Plane.FormationCreator/Plane.FormationCreator/ViewModels/CalibrationViewModel.cs

using GalaSoft.MvvmLight;
using GalaSoft.MvvmLight.Command;
using Microsoft.Practices.ServiceLocation;
using Plane.CommunicationManagement;
using Plane.CopterManagement;
using Plane.Copters;
using Plane.FormationCreator.Formation;
using Plane.Windows.Messages;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
using System.Windows.Input;

namespace Plane.FormationCreator.ViewModels
{
    public class CalibrationViewModel : ViewModelBase
    {
        CommModuleManager commModule = CommModuleManager.Instance;

        private CopterManager _copterManager = ServiceLocator.Current.GetInstance<CopterManager>();

        private string _AccelerometerTips;
        public string AccelerometerTips
        {
            get
            {
                switch (AccelerometerState)
                {
                    case AccelerometerStates.Idle:
                        _AccelerometerTips = "点击“开始校准”后，开始校准加速计";
                        break;
                    case AccelerometerStates.Front:
                        _AccelerometerTips = "亮紫色: 飞机水平放置(Front)";
                        break;
                    case AccelerometerStates.Left:
                        _AccelerometerTips = "亮黄色：飞机左侧接触地面竖立放置(Left)";
                        break;
                    case AccelerometerStates.Right:
                        _AccelerometerTips = "亮青色：飞机右侧接触地面竖立放置(Right)";
                        break;
                    case AccelerometerStates.Down:
                        _AccelerometerTips = "紫色：飞机机头向下接触地面竖立放置(Down)";
                        break;
                    case AccelerometerStates.Up:
                        _AccelerometerTips = "黄色：飞机机尾向下接触地面竖立放置(Up)";
                        break;
                    case AccelerometerStates.Back:
                        _AccelerometerTips = "青色：飞机翻过来水平放置(Back)";
                        break;
                }
                return _AccelerometerTips;
            }
        }

        private string _AccelerometerBtnText = "开始校准";
        public string AccelerometerBtnText
        {
            get
            {
                switch (AccelerometerState)
                {
                    case AccelerometerStates.Idle:
                        _AccelerometerBtnText = "开始校准";
                        break;
                    default:
                        _AccelerometerBtnText = "完成";
                        break;
                }
                return _AccelerometerBtnText;
            }
        }

        //校准加速计的状态
        public enum AccelerometerStates
        {
            Idle = 0,
            Front = 1,
            Left = 2,
            Right = 3,
            Down = 4,
            Up = 5,
            Back = 6
        }

        private AccelerometerStates _AccelerometerState = AccelerometerStates.Idle;
        public AccelerometerStates AccelerometerState
        {
            get { return _AccelerometerState; }
            set
            {
                Set(nameof(AccelerometerState), ref _AccelerometerState, value);
                RaisePropertyChanged(nameof(AccelerometerBtnText));
                RaisePropertyChanged(nameof(AccelerometerTips));
            }
        }

        /// <summary>
        /// 开始校准加速计
        /// </summary>
        private ICommand _CalibrationAccelerometerStartCommand;
        public ICommand CalibrationAccelerometerStartCommand
        {
            get
            {
                return _CalibrationAccelerometerStartCommand ?? (_CalibrationAccelerometerStartCommand = new RelayCommand(async () =>
                {
                    if (_copterManager.SelectedCopters.Count() == 0) return;
                    await commModule.DoStartPreflightCompassAsync(_copterManager.SelectedCopters);
                }));
            }
        }

        /// <summary>
        /// 校准加速计下一步
        /// </summary>
        private ICommand _CalibrationAccelerometerNextCommand;
        public ICommand CalibrationAccelerometerNextCommand
        {
            get
            {
                return _CalibrationAccelerometerNextCommand ?? (_CalibrationAccelerometerNextCommand = new RelayCommand(async () =>
                {
                    if (_copterManager.SelectedCopters.Count() == 0) return;
                    await commModule.DoNextPreflightCompassAsync(_copterManager.SelectedCopters);
                }));
            }
        }

        private int _CompassPercent;
        public int CompassPercent
        {
            get { return _CompassPercent; }
            set
            {
                Set(nameof(CompassPercent), ref _CompassPercent, value);
            }
        }

        public bool IsCalibration { get; set; }
        /// <summary>
        /// 校准指南针
        /// </summary>
        private ICommand _CalibrationCompassCommand;
        public ICommand CalibrationCompassCommand
        {
            get
            {
                return _CalibrationCompassCommand ?? (_CalibrationCompassCommand = new RelayCommand(async () =>
                {
                    if (_copterManager.SelectedCopters.Count() == 0) return;

//                     ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();
// 
//                     short copterId = short.Parse(copter.Name);
                    Message.Show("开始校准指南针");

                    await commModule.DoCalibrationCompassAsync(_copterManager.SelectedCopters);
                    await Task.Delay(50).ConfigureAwait(false);

                    /*支持多飞行机同时校准 不再判断单架的返回值
                    
                    IsCalibration = true;
                    CompassPercent = 0;
                    int State = 0;  //4：成功 5失败  todo 改为枚举


                    while (IsCalibration && CompassPercent <= 100)
                    {
                        //两个255的时候表示 当前预留字节代表的意思是校准
                        if (copter.Retain[2] == 255 && copter.Retain[3] == 255)
                        {
                            CompassPercent = copter.Retain[0];
                            State = copter.Retain[1];
                            if (State == 4 || State == 5)
                                break;
                        }

                        await Task.Delay(100);
                    }

                    switch (State)
                    {
                        case 4:
                            Alert.Show($"校准成功，请重新上电{copterId}号", "指南针");
                            break;
                        case 5:
                            Alert.Show("校准失败", "指南针");
                            break;
                        default:
                            break;
                    }

                    IsCalibration = false;
                    */
                }));
            }
        }

        private ICommand _CancelCalibrationCompassCommand;
        public ICommand CancelCalibrationCompassCommand
        {
            get
            {
                return _CancelCalibrationCompassCommand ?? (_CancelCalibrationCompassCommand = new RelayCommand(async () =>
                {
                    if (_copterManager.SelectedCopters.Count() == 1) return;
       
                    ICopter copter = _copterManager.SelectedCopters.FirstOrDefault();

                    short copterId = short.Parse(copter.Name);
                    await commModule.DoCancelCalibrationCompassAsync(copterId);
                    IsCalibration = false;
                    Alert.Show("放弃校准", "指南针");
                }));
            }
        }
    }

    
}