Kyungshin-Welder/AuroraDevices/AuroraMotor/Views/UCAuroraMotorViewModel.cs

// Copyright (c) 2020 LG Electronics Inc.
// SPDX-License-Identifier: LicenseRef-LGE-Proprietary

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

namespace AuroraMotor.Views
{
    public class UCAuroraMotorViewModel : NotifyPropertyChangedBase
    {
        static readonly Logger Log = new Logger("UCAuroraMotorViewModel");

        static readonly SolidColorBrush ColorMoving
            = new SolidColorBrush(Color.FromRgb(0, 200, 0));
        static readonly SolidColorBrush ColorStopped
            = Application.Current.Resources["MahApps.Brushes.Text"] as SolidColorBrush
            ?? new SolidColorBrush(Colors.GhostWhite);
        static readonly SolidColorBrush ColorAlarm
            = new SolidColorBrush(Colors.DarkRed);

        static readonly TimeSpan TIMESPAN_NORMAL = TimeSpan.FromSeconds(1);
        static readonly TimeSpan TIMESPAN_FREQUENT = TimeSpan.FromMilliseconds(300);

        readonly IEventObservable mEventObservable;
        readonly DispatcherTimer mMonitorTimer;
        readonly DispatcherTimer mCurrentPosUpdateTimer;

        IDisposable mDevActiveObserveDisposer;
        AuroraMotorBase mActivatedMotor;


        public AuroraMotorBase mSelectedMotor;
        public AuroraMotorBase SelectedMotor
        {
            get => mSelectedMotor;
            set
            {
                if (mSelectedMotor == value)
                    return;
                mSelectedMotor = value;
                OnMotorActiveChanged();
                NotifyPropertyChanged(null);
                OnMonitorTime();
            }
        }

        public Range2<double> PosLimit => new Range2<double>(
            mActivatedMotor?.GetPosLimit() ?? (0.0, 0.0)
        );
        public Range<double> VelLimit => new Range<double>(
            mActivatedMotor?.GetVelLimit() ?? (0, 0)
        );

        public bool IsServoOn
        {
            get => mActivatedMotor?.IsServoOn() ?? false;
            set
            {
                mActivatedMotor?.ServoOn(value);
                NotifyPropertyChanged();
            }
        }

        public IList<string> Alarms { get; private set; }

        public double ActualPos
            => mActivatedMotor?.GetActualPos() ?? System.Double.NaN;

        private Brush mCurrentPosBrush;
        public Brush CurrentPosBrush
        {
            get => mCurrentPosBrush;
            private set => SetProperty(ref mCurrentPosBrush, value);
        }

        public string HomeStatus =>
            Application.Current.FindStrToken(
                  mActivatedMotor == null ? "NA"
                : mActivatedMotor.IsHomeCompleted() ? "Completed"
                : "NotCompleted"
            );

        public double TargetJogVel { get; set; }
        public double TargetJogIncrement { get; set; }

        public bool IsAbsTarget { get; set; }
        public bool IsRelTarget { get; set; }
        public double TargetPos { get; set; }
        public double TargetVel { get; set; }

        public ICommand CMD_ViewLoaded { get; }
        public ICommand CMD_ViewUnloaded { get; }
        public ICommand CMD_ClearAlarm { get; }
        public ICommand CMD_Home { get; }
        public ICommand CMD_Move { get; }
        public ICommand CMD_JogPositive { get; }
        public ICommand CMD_JogNegative { get; }
        public ICommand CMD_JogGo { get; }
        public ICommand CMD_Stop { get; }

        #region 생성자
        public UCAuroraMotorViewModel(IEventObservable eventObservable)
        {
            mEventObservable = eventObservable;
            mActivatedMotor = null;
            IsAbsTarget = true;

            CMD_ViewLoaded = new DelegateCommand(OnViewLoaded);
            CMD_ViewUnloaded = new DelegateCommand(OnViewUnloaded);
            CMD_ClearAlarm = new DelegateCommand(HandleClearAlarm);
            CMD_Home = new DelegateCommand(HandleHome);
            CMD_Move = new DelegateCommand(HandleMove);
            CMD_JogPositive = new DelegateCommand((_) => HandleJog(+1));
            CMD_JogNegative = new DelegateCommand((_) => HandleJog(-1));
            CMD_JogGo = new DelegateCommand(HandleJogGo);
            CMD_Stop = new DelegateCommand(HandleStop);

            mMonitorTimer = CreateTimer(
                TIMESPAN_NORMAL,
                OnMonitorTime
            );
            mCurrentPosUpdateTimer = CreateTimer(
                TIMESPAN_NORMAL,
                OnActualPosUpdateTime
            );
        }
        #endregion

        static DispatcherTimer CreateTimer(
            TimeSpan interval,
            Action onTime)
        {
            var timer = new DispatcherTimer();
            timer.Tick += (s, e) => onTime();
            timer.Interval = interval;
            return timer;
        }

        void OnViewLoaded(object obj)
        {
            AuroraMotorBase.MotorMoved += OnMotorMoved;

            mDevActiveObserveDisposer = Observable.Merge(
                mEventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_ACTIVATED),
                mEventObservable.AsObservable(AuroraSysEvent.SYS_DEVICE_DEACTIVATED)
            ).Where(
                x => x.Param as string == mSelectedMotor?.DeviceId
            ).ObserveOn(
                Application.Current.Dispatcher
            ).Subscribe(
                x => OnMotorActiveChanged()
            );
            OnMotorActiveChanged();
            mMonitorTimer.Start();
            mCurrentPosUpdateTimer.Interval = TIMESPAN_NORMAL;
            mCurrentPosUpdateTimer.Start();
        }

        void OnViewUnloaded(object obj)
        {
            AuroraMotorBase.MotorMoved -= OnMotorMoved;
            mDevActiveObserveDisposer?.Dispose();
            mMonitorTimer.Stop();
            mCurrentPosUpdateTimer.Stop();
        }

        void OnMonitorTime()
        {
            if (mActivatedMotor == null || !mActivatedMotor.IsActivated)
                return;

            NotifyPropertyChanged("IsServoOn");
            NotifyPropertyChanged("HomeStatus");

            SetMoving(
                mActivatedMotor?.IsMoving() ?? false
            );

            if (mActivatedMotor?.IsAlarm() ?? false)
            {
                Alarms = mActivatedMotor.GetAlarm();
                CurrentPosBrush = ColorAlarm;
            }
            else
                Alarms = null;
            NotifyPropertyChanged("Alarms");
        }

        void OnActualPosUpdateTime()
        {
            NotifyPropertyChanged("ActualPos");

            if (!mActivatedMotor?.IsMoving() ?? false)
                mCurrentPosUpdateTimer.Interval = TIMESPAN_NORMAL;
        }

        void OnMotorMoved(object sender, EventArgs e)
        {
            if (   sender is AuroraMotorBase motor
                && mActivatedMotor != null
                && motor.DeviceId == mActivatedMotor.DeviceId)
                mCurrentPosUpdateTimer.Interval = TIMESPAN_FREQUENT;
        }

        void OnMotorActiveChanged()
        {
            mActivatedMotor = mSelectedMotor?.IsActivated ?? false
                ? mSelectedMotor
                : null;
            NotifyPropertyChanged(null);
        }

        void SetMoving(bool moving)
        => CurrentPosBrush = moving
            ? ColorMoving
            : ColorStopped;


        void HandleClearAlarm(object obj)
        => mActivatedMotor?.ClearAlarm();

        void HandleHome(object obj)
        {
            int err = mActivatedMotor?.Home() ?? -100;
            if (err == 0)
                SetMoving(true);
            else
                Log.W("ERROR: fail to home");
        }

        void HandleMove(object obj)
        {
            int err = mActivatedMotor?.SetTargetSPD(
                TargetVel
            ) ?? -100;
            if (err != 0)
            {
                Log.W($"ERROR: fail to move velocity: {TargetVel}");
                return;
            }
            var targetType = IsAbsTarget ? TargetPosType.ABS : TargetPosType.REL;
            err = mActivatedMotor?.SetTargetPos(
                TargetPos,
                targetType
            ) ?? -200;
            if (err != 0)
            {
                Log.W($"ERROR: fail to move target: ({targetType} {TargetPos:f3})");
                return;
            }
            err = mActivatedMotor?.Move() ?? - 300;
            if (err == 0)
                SetMoving(true);
            else
                Log.W("ERROR: fail to move");
        }

        void HandleJog(int sign)
        {
            int? err = mActivatedMotor?.Jog(
                sign, TargetJogVel
            );
            if (err == 0)
                SetMoving(true);
            else
                Log.W("ERROR: fail to jog increment");
        }

        void HandleJogGo(object obj)
        {
            int? err = mActivatedMotor?.JogIncrement(
                TargetJogIncrement, TargetJogVel
            );
            if (err == 0)
                SetMoving(true);
            else
                Log.W("ERROR: fail to jog");
        }

        void HandleStop(object obj)
        => mActivatedMotor?.Stop();
    }
}