Kyungshin-Welder/WeldingComponents/WeldingCommon/Views/Motion/UCSingleAxisJogViewModel.cs

using Aurora;
using Aurora.Api.Devices;
using Aurora.Api.Manager;
using Aurora.View;
using AuroraUIComponent.UserControls;
using System;
using System.Collections.Generic;
using System.Windows;
using System.Windows.Input;
using System.Windows.Threading;

namespace WeldingCommon.Views
{
    internal class UCSingleAxisJogViewModel : NotifyPropertyChangedBase
    {
        private readonly IDeviceManager _DeviceManager;
        private readonly DispatcherTimer _MonitorTimer;

        #region Binding Properties
        private List<string> _MotorIDList;
        public List<string> MotorIDList { get => _MotorIDList; set => SetProperty(ref _MotorIDList, value); }

        private string _SelectedMotorID;
        public string SelectedMotorID { get => _SelectedMotorID; set => SetProperty(ref _SelectedMotorID, value); }

        public JogUnitPanel JogUnitPanel;
        #endregion

        #region EventCommands
        public ICommand CMD_VisibleChanged { get; }
        public ICommand CMD_IncreaseComboMotorID { get; }
        public ICommand CMD_DecreaseComboMotorID { get; }
        public ICommand CMD_MinusJog { get; }
        public ICommand CMD_PlusJog { get; }
        public ICommand CMD_Stop { get; }
        #endregion

        internal UCSingleAxisJogViewModel(IAuroraEnvironment aurora)
        {
            _DeviceManager = aurora.DeviceManager;

            #region Initialize Binding Properties
            // Motor ID 를 List 에 넣기. devicemanager 에서 motor ID 를 받아오자.
            // motor 가 define 되지 않았으니 테스트를 위해 임시로 몇개 넣어둔다.
            MotorIDList = new List<string> { "Welding Y1", "Welding Z" };
            SelectedMotorID = MotorIDList[0];
            #endregion

            #region DelegateCommands
            CMD_VisibleChanged = new DelegateCommand(VisibleChanged);
            CMD_IncreaseComboMotorID = new DelegateCommand(PerformCmdIncreaseComboMotorID);
            CMD_DecreaseComboMotorID = new DelegateCommand(PerformCmdDecreaseComboMotorID);
            CMD_MinusJog = new DelegateCommand(PerformCmdMotorJog);
            CMD_PlusJog = new DelegateCommand(PerformCmdMotorJog);
            CMD_Stop = new DelegateCommand(PerformCmdMotorStop);
            #endregion


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

        }
        private void OnMonitoring(object sender, EventArgs e)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {

                }
            } catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }
        private void PerformCmdIncreaseComboMotorID(object obj)
        {
            try {
                int nIndex = MotorIDList.IndexOf(SelectedMotorID);
                if (nIndex >= MotorIDList.Count - 1) nIndex = MotorIDList.Count;
                else nIndex++;
                SelectedMotorID = MotorIDList[nIndex];
            } catch { }


        }
        private void PerformCmdDecreaseComboMotorID(object obj)
        {
            try {
                int nIndex = MotorIDList.IndexOf(SelectedMotorID);

                if (nIndex < 1) nIndex = 0;
                else nIndex--;
                SelectedMotorID = MotorIDList[nIndex];
            } catch { }
        }
        private void PerformCmdMotorJog(object obj)
        {
            // +jog : true, -jog : false
            int JogDirection = (bool)obj ? +1 : -1;
            double JogVelocity = JogUnitPanel.JogVelocity;

            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    motor.Jog(JogDirection, JogVelocity);
                }
            } catch { }

        }
        private void PerformCmdMotorStop(object obj)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    motor.Stop();
                }
            } catch { }

        }

        private void VisibleChanged(object obj)
        {
            bool visible = (bool)obj;
            if (visible) {
                _MonitorTimer.Start();
            } else {
                _MonitorTimer.Stop();
            }
        }
        private BaseMotor GetComboSelectedBaseMotor()
        {
            return _DeviceManager[SelectedMotorID] as BaseMotor;
        }

        public void InitJogUnitPanelProperties()
        {
            if (JogUnitPanel == null)
                return;

            #region Initialize JogUnitPanel
            JogUnitPanel.LowVelocity = 0.1;
            JogUnitPanel.MidVelocity = 1.0;
            JogUnitPanel.HighVelocity = 5.0;
            JogUnitPanel.JogStep = 1.0;
            #endregion
        }
    }
}