Kyungshin-Welder/AuroraDevices/AuroraACS/Views/UCACSDeviceViewModel.cs

using Aurora;
using Aurora.Api;
using Aurora.Api.Devices;
using Aurora.Api.Manager;
using Aurora.View;
using AuroraACS;
using System;
using System.Collections.Generic;
using System.Reactive.Linq;
using System.Windows.Input;
using System.Windows.Threading;

namespace AuroraACS.Views
{
    public class DeviceList : NotifyPropertyChangedBase
    {
        public string DeviceId { get; set; }
        public IDeviceConfig Config { get; set; }

        public Device Motor { get; set; }
        private bool isInit = false;
        public bool IsInit { get => isInit; set => SetProperty(ref isInit, value); }
    }

    public class UCACSDeviceViewModel : NotifyPropertyChangedBase
    {
        public ICommand CMD_InitAll { get; }
        public ICommand CMD_VisibleChanged { get; }
        public ICommand CMD_Save { get; }
        public ICommand CMD_SaveConfigs { get; }

        private bool isActivated = false;
        public bool IsActivated {
            get => isActivated;
            set {
                if (isActivated != value) {
                    isActivated = value;
                    HandleActivationChange(value);
                    NotifyPropertyChanged("IsActivated");
                }
            }
        }

        private UCMotorMovingViewModel aCSMotionViewModel;
        public UCMotorMovingViewModel ACSMotionViewModel { get => aCSMotionViewModel; set => SetProperty(ref aCSMotionViewModel, value); }

        public IDeviceConfig SelectedDeviceConfig
            => ACS == null ? null : DeviceManager.GetDeviceConfig(ACS.DeviceId);

        public List<DeviceList> MotorList { get; set; } = new List<DeviceList>();

        private readonly IDeviceManager DeviceManager;
        private readonly ACSDevice ACS;
        private readonly DispatcherTimer MonitorTimer;
        private List<string> _MotorIds = new List<string>();
        public UCACSDeviceViewModel(IAuroraEnvironment aurora, string deviceId, List<string> motorIDs)
        {
            motorIDs.ForEach(x => _MotorIds.Add(x));

            DeviceManager = aurora.DeviceManager;
            ACSMotionViewModel = new UCMotorMovingViewModel(aurora.DeviceManager, aurora.EventObservable
                , deviceId, motorIDs);

            ACS = aurora.DeviceManager[deviceId] as ACSDevice;

            isActivated = ACS.IsActivated;

            MakeMotorList();

            CMD_InitAll = new DelegateCommand(InitAllAxses);
            CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
            CMD_Save = new DelegateCommand(SaveConfigs);
            CMD_SaveConfigs = new DelegateCommand(SaveConfigs);

            MonitorTimer = new DispatcherTimer();
            MonitorTimer.Tick += OnMonitoring;
            MonitorTimer.Interval = TimeSpan.FromMilliseconds(100);

            Observable.Merge(
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_ACTIVATED),
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_DEACTIVATED)
            ).Select(msg => msg.Param as string
            ).Where(x => x == ACS?.DeviceId
            ).ObserveOnDispatcher(
            ).Subscribe(
                x => OnDeviceActiveChanged()
            );

            Observable.Merge(
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_ACTIVATED),
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_DEACTIVATED)
            ).Select(msg => msg.Param as string
            ).Where(x => x == ACS?.DeviceId
            ).ObserveOnDispatcher(
            ).Subscribe(
                x => OnDeviceActiveChanged()
            );

            Observable.Merge(
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_ACTIVATED),
                aurora.EventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_DEACTIVATED))
                .Select(msg => msg.Param as string)
                .Where(x => x == ACS?.DeviceId)
                .ObserveOnDispatcher().Subscribe(x => OnDeviceActiveChanged());


        }

        private void OnDeviceActiveChanged()
        {
            IsActivated = ACS.IsActivated;
            if (ACS.IsActivated) {
               // InitAllAxses(null);
            } else {

            }
        }

        private void SaveConfigs(object obj)
        {
            MotorList.ForEach(x => DeviceManager.SaveDeviceConfig(x.DeviceId));
        }

        private void OnMonitoring(object sender, EventArgs e)
        {
            if (!ACS.IsActivated) {
                return;
            }
#warning 임시. isInit 호출도 하면 안될듯?
            foreach (var motor in MotorList) {
                var acsmotor = motor.Motor as ACSMotor;
                if (!motor.IsInit) {
                    //motor.IsInit = acsmotor.IsInitiallized();
                }
            }
        }

        private void VisibleChanged(object obj)
        {
            bool visible = (bool)obj;
            if (visible) {
                MonitorTimer.Start();
                ACSMotionViewModel.StartMonitoring();
            } else {
                MonitorTimer.Stop();
                ACSMotionViewModel.StopMonitoring();
            }
        }

        private void InitAllAxses(object obj)
        {
            if (!ACS.IsActivated) {
                return;
            }
            foreach (var motor in MotorList) {
                var acsmotor = motor.Motor as ACSMotor;
                if (!acsmotor.IsInit) {
                    acsmotor.Init();
                }
            }
        }

        private void MakeMotorList()
        {
            foreach (var motorId in _MotorIds) {
                MotorList.Add(new DeviceList() {
                    Config = DeviceManager.GetDeviceConfig(motorId),
                    DeviceId = motorId,
                    Motor = DeviceManager[motorId],
                });
            }

            foreach (var motor in MotorList) {
                var acsmotor = motor.Motor as ACSMotor;
                motor.IsInit = acsmotor.IsInit;
            }
        }

        private void HandleActivationChange(bool value)
        {
            if (value) {
                int res = 0;
                if (!DeviceManager[ACS.DeviceId].IsActivated) {
                    res |= DeviceManager[ACS.DeviceId].Activate();
                }
                foreach (var motorId in _MotorIds) {
                    if (!DeviceManager[motorId].IsActivated) {
                        res |= DeviceManager[motorId].Activate();
                    }
                }
            } else {
                int res = 0;
                foreach (var motorId in _MotorIds) {
                    if (DeviceManager[motorId].IsActivated) {
                        res |= DeviceManager[motorId].Deactivate();
                    }
                }
                if (DeviceManager[ACS.DeviceId].IsActivated) {
                    res |= DeviceManager[ACS.DeviceId].Deactivate();
                }
            }

            isActivated = ACS.IsActivated;
        }
    }
}