LGES-2170-ACW_CCW-Welder/WeldingComponents/WeldingCommon/Views/Motion/UCSingleAxisHomeViewModel.cs

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

namespace WeldingCommon.Views
{
    class UCSingleAxisHomeViewModel : NotifyPropertyChangedBase
    {
        #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); }

        // TODO: 아래 strMotorServoOnOffStatus 와 하나로 합치자. 이 부분은 background 색상 변경에 사용됨
        private bool _bMotorServoOnOffStatus;
        public bool bMotorServoOnOffStatus { get => _bMotorServoOnOffStatus; set => SetProperty(ref _bMotorServoOnOffStatus, value); }
        private string _strMotorServoOnOffStatus;
        public string strMotorServoOnOffStatus { get => _strMotorServoOnOffStatus; set => SetProperty(ref _strMotorServoOnOffStatus, value); }

        private int _ProgressStatus;
        public int ProgressStatus { get => _ProgressStatus; set => SetProperty(ref _ProgressStatus, value); }
        #endregion

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

        private readonly IDeviceManager _DeviceManager;
        private readonly DispatcherTimer _MonitorTimer;

        internal UCSingleAxisHomeViewModel(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_Home = new DelegateCommand(PerformCmdMotorHome);
            CMD_Stop = new DelegateCommand(PerformCmdMotorStop);
            #endregion

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

        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 VisibleChanged(object obj)
        {
            bool visible = (bool)obj;
            if (visible) {
                _MonitorTimer.Start();
            } else {
                _MonitorTimer.Stop();
            }
        }

        private BaseMotor GetComboSelectedBaseMotor()
        {
            return _DeviceManager[SelectedMotorID] as BaseMotor;
        }

        private void OnMonitoring(object sender, EventArgs e)
        {
            try {
                // Status textbox back ground color update
                var motor = GetComboSelectedBaseMotor();
                if (motor != null) {
                    bMotorServoOnOffStatus = motor.IsServoOn();
                    if (motor.IsHomeCompleted()) {
                        ProgressStatus = 100;
                    } else {
                        //nProgressStatus = motor.GetHomeRate(axisindex , ref rate); // 이런 함수가 있다고 하네?
                        ProgressStatus = 0;
                    }
                } else {
                    bMotorServoOnOffStatus = false;
                    ProgressStatus = 0;
                }
                if (bMotorServoOnOffStatus) {
                    strMotorServoOnOffStatus = "Servo On";
                } else {
                    strMotorServoOnOffStatus = "Servo Off";
                }
            } catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }

        private void PerformCmdMotorHome(object obj)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor == null) {
                    return;
                }
                motor.Home();
                // test 임시
                ProgressStatus = 0;
            } catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }
        private void PerformCmdMotorStop(object obj)
        {
            try {
                var motor = GetComboSelectedBaseMotor();
                if (motor == null) return;
                motor.Stop();
            } catch (Exception ex) {
                MessageBox.Show(ex.Message);
            }
        }
    }
}