.SelectPosCommand = new DelegateCommand<object>( ExecuteSelectPosCommand );
            this.MoveToCommand = new DelegateCommand( ExecuteMoveToCommand );
            this.CurrentToTargetCommand = new DelegateCommand( ExecuteCurrentToTargetCommand );
            this.KeyInTargetPosCommand = new DelegateCommand<object>( ExecuteKeyInCommand );

            this.ServoOnCommand = new DelegateCommand<object>( ExecuteServoOnCommand );
            this.ServoOffCommand = new DelegateCommand<object>( ExecuteServoOffCommand );
            this.FaultResetCommand = new DelegateCommand<object>( ExecuteFaultResetCommand );
            this.OriginCommand = new DelegateCommand<object>( ExecuteOriginCommand );
            this.AllOriginCommand = new DelegateCommand( ExecuteAllOriginCommand );

            this.SelectedPosDataSave = new DelegateCommand<object>( ExecuteSelectedPosDataSave );
            this.JogCommand = new DelegateCommand<object>( ExecuteJogCommand );
            this.JogVelPopupCommand = new DelegateCommand( ExecuteJogVelPopup );
            this.JogStopCommand = new DelegateCommand( ExecuteJogStop );

            this.eventAggregator = ea;
            this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Unsubscribe( AxisUICallbackCommunication );
            this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Subscribe( AxisUICallbackCommunication , ThreadOption.UIThread );

            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Unsubscribe( UICallbackCommunication );
            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Subscribe( UICallbackCommunication , ThreadOption.UIThread );

            this.messageController = _messageController;

            this.sql = _sql;

            //초기 선택 축
        }

        private void ExecuteAllOriginCommand( )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.AllOriginReturn ,
            };

            this.PublishEvent( msg );
        }

        public void Init()
        {
            this.SelectAxis = ConstString.AXIS_CARRIER_LOCK_LEFT;
            this.LeftAxisBrush = Brushes.Orange;

            List<AxisPositionData> positionList = null;
            positionList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).ToList();
            this.TargetPosLockLeft = positionList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single().Value;

            //초기 Pos 선택
            positionList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).ToList();
            this.TargetPosLockRight = positionList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single().Value;

            this.SelectedPosition = ConstString.TEACH_POSITION_LOCK;
            this.PosLockBrush = Brushes.Orange;
        }

        public void ExecuteJogStop( )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.Stop,
                AxisName = this.SelectAxis ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteJogVelPopup( )
        {
            var numPad = new CalcuratorView();
            var result = numPad.ShowDialog( this.JogVelocity );

            this.JogVelocity = result;
        }

        private void UICallbackCommunication( GUIMessageEventArgs obj )
        {
            if ( obj.Kind == GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange )
            {
                if ( obj.MessageKey.Equals( MessageKey.Vehicle ) )
                {

                }
            }
        }

        private void ExecuteSelectedPosDataSave( object obj )
        {
            List<AxisPositionData> dataList = null;

            this.messageController.ShowConfirmationPopupView( "Position Data Save ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                    switch ( this.SelectedPosition )
                    {
                        case ConstString.TEACH_POSITION_LOCK:
                            dataList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).ToList();
                            break;
                        case ConstString.TEACH_POSITION_UNLOCK:
                            dataList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_UNLOCK ) ).ToList();
                            break;
                    }

                    var sqlAxisLeft = dataList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
                    sqlAxisLeft.Value = this.TargetPosLockLeft;
                    sql.AxisPositionDataDAL.Update( sqlAxisLeft );

                    var sqlAxisRight = dataList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
                    sqlAxisRight.Value = this.TargetPosLockRight;
                    sql.AxisPositionDataDAL.Update( sqlAxisRight );
                }
            } );
        }

        public void ExecuteJogCommand( object obj )
        {
            if ( this.JogVelocity <= 0 )
            {
                this.messageController.ShowNotificationView( "Check Jog Velocity" );
                return;
            }

            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack,
                Kind = eAxisControlKind.Jog,
                AxisName = this.SelectAxis,
                JogVelocity = Convert.ToInt32( this.JogVelocity ),
            };

            if ( obj.ToString().Equals( "+" ) )
                msg.JogDir = eJogMoveDir.Positive;
            else
                msg.JogDir = eJogMoveDir.Negative;

            this.PublishEvent( msg );
        }

        void PublishEvent( AxisControlEventArgs args )
        {
            args.Dir = eEventDir.ToBack;
            this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Publish( args );
        }

        void AxisUICallbackCommunication( AxisControlEventArgs args )
        {
            if ( args.Dir == eEventDir.ToFront )
            {
                switch ( args.Kind )
                {
                    case eAxisControlKind.Stop:
                        break;
                    case eAxisControlKind.EStop:
                        break;
                    case eAxisControlKind.Move:
                        RspMove( args );
                        break;
                    case eAxisControlKind.Jog:
                        break;
                    case eAxisControlKind.ServoOn:
                        break;
                    case eAxisControlKind.ServoOff:
                        break;
                    case eAxisControlKind.NONE:
                        break;
                    case eAxisControlKind.OriginReturn:
                        break;
                    case eAxisControlKind.ReqCurrentPosition:
                        break;
                    case eAxisControlKind.ReqStopCurrentPosition:
                        break;
                    case eAxisControlKind.FaultReset:
                        {
                            var msg = string.Empty;
                            if ( args.Result.IsSuccess )
                                msg = $" {this.SelectAxis} Reset Success ";
                            else
                                msg = $" {this.SelectAxis} Reset Failed ";

                            this.messageController.ShowNotificationView( msg );
                        }
                        break;
                    case eAxisControlKind.AxisState:
                        AxisState( args );
                        break;
                    case eAxisControlKind.AllOriginReturn:
                        {
                            this.RspOriginState( args );
                        }
                        break;
                    case eAxisControlKind.SyncMove:
                        break;
                    case eAxisControlKind.SyncState:
                        break;
                    default:
                        break;
                }
            }
        }

        void RspOriginState( AxisControlEventArgs args )
        {
            var msg = string.Empty;

            if ( args.Result.IsSuccess )
                msg = "All Origin Success";
            else
                msg = "Origin Fail";

            //if ( IsLeftServoOriginReturn && IsRightServoOriginReturn )
            //    msg = "All Origin Success";
            //else
            //    msg = "Origin Fail";

                this.messageController.ShowNotificationView( msg );

        }

        private void AxisState( AxisControlEventArgs args )
        {
            var left = args.Args[ "Left" ] as AxisState;
            var right = args.Args[ "Right" ] as AxisState;

            this.IsLeftServoOn = left.IsServoOn;
            this.IsLeftServoOriginReturn = left.IsOriginReturn;
            this.IsLeftServoFault = left.IsAmpFault;
            this.CurrentLockLeft = left.CurrentPosition;

            this.IsRightServoOn = right.IsServoOn;
            this.IsRightServoOriginReturn = right.IsOriginReturn;
            this.IsRightServoFault = right.IsAmpFault;
            this.CurrentLockRight = right.CurrentPosition;
        }

        private void RspMove( AxisControlEventArgs args )
        {
            string msg = string.Empty;

            if ( args.Result.IsSuccess )
            {
                if ( args.PosDir == ePosDir.Lock )
                    msg = "Clamp Lock Success";
                else
                    msg = "Clamp Unlock Success";
            }
            else
            {
                var error = args.Result.Errors.FirstOrDefault();
                var alarm = error.Metadata[ "Alarm" ] as Alarm;
                msg = alarm.Name + " " + alarm.Text;
            }

            this.messageController.ShowNotificationView( msg );
        }

        private void ExecuteOriginCommand( object obj )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.OriginReturn ,
                AxisName = this.SelectAxis ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteFaultResetCommand( object obj )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.FaultReset ,
                AxisName = this.SelectAxis ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteServoOffCommand( object obj )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.ServoOff ,
                AxisName = this.SelectAxis ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteServoOnCommand( object obj )
        {
            var msg = new AxisControlEventArgs
            {
                Dir = eEventDir.ToBack ,
                Kind = eAxisControlKind.ServoOn ,
                AxisName = this.SelectAxis ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteKeyInCommand( object obj )
        {
            var numPad = new CalcuratorView();

            if ( obj.ToString().Equals( "Left" ) )
            {
                var result = numPad.ShowDialog( this.TargetPosLockLeft );
                this.TargetPosLockLeft = result;
            }
            else
            {
                var result = numPad.ShowDialog( this.TargetPosLockRight );
                this.TargetPosLockRight = result;
            }
        }

        private void ExecuteCurrentToTargetCommand( )
        {
            this.messageController.ShowConfirmationPopupView( "Current Position To Target Position ?" , r =>
              {
                  if ( r.Result == ButtonResult.OK )
                  {
                      switch ( this.SelectAxis )
                      {
                          case ConstString.AXIS_CARRIER_LOCK_LEFT:
                              this.TargetPosLockLeft = this.CurrentLockLeft;
                              break;
                          case ConstString.AXIS_CARRIER_LOCK_RIGHT:
                              this.TargetPosLockRight = this.CurrentLockRight;
                              break;
                      }
                  }
              } );
        }

        private void ExecuteMoveToCommand( )
        {
            var error = string.Empty;

            if ( this.IsLeftServoFault || this.IsRightServoFault )
                error = "Is Servo Fault";
            else if ( !this.IsLeftServoOn || !this.IsRightServoOn )
                error = "Is Servo OFF";

            if ( error != string.Empty )
                this.messageController.ShowNotificationView( error );
            else
            {
                this.messageController.ShowConfirmationPopupView( $"Clamp Move To {this.SelectedPosition}" , r =>
                {
                    if ( r.Result == ButtonResult.OK )
                    {
                        var msg = new AxisControlEventArgs();
                        msg.Kind = eAxisControlKind.Move;
                        msg.AxisName = this.SelectAxis;

                        if ( SelectedPosition.Equals( ConstString.TEACH_POSITION_LOCK ) )
                            msg.PosDir = ePosDir.Lock;
                        else
                            msg.PosDir = ePosDir.UnLock;

                        this.PublishEvent( msg );
                    }
                } );
            }
        }

        private void ExecuteSelectPosCommand( object obj )
        {
            List<AxisPositionData> positionList = null;
            this.SelectedPosition = obj.ToString();

            if ( obj.Equals( ConstString.TEACH_POSITION_LOCK ) )
            {
                this.PosLockBrush = Brushes.Orange;
                this.PosUnlockBrush = Brushes.Gray;
            }
            else
            {
                this.PosLockBrush = Brushes.Gray;
                this.PosUnlockBrush = Brushes.Orange;
            }

            switch ( this.SelectedPosition )
            {
                case ConstString.TEACH_POSITION_LOCK:
                    positionList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_LOCK ) ).ToList();
                    break;
                case ConstString.TEACH_POSITION_UNLOCK:
                    positionList = sql.AxisPositionDataDAL.Get( x => x.Name.Equals( ConstString.TEACH_POSITION_UNLOCK ) ).ToList();
                    break;
            }
            var sqlAxisLeft = positionList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) ).Single();
            this.TargetPosLockLeft = sqlAxisLeft.Value;

            var sqlAxisRight = positionList.Where( x => x.AxisName.Equals( ConstString.AXIS_CARRIER_LOCK_RIGHT ) ).Single();
            this.TargetPosLockRight = sqlAxisRight.Value;
        }

        private void ExecuteSelectAxisCommand( object obj )
        {
            if ( obj.ToString().Equals( ConstString.AXIS_CARRIER_LOCK_LEFT ) )
            {
                this.LeftAxisBrush = Brushes.Orange;
                this.RightAxisBrush = Brushes.Gray;
                this.SelectAxis = ConstString.AXIS_CARRIER_LOCK_LEFT;
            }
            else
            {
                this.RightAxisBrush = Brushes.Orange;
                this.LeftAxisBrush = Brushes.Gray;
                this.SelectAxis = ConstString.AXIS_CARRIER_LOCK_RIGHT;
            }
        }

        #region Dialog 
        public bool CanCloseDialog( )
        {
            //throw new NotImplementedException();
            return true;
        }

        public void OnDialogClosed( )
        {
            this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Publish( new AxisControlEventArgs { Dir = AxisControlEventArgs.eEventDir.ToBack , Kind = AxisControlEventArgs.eAxisControlKind.ReqStopCurrentPosition } );
            this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Unsubscribe( AxisUICallbackCommunication );
            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Unsubscribe( UICallbackCommunication );
        }

        public async void OnDialogOpened( IDialogParameters parameters )
        {
            Action action = new Action(() => this.eventAggregator.GetEvent<AxisControlPubSubEvent>().Publish( new AxisControlEventArgs { Dir = AxisControlEventArgs.eEventDir.ToBack, Kind = AxisControlEventArgs.eAxisControlKind.ReqCurrentPosition } ) );
            await Task.Run( action );
        }

        public virtual void RaiseRequestClose( IDialogResult dialogResult )
        {
            RequestClose?.Invoke( dialogResult );
        }

        private void CloseDialog( string parameter )
        {
            ButtonResult result = ButtonResult.None;

            if ( parameter?.ToLower() == "true" )
                result = ButtonResult.OK;
            else if ( parameter?.ToLower() == "false" )
                result = ButtonResult.Cancel;

            RaiseRequestClose( new DialogResult( result ) );
        }
        #endregion
    }
}