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

using GSG.NET.Concurrent;
using GSG.NET.Extensions;
using GSG.NET.Utils;
using MaterialDesignThemes.Wpf;
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.Collections.ObjectModel;
using System.Linq;
using System.Threading.Tasks;
using System.Windows.Controls;
using System.Windows.Input;
using System.Windows.Media;
using VehicleControlSystem;
using VehicleControlSystem.ControlLayer;
using VehicleControlSystem.ControlLayer.IO;
using VehicleControlSystem.ControlLayer.MQ;
using VehicleControlSystem.Managers;

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

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

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

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

        private eDriveState driveState;
        public eDriveState DriveState
        {
            get { return driveState; }
            set { SetProperty(ref this.driveState, value); }
        }

        private bool isBreakOff;
        public bool IsBreakOff
        {
            get { return isBreakOff; }
            set { SetProperty(ref this.isBreakOff, value); }
        }

        #region Motor Left Binding Value
        private double _driveTargetPos;
        public double DriveTargetPos
        {
            get { return this._driveTargetPos; }
            set { this.SetProperty( ref this._driveTargetPos , value ); }
        }

        private double _currentPosition;
        /// <summary>
        /// * Drive Current Position
        /// </summary>
        public double CurrentPosition
        {
            get { return this._currentPosition; }
            set { this.SetProperty( ref this._currentPosition , value ); }
        }

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

        private double _jogVelocity = 3.0;
        public double JogVelocity
        {
            get { return this._jogVelocity; }
            set { this.SetProperty( ref this._jogVelocity , value ); }
        }
        #endregion

        public event Action<IDialogResult> RequestClose;

        #region Commands
        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 IEventAggregator eventAggregator;
        public ICommand PositionAddCommand { get; set; }
        public ICommand PositionDeleteCommand { get; set; }
        public ICommand PositionSaveCommand { get; set; }
        public ICommand SteeringMoveCommand { get; set; }
        public ICommand SelectedDirection { get; set; }
        public ICommand JogVelPopupCommand { get; set; }
        public ICommand JogCommand { get; set; }
        public ICommand BreakOffCommand { get; set; }
        #endregion

        #region Brushes
        private Brush steeringLeftBrush = Brushes.Gray;
        public Brush SteeringLeftBrushProperty
        {
            get { return steeringLeftBrush; }
            set { SetProperty( ref this.steeringLeftBrush , value ); }
        }

        private Brush steeringRightBrush = Brushes.Gray;
        public Brush SteeringRightBrushProperty
        {
            get { return steeringRightBrush; }
            set { SetProperty( ref this.steeringRightBrush , value ); }
        }

        Brush driveOnStateBrush = Brushes.DodgerBlue;
        public Brush DriveOnStateBrush
        {
            get { return this.driveOnStateBrush; }
            set { SetProperty( ref this.driveOnStateBrush , value ); }
        }

        Brush driveOffStateBrush = Brushes.DodgerBlue;
        public Brush DriveOffStateBrush
        {
            get { return this.driveOffStateBrush; }
            set { SetProperty( ref this.driveOffStateBrush , value ); }
        }

        private Brush driveFaultStateBrush = Brushes.DodgerBlue;

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

        #endregion

        #region Property
        private ObservableCollection<Route> _routeList;
        public ObservableCollection<Route> RouteList
        {
            get { return this._routeList; }
            set { SetProperty(ref this._routeList, value); }
        }

        private string autoReadyFlag = "NG";

        public string AutoReadyFlag
        {
            get { return autoReadyFlag; }
            set { this.SetProperty(ref this.autoReadyFlag, value); }
        }

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

        private string currentMCR = "None";
        public string CurrentMCR
        {
            get { return currentMCR; }
            set { this.SetProperty(ref this.currentMCR, value); }
        }

        private string currentTag = "None";

        public string CurrentTag
        {
            get { return currentTag; }
            set { SetProperty(ref this.currentTag, value); }
        }

        private bool isBusy;

        public bool IsBusy
        {
            get { return isBusy; }
            set { SetProperty(ref this.isBusy, value); }
        }

        private string busyText;

        public string BusyText
        {
            get { return busyText; }
            set { SetProperty(ref this.busyText, value); }
        }

        eOcsState ocsState = eOcsState.DisConnect;
        public eOcsState OcsState
        {
            get { return this.ocsState; }
            set { this.SetProperty(ref this.ocsState, value); }
        }
        #endregion

        VCSystem vcSystem;
        ZmqManager zmqManager;
        HostManager hostManager;

        SqliteManager sql;
        MessageController messageController;

        public DriveServoViewModel(IEventAggregator _ea , SqliteManager _sql , MessageController _messageController , VCSystem system)
        {
            this.eventAggregator = _ea;
            this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Unsubscribe( DriveControlCallBack );
            this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Subscribe( DriveControlCallBack , ThreadOption.UIThread );

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

            this.eventAggregator.GetEvent<HostConnectedPubSubEvent>().Unsubscribe(OcsConnectCallBack);
            this.eventAggregator.GetEvent<HostConnectedPubSubEvent>().Subscribe(OcsConnectCallBack, ThreadOption.UIThread);


            this.sql = _sql;

            this.messageController = _messageController;

            this.vcSystem = system;
            this.zmqManager = system.ZmqManager;
            system.ZmqManager.PropertyChanged += ZmqManager_PropertyChanged;

            this.hostManager = system.hostManager;

            this.SelectPosCommand = new DelegateCommand<object>( ExecuteSelectPosCommand );
            this.MoveToCommand = new DelegateCommand( ExecuteMoveToCommand );
            this.CurrentToTargetCommand = new DelegateCommand( ExecuteCurrentToTargetCommand );
            this.KeyInTargetPosCommand = new DelegateCommand<object>( ExecuteKeyInCommadn );

            this.ServoOnCommand = new DelegateCommand( ExecuteServoOnCommand );
            this.ServoOffCommand = new DelegateCommand( ExecuteServoOffCommand );
            this.FaultResetCommand = new DelegateCommand( ExecuteFaultResetCommand );
            this.OriginCommand = new DelegateCommand( ExecuteOriginCommand );

            this.PositionAddCommand = new DelegateCommand( ExecutePositionAddCommand );
            this.PositionDeleteCommand = new DelegateCommand( ExecutePositionDeleteCommand );
            this.PositionSaveCommand = new DelegateCommand( ExecutePositionSaveCommand );

            this.SelectedDirection = new DelegateCommand<object>( ExecuteSelectedDirection );
            this.SteeringMoveCommand = new DelegateCommand<object>( ExecuteSteeringMove );

            this.JogVelPopupCommand = new DelegateCommand( ExecuteJogVelPopupCommand );
            this.JogCommand = new DelegateCommand<object>( ExecuteJogCommand );
            this.BreakOffCommand = new DelegateCommand(ExecuteBreakOffCommand);

            this.IsBreakOff = this.vcSystem.IO.IsOn("OUT_DRIVE_BRAKE_OFF", false);
            var ezIO = this.vcSystem.IO as EzIO;
            ezIO.OnChangedIO += EzIO_OnChangedIO;

            //var currentState = IsConnected;
        } 

        //OHVConnector.Manager manager = new OHVConnector.Manager();
        //public bool IsConnected { get { return this.manager.Connected; } }

        private void ExecuteBreakOffCommand()
        {
            if (isBreakOff)
                this.vcSystem.IO.OutputOff("OUT_DRIVE_BRAKE_OFF");
            else
                this.vcSystem.IO.OutputOn("OUT_DRIVE_BRAKE_OFF");
        }

        private void EzIO_OnChangedIO(BitBlock bit)
        {
            if (bit.Tag.Equals("OUT_DRIVE_BRAKE_OFF"))
                this.IsBreakOff = bit.IsBitOn;
        }

        private void InitializeData()
        {
            this.CurrentMCR = this.zmqManager.CurrentMCR;
            this.CurrentTag = this.zmqManager.CurrentPointNo.ToString();

            this.DriveAutoReadyState( this.zmqManager.IsCanStanbyLocation );
            this.UpdateDriveState( this.zmqManager.DriveState );

            if(hostManager.IsConnected)
            {
                this.OcsState = eOcsState.Connect;
            }

            if (!vcSystem.ZmqManager.SetOperationState(eOperatationMode.ManualMode))
                messageController.ShowNotificationView("Drive Manual Mode Change Fail", false);
        }

        void UpdateDriveState(eDriveState state)
        {
            this.DriveState = state;
            //switch ( state )
            //{
            //    case eDriveState.None:
            //        this.DriveOnStateBrush = Brushes.Gray;
            //        break;

            //    case eDriveState.ServoOff:
            //        this.DriveOnStateBrush = Brushes.Gray;
            //        break;

            //    case eDriveState.ServoOn:
            //        this.DriveOnStateBrush = Brushes.LimeGreen;
            //        this.DriveFaultStateBrush = Brushes.DodgerBlue;
            //        break;

            //    case eDriveState.Fault:
            //        this.DriveFaultStateBrush = Brushes.Red;
            //        this.DriveOnStateBrush = Brushes.Gray;
            //        break;

            //    default:
            //        break;
            //}
        }

        private void ZmqManager_PropertyChanged(object sender , System.ComponentModel.PropertyChangedEventArgs e)
        {
            var property = sender.GetType().GetProperty( e.PropertyName );
            var newValue = property.GetValue( sender , null );

            switch ( e.PropertyName )
            {
                case "CurrentPointNo":
                    this.CurrentTag = CastTo<int>.From<object>( newValue ).ToString();
                    break;

                case "CurrentMCR":
                    this.CurrentMCR = CastTo<string>.From<object>( newValue );
                    break;

                case "IsCanStanbyLocation":
                    {
                        var result = CastTo<bool>.From<object>( newValue );
                        DriveAutoReadyState( result );
                    }
                    break;

                case "DriveState":
                    {
                        var result = CastTo<eDriveState>.From<object>( newValue );
                        this.UpdateDriveState( result );
                    }
                    break;

                default:
                    break;
            }
        }

        private void ExecuteSteeringMove(object obj)
        {
            var msg = new DriveControlEventArgs
            {
                EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                ControlKind = DriveControlEventArgs.eControlKind.Steering ,
            };

            if ( obj.ToString().Equals( "CW" ) )
                msg.MoveDir = DriveControlEventArgs.eMoveDir.LEFT;
            else
                msg.MoveDir = DriveControlEventArgs.eMoveDir.RIGHT;

            this.PublishEvent( msg );
        }

        private void UICallBackCommunication(GUIMessageEventArgs obj)
        {
            if ( obj.Kind == GUIMessageEventArgs.eGUIMessageKind.ModelPropertyChange )
            {
                if ( obj.MessageKey.Equals( MessageKey.Vehicle ) )
                {
                    switch ( obj.ModelPropertyName )
                    {
                        case "SteeringState":
                            {
                                var dir = CastTo<eSteeringState>.From<object>( obj.Args );
                                this.ChangeSteeringDirection( dir );
                            }
                            break;
                        case "VehicleStateProperty":
                            {
                                var v = CastTo<eVehicleState>.From<object>( obj.Args );
                                this.ChagneVehicleState( v );
                            }
                            break;
                        case "CurrentPosition":
                            {
                                var v = CastTo<double>.From<object>( obj.Args );
                                this.CurrentPosition = v;
                            }
                            break;

                        case "CurrentSpeed":
                            break;

                        case "CurrentTorque":
                            break;
                        default:
                            break;
                    }
                }
            }

            if ( obj.Kind == GUIMessageEventArgs.eGUIMessageKind.RspRouteManager )
            {

            }
        }

        void DriveAutoReadyState(bool state)
        {
            if ( state )
            {
                this.AutoReadyFlag = "OK";
                this.AutoReadyFlagColor = Brushes.LimeGreen;
            }
            else
            {
                this.AutoReadyFlag = "NG";
                this.AutoReadyFlagColor = Brushes.Gray;
            }
        }

        private void ChagneVehicleState(eVehicleState v)
        {
            switch ( v )
            {
                case eVehicleState.None:
                    break;
                case eVehicleState.Idle:
                    break;
                case eVehicleState.Move:
                    break;
                case eVehicleState.Load:
                    break;
                case eVehicleState.Unload:
                    break;
                case eVehicleState.Charge:
                    break;
                case eVehicleState.Abnormal:
                    break;
                case eVehicleState.Blocked:
                    break;
                case eVehicleState.Decelerate:
                    break;
            }
        }

        private void DriveControlCallBack(DriveControlEventArgs args)
        {
            if ( args.EventDir == DriveControlEventArgs.eEventDir.ToFront )
            {
                switch ( args.ControlKind )
                {
                    case DriveControlEventArgs.eControlKind.MOVE:
                        ResponseMove( args );
                        break;
                    case DriveControlEventArgs.eControlKind.STOP:
                        break;
                    case DriveControlEventArgs.eControlKind.Steering:
                        //if ( args.Result.IsSuccess )
                        //{
                        //    var dir = args.Result.ToResult<eSteeringState>().Value;
                        //    this.ChangeSteeringDirection( dir );
                        //}
                        break;
                    case DriveControlEventArgs.eControlKind.SteeringState:
                        if ( args.Result.IsSuccess )
                        {
                            var dir = CastTo<eSteeringState>.From<object>( args.Args );
                            this.ChangeSteeringDirection( dir );
                        }
                        else
                        {
                            this.ChangeSteeringDirection( eSteeringState.None );
                        }
                        break;
                    case DriveControlEventArgs.eControlKind.ReqCurrentPos:
                        this.CurrentPosition = args.CurrentPosition;
                        break;
                         
                    case DriveControlEventArgs.eControlKind.ReqStopCurrentPos:
                        break;
                    case DriveControlEventArgs.eControlKind.FaultReset:
                        if (args.Result.IsSuccess)
                            this.messageController.ShowNotificationView("Fault Reset Success");
                        else
                            this.messageController.ShowNotificationView("Fault Reset Fail", false);
                        break;
                    case DriveControlEventArgs.eControlKind.DriveON:
                        if (args.Result.IsSuccess)
                        {
                            this.messageController.ShowNotificationView("Drive On Success");
                        }
                        else
                        {
                            this.messageController.ShowNotificationView("Drive On Fail", false);
                        }
                        break;
                    case DriveControlEventArgs.eControlKind.DriveOFF:
                        break;
                    case DriveControlEventArgs.eControlKind.JOG:
                        break;
                    case DriveControlEventArgs.eControlKind.VehicleState:
                        ResponseVehicleState( args );
                        break;
                    default:
                        break;
                }
            }
        }

        private void ResponseVehicleState(DriveControlEventArgs args)
        {
            var state = CastTo<VehicleInfo>.From<object>( args.Args );

            this.CurrentPosition = state.CurrentPosition;
        }

        private void ResponseMove(DriveControlEventArgs args)
        {
            var msg = string.Empty;
            if ( args.Result.IsSuccess )
            {
                msg = "Move Success";
            }
            else
            {
                var error = args.Result.Errors.FirstOrDefault();
                var alarm = error.Metadata[ "Alarm" ] as Alarm;
                msg = alarm.Name + " " + alarm.Text;
            }

            this.messageController.ShowNotificationView( msg );
        }

        void PublishEvent(DriveControlEventArgs args)
        {
            args.EventDir = DriveControlEventArgs.eEventDir.ToBack;
            this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Publish( args );
        }

        void ChangeSteeringDirection(eSteeringState state)
        {
            if ( state == eSteeringState.Left )
            {
                this.SteeringLeftBrushProperty = ( Brush )new BrushConverter().ConvertFromString( "#FF00FFD3" );
                this.SteeringRightBrushProperty = Brushes.Gray;
            }
            else if ( state == eSteeringState.Right )
            {
                this.SteeringLeftBrushProperty = Brushes.Gray;
                this.SteeringRightBrushProperty = ( Brush )new BrushConverter().ConvertFromString( "#FF00FFD3" );
            }
            else
            {
                this.SteeringLeftBrushProperty = Brushes.Gray;
                this.SteeringRightBrushProperty = Brushes.Gray;
            }
        }

        #region Execute Method

        private void OcsConnectCallBack(HostConnectedEventArgs obj)
        {
            var state = obj.State;

            switch (state)
            {
                case HostConnectedEventArgs.eConnectedState.Connected:
                    this.OcsState = eOcsState.Connect;
                    break;
                case HostConnectedEventArgs.eConnectedState.Disconnected:
                    this.OcsState = eOcsState.DisConnect;
                    break;
            }
        }

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

            if(this.vcSystem.vehicle.IsChargeCylinderForword())
            {
                this.messageController.ShowNotificationView("Battery Charge Cylinder FWD !");
                return;
            }

            var msg = new DriveControlEventArgs
            {
                EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                ControlKind = DriveControlEventArgs.eControlKind.JOG ,
            };

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

            this.PublishEvent( msg );
        }

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

            this.JogVelocity = result;
        }

        private void ExecuteSelectedDirection(object obj)
        {
            this.SelectDirection = obj.ToString();
        }


        private void ExecutePositionSaveCommand()
        {
            this.messageController.ShowConfirmationPopupView("Save To Data ?", r =>
            {
                if (r.Result == ButtonResult.OK)
                {
                    var result = this.RouteList.Any(x => x.IsSelected != false);

                    if (!result)
                    {
                        this.messageController.ShowNotificationView("Pos Not Selected");
                        return;
                    }

                    var ll = this.RouteList.Where(x => x.IsSelected).FirstOrDefault();
                }
            });
        }

        private void ExecutePositionDeleteCommand()
        {
            this.messageController.ShowConfirmationPopupView( "Select To Delete ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                    var deleteList = new List<Route>();

                    foreach ( var item in this.RouteList )
                    {
                        if ( item.IsSelected )
                            deleteList.Add( item );
                    }
                    deleteList.ForEach( x => { this.RouteList.Remove( x ); } );
                }
            } );
        }

        private void ExecutePositionAddCommand()
        {
            this.messageController.ShowConfirmationPopupView( "Position Add ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                    this.RouteList.Add( new Route() );

                    this.messageController.ShowNotificationView( "Create Success" );
                }
            } );
        }

        private void ExecuteKeyInCommadn(object obj)
        {
            var numPad = new CalcuratorView();
            var result = numPad.ShowDialog( this.DriveTargetPos );
            this.DriveTargetPos = result;
        }

        private void ExecuteOriginCommand()
        {
            this.messageController.ShowConfirmationPopupView( "Origin ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                }
            } );
        }

        private void ExecuteFaultResetCommand()
        {
            var msg = new DriveControlEventArgs
            {
                EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                ControlKind = DriveControlEventArgs.eControlKind.FaultReset ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteServoOffCommand()
        {
            var msg = new DriveControlEventArgs
            {
                EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                ControlKind = DriveControlEventArgs.eControlKind.DriveOFF ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteServoOnCommand()
        {
            //this.IsBusy = true;

            var msg = new DriveControlEventArgs
            {
                EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                ControlKind = DriveControlEventArgs.eControlKind.DriveON ,
            };

            this.PublishEvent( msg );
        }

        private void ExecuteCurrentToTargetCommand()
        {
            this.messageController.ShowConfirmationPopupView( "Current To Target ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                    this.DriveTargetPos = this.CurrentPosition;
                }
            } );
        }

        private void ExecuteMoveToCommand()
        {
            this.messageController.ShowConfirmationPopupView( "Move To Selected Position ?" , r =>
            {
                if ( r.Result == ButtonResult.OK )
                {
                    var result = this.RouteList.Any( x => x.IsSelected != false );
                    if ( !result )
                    {
                        this.messageController.ShowNotificationView( "Pos Not Selected" );
                        return;
                    }

                    var ll = this.RouteList.Where( x => x.IsSelected ).FirstOrDefault();

                    var msg = new DriveControlEventArgs
                    {
                        EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                        ControlKind = DriveControlEventArgs.eControlKind.MOVE ,
                        TargetRouteID = ll.Id ,
                    };

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

        private void ExecuteSelectPosCommand(object obj)
        {
            this.SelectedPosition = obj.ToString();
        }

        #endregion

        #region Dialog Function
        public bool CanCloseDialog()
        {
            return true;
        }

        public void OnDialogClosed()
        {
            this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Publish( new DriveControlEventArgs { EventDir = DriveControlEventArgs.eEventDir.ToBack , ControlKind = DriveControlEventArgs.eControlKind.ReqStopCurrentPos } );
            this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Unsubscribe( DriveControlCallBack );
            this.eventAggregator.GetEvent<GUIMessagePubSubEvent>().Unsubscribe( UICallBackCommunication );
        }

        public async void OnDialogOpened(IDialogParameters parameters)
        {
            Task task = Task.Run( () =>
            {
                var msg = new DriveControlEventArgs
                {
                    EventDir = DriveControlEventArgs.eEventDir.ToBack ,
                    ControlKind = DriveControlEventArgs.eControlKind.SteeringState ,
                };
                this.PublishEvent( msg );

                this.eventAggregator.GetEvent<DriveControlPubSubEvent>().Publish( new DriveControlEventArgs { EventDir = DriveControlEventArgs.eEventDir.ToBack , ControlKind = DriveControlEventArgs.eControlKind.VehicleState } );

                var vcsMsg = new VCSMessageEventArgs() { Kind = VCSMessageEventArgs.eVCSMessageKind.ReqRouteManager };
                this.eventAggregator.GetEvent<VCSMessagePubSubEvent>().Publish( vcsMsg );

                //var sT = SwUtils.CurrentTimeMillis;
                //this.RouteList = new ObservableCollection<Route>(sql.RouteDal.GetAll());
                //Console.WriteLine( SwUtils.Elapsed( sT ) );

            });

            this.InitializeData();

            await task;
        }

        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 ) );
        }

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

        #endregion
    }
}