349 lines
13 KiB
C#
349 lines
13 KiB
C#
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using MainShell.Common;
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using MainShell.Common.VisionTemple.ViewModel;
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using MainShell.Hardware;
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using MainShell.Log;
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using MainShell.Motion;
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using MainShell.PageCalib.OriginCalib.Model;
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using MainShell.PageCalib.OriginCalib.Service;
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using MainShell.Resources.CustomControl;
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using MwFramework.Device;
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using Stylet;
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using System;
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using System.Collections.ObjectModel;
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using System.Linq;
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using System.Threading.Tasks;
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using System.Windows;
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namespace MainShell.PageCalib.OriginCalib.ViewModel
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{
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public class OriginCalibModuleViewModel : PropertyChangedBase
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{
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private readonly HardwareManager _hardware;
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private readonly OriginCalibrationMotionService _motionService;
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private readonly OriginCalibModuleItem _item;
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private readonly VisionTempleWindowViewModel _visionTempleWindowViewModel;
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private int _index;
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private bool _isCalibrating;
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public OriginCalibModuleItem Item => _item;
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public int Index
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{
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get { return _index; }
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set { SetAndNotify(ref _index, value); }
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}
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public string ModuleName
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{
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get { return _item.ModuleName; }
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set { _item.ModuleName = value; NotifyOfPropertyChange(nameof(ModuleName)); }
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}
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public bool IsIndependent
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{
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get { return _item.IsIndependent; }
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set
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{
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_item.IsIndependent = value;
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NotifyOfPropertyChange(nameof(IsIndependent));
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NotifyOfPropertyChange(nameof(ShowIndependentBadge));
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}
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}
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public bool IsCalibrating
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{
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get { return _isCalibrating; }
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set
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{
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SetAndNotify(ref _isCalibrating, value);
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NotifyOfPropertyChange(nameof(CanStartCalib));
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// 标定进行中禁用避让示教和删除操作
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foreach (AvoidanceAxisViewModel axis in AvoidanceAxes)
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{
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axis.CanTeach = !value;
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}
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}
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}
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public bool CanStartCalib
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{
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get { return !IsCalibrating; }
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}
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public bool HasAvoidanceAxes
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{
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get { return AvoidanceAxes.Count > 0; }
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}
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public System.Windows.Visibility ShowIndependentBadge
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{
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get { return IsIndependent ? System.Windows.Visibility.Visible : System.Windows.Visibility.Collapsed; }
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}
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public System.Windows.Visibility ShowAvoidanceBadge
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{
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get { return HasAvoidanceAxes ? System.Windows.Visibility.Visible : System.Windows.Visibility.Collapsed; }
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}
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public ObservableCollection<AvoidanceAxisViewModel> AvoidanceAxes { get; } = new ObservableCollection<AvoidanceAxisViewModel>();
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public ObservableCollection<CalibrationAxisViewModel> CalibrationAxes { get; } = new ObservableCollection<CalibrationAxisViewModel>();
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public OriginCalibModuleViewModel(
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OriginCalibModuleItem item,
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HardwareManager hardware,
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OriginCalibrationMotionService motionService,
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VisionTempleWindowViewModel visionTempleWindowViewModel)
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{
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_item = item ?? throw new ArgumentNullException(nameof(item));
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_hardware = hardware ?? throw new ArgumentNullException(nameof(hardware));
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_motionService = motionService ?? throw new ArgumentNullException(nameof(motionService));
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_visionTempleWindowViewModel = visionTempleWindowViewModel ?? throw new ArgumentNullException(nameof(visionTempleWindowViewModel));
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foreach (AvoidanceAxisItem axisItem in item.AvoidanceAxes)
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{
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AvoidanceAxes.Add(new AvoidanceAxisViewModel(axisItem, hardware, motionService, OnRemoveAvoidanceAxis));
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}
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foreach (CalibrationAxisItem calibItem in item.CalibrationAxes)
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{
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CalibrationAxes.Add(new CalibrationAxisViewModel(calibItem));
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}
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}
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public void AddAvoidanceAxis()
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{
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AvoidanceAxisItem newItem = new AvoidanceAxisItem { AxisName = "NewAxis", Position = 0.0 };
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_item.AvoidanceAxes.Add(newItem);
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AvoidanceAxisViewModel newVm = new AvoidanceAxisViewModel(newItem, _hardware, _motionService, OnRemoveAvoidanceAxis);
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newVm.CanTeach = !_isCalibrating;
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AvoidanceAxes.Add(newVm);
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NotifyOfPropertyChange(nameof(HasAvoidanceAxes));
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NotifyOfPropertyChange(nameof(ShowAvoidanceBadge));
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}
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private void OnRemoveAvoidanceAxis(AvoidanceAxisViewModel vm)
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{
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if (_isCalibrating)
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{
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"原点标定进行中，无法删除避让轴。".LogSysError();
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LocalizedMessageBox.Show(MessageKey.OriginCalibDeleteAxisDuringCalibration, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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return;
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}
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try
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{
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string.Format("原点标定模块“{1}”准备删除避让轴“{0}”。", vm.AxisName, ModuleName).LogInfo();
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_item.AvoidanceAxes.Remove(vm.Item);
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AvoidanceAxes.Remove(vm);
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NotifyOfPropertyChange(nameof(HasAvoidanceAxes));
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NotifyOfPropertyChange(nameof(ShowAvoidanceBadge));
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string.Format("原点标定删除避让轴成功，当前剩余 {0} 个避让轴。", AvoidanceAxes.Count).LogInfo();
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}
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catch (Exception ex)
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{
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string.Format("原点标定删除避让轴“{0}”失败：{1}", vm.AxisName, ex.Message).LogSysError();
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LocalizedMessageBox.ShowFormat(MessageKey.OriginCalibDeleteAxisFailed, MessageKey.TitleError, MessageBoxButton.OK, MessageBoxImage.Error, ex.Message);
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}
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}
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public void TeachCalibPositions()
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{
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foreach (CalibrationAxisViewModel calibAxis in CalibrationAxes)
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{
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if (_hardware.AxesDic != null && _hardware.AxesDic.ContainsKey(calibAxis.AxisName))
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{
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calibAxis.TargetPosition = Math.Round(_hardware.AxesDic[calibAxis.AxisName].State.ActualPos, 3);
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}
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}
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}
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public void MakeTemplate()
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{
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try
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{
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if(Item.ModuleName== OriginCalibModuleNames.GantryX2)
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{
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_visionTempleWindowViewModel.SetCamera(CameraType.TopWideCamera);
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}
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else
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{
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_visionTempleWindowViewModel.SetCamera(CameraType.TopPositionCamera);
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}
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_visionTempleWindowViewModel.TemplatePath = _item.TemplatePath;
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$"原点标定模块“{ModuleName}”打开视觉模板制作窗口。".LogInfo();
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_visionTempleWindowViewModel.ShowWindow();
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}
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catch (Exception ex)
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{
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$"原点标定模块“{ModuleName}”打开视觉模板制作窗口失败：{ex.Message}".LogSysError();
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LocalizedMessageBox.ShowFormat(
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MessageKey.OriginCalibOpenVisionTemplateFailed,
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MessageKey.TitleError,
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MessageBoxButton.OK,
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MessageBoxImage.Error,
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ex.Message);
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}
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}
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public async Task StartCalib()
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{
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if (IsCalibrating)
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{
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return;
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}
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IsCalibrating = true;
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LoadingService.Instance.Show(string.Format("模块 {0} 正在标定...", ModuleName), true, true);
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try
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{
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string.Format(
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"原点标定模块“{0}”开始标定，避让轴数量：{1}，标定轴数量：{2}。",
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ModuleName,
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AvoidanceAxes.Count,
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CalibrationAxes.Count).LogInfo();
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var calibrationResult = await _motionService.ExecuteAsync(
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AvoidanceAxes.Select(x => x.Item),
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CalibrationAxes.Select(x => x.Item),
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LoadingService.Instance.Token);
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// 执行模块特定的后处理逻辑，通常在运动完成后、标定写入前
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if (_item.PostProcessor != null)
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{
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string.Format(
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"原点标定模块“{0}”执行后处理“{1}”。",
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ModuleName,
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_item.PostProcessor.Name).LogInfo();
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try
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{
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await _item.PostProcessor.ExecuteAsync(calibrationResult, LoadingService.Instance.Token, new CenterRecognitionParameters
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{
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TemplatePath = _item.TemplatePath,
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Type = CenterRecognitionType.Template
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});
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string.Format(
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"原点标定模块“{0}”后处理“{1}”完成。",
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ModuleName,
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_item.PostProcessor.Name).LogInfo();
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}
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catch (OperationCanceledException)
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{
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string.Format(
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"原点标定模块“{0}”后处理“{1}”被取消。",
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ModuleName,
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_item.PostProcessor.Name).LogInfo();
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throw;
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}
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catch (Exception ex)
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{
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string.Format(
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"原点标定模块“{0}”后处理“{1}”失败：{2}",
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ModuleName,
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_item.PostProcessor.Name,
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ex.Message).LogSysError();
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throw;
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}
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}
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foreach (CalibrationAxisViewModel calibAxis in CalibrationAxes)
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{
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IAxis axis = ResolveCalibrationAxis(calibAxis.AxisName);
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if (axis != null)
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{
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calibAxis.LastPosition = Math.Round(GetActualPosition(axis), 3);
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calibAxis.IsCalibrated = true;
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continue;
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}
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double lastPosition;
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if (calibrationResult.ActualPositions.TryGetValue(calibAxis.AxisName, out lastPosition))
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{
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calibAxis.LastPosition = lastPosition;
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calibAxis.IsCalibrated = true;
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}
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}
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string.Format("原点标定模块“{0}”标定完成。", ModuleName).LogInfo();
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}
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catch (OperationCanceledException)
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{
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string.Format("原点标定模块“{0}”取消标定。", ModuleName).LogInfo();
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LocalizedMessageBox.Show(MessageKey.OriginCalibCalibrationCanceled, MessageKey.TitleWarning, MessageBoxButton.OK, MessageBoxImage.Warning);
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}
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catch (Exception ex)
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{
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string.Format("原点标定模块“{0}”标定失败：{1}", ModuleName, ex.Message).LogSysError();
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LocalizedMessageBox.ShowFormat(MessageKey.OriginCalibCalibrationFailed, MessageKey.TitleError, MessageBoxButton.OK, MessageBoxImage.Error, ex.Message);
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}
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finally
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{
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LoadingService.Instance.Hide();
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IsCalibrating = false;
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}
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}
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public void ResetModule()
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{
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foreach (CalibrationAxisViewModel calibAxis in CalibrationAxes)
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{
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calibAxis.Reset();
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}
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string.Format("原点标定模块“{0}”已复位。", ModuleName).LogInfo();
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}
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private IAxis ResolveCalibrationAxis(string axisName)
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{
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if (string.IsNullOrWhiteSpace(axisName))
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{
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return null;
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}
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if (_hardware.AxesDic != null && _hardware.AxesDic.ContainsKey(axisName))
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{
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return _hardware.AxesDic[axisName];
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}
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if (string.Equals(axisName, "X1", StringComparison.OrdinalIgnoreCase))
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{
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return _hardware.Axis_X1;
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}
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if (string.Equals(axisName, "Y1", StringComparison.OrdinalIgnoreCase))
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{
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return _hardware.Axis_Y1;
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}
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if (string.Equals(axisName, "X2", StringComparison.OrdinalIgnoreCase))
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{
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return _hardware.Axis_X2;
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}
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if (string.Equals(axisName, "Y2", StringComparison.OrdinalIgnoreCase))
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{
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return _hardware.Axis_Y2;
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}
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if (string.Equals(axisName, "WSX3", StringComparison.OrdinalIgnoreCase))
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{
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return _hardware.Axis_WS_X3;
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}
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return null;
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}
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private static double GetActualPosition(IAxis axis)
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{
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if (axis == null)
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{
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return 0;
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}
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return axis.State != null ? axis.State.ActualPos : axis.GetPositionImmediate();
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}
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}
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}
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