Implemented motor group.

1 files changed, 102 insertions, 1 deletions

diff --git a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
index d87652e42..1b0ee0a56 100644
--- a/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
+++ b/Software/Visual_Studio/MachineStudio/Modules/Tango.MachineStudio.Technician/ViewModels/MachineTechViewVM.cs
@@ -362,9 +362,14 @@ namespace Tango.MachineStudio.Technician.ViewModels
             }
             else if (item is ThreadMotionItem)
             {
-                var editor = CreateElement<ThreadMotionElementEditor, ThreadMotionItem, int>(bounds, 0);
+                var editor = CreateElement<ThreadMotionElementEditor, ThreadMotionItem, object>(bounds, null);
                 InitThreadMotionItem(editor.ThreadMotionItem);
             }
+            else if (item is MotorGroupItem)
+            {
+                var editor = CreateElement<MotorGroupElementEditor, MotorGroupItem, object>(bounds, null);
+                InitMotorGroupItem(editor.MotorGroupItem);
+            }
         }
 
         private Editor CreateElement<Editor, Tech, Value>(Rect bounds, Value value) where Editor : IElementEditor where Tech : TechItem
@@ -428,6 +433,11 @@ namespace Tango.MachineStudio.Technician.ViewModels
                 var editor = CreateElement<ThreadMotionElementEditor>(item);
                 InitThreadMotionItem(editor.ThreadMotionItem);
             }
+            else if (item is MotorGroupItem)
+            {
+                var editor = CreateElement<MotorGroupElementEditor>(item);
+                InitMotorGroupItem(editor.MotorGroupItem);
+            }
         }
 
         public void OnElementsRemoved(List<IElementEditor> elements)
@@ -502,6 +512,16 @@ namespace Tango.MachineStudio.Technician.ViewModels
                     var ioItem = element.HostedElement as IOItem;
                     InitIOItem(ioItem);
                 }
+                else if (element is ThreadMotionItem)
+                {
+                    var threadMotionItem = element.HostedElement as ThreadMotionItem;
+                    InitThreadMotionItem(threadMotionItem);
+                }
+                else if (element is MotorGroupItem)
+                {
+                    var motorGroupItem = element.HostedElement as MotorGroupItem;
+                    InitMotorGroupItem(motorGroupItem);
+                }
             }
         }
 
@@ -722,6 +742,76 @@ namespace Tango.MachineStudio.Technician.ViewModels
             };
         }
 
+        private void InitMotorGroupItem(MotorGroupItem item)
+        {
+            item.ActionExecuted += async (x, action) =>
+            {
+                if (action == MotorActionType.ForwardPressed)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = motor.Code,
+                        Direction = MotorDirection.Forward,
+                    })));
+                }
+                else if (action == MotorActionType.ForwardReleased)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = motor.Code,
+                    })));
+                }
+                else if (action == MotorActionType.BackwardPressed)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StartMotorJogging(new MotorJoggingRequest()
+                    {
+                        Code = motor.Code,
+                        Direction = MotorDirection.Backward,
+                    })));
+                }
+                else if (action == MotorActionType.BackwardReleased)
+                {
+                    await Task.WhenAll(item.TechMotors.Select(motor => MachineOperator.StopMotorJogging(new MotorAbortJoggingRequest()
+                    {
+                        Code = motor.Code,
+                    })));
+                }
+                //else if (action == MotorActionType.HomingStarted)
+                //{
+                //    item.HomingProgress = 0;
+                //    item.IsHoming = true;
+                //    item.IsHomingCompleted = false;
+
+                //    MachineOperator.StartMotorHoming(new MotorHomingRequest()
+                //    {
+                //        Code = item.TechMotor.Code
+                //    })
+                //    .Subscribe((response) =>
+                //    {
+
+                //        item.HomingMaximumProgress = response.Message.MaxProgress;
+                //        item.HomingProgress = response.Message.Progress;
+
+                //    }, () =>
+                //    {
+
+                //        item.IsHoming = false;
+                //        item.IsHomingCompleted = true;
+
+                //    });
+                //}
+                //else if (action == MotorActionType.HomingStopped)
+                //{
+                //    await MachineOperator.StopMotorHoming(new MotorAbortHomingRequest()
+                //    {
+                //        Code = item.TechMotor.Code,
+                //    });
+
+                //    item.IsHoming = false;
+                //}
+            };
+        }
+
         #endregion
 
         #region Public Methods
@@ -754,6 +844,11 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
                 foreach (var item in project.Items)
                 {
+                    if (item is MotorGroupItem)
+                    {
+                        (item as MotorGroupItem).TechMotors = ObservablesEntitiesAdapter.Instance.TechMotors.Where(x => (item as MotorGroupItem).ItemsGuids.Contains(x.Guid)).ToObservableCollection();
+                    }
+
                     AddTechItem(item);
                 }
             }
@@ -799,6 +894,12 @@ namespace Tango.MachineStudio.Technician.ViewModels
 
             foreach (var element in Elements)
             {
+                if (element.HostedElement is MotorGroupItem)
+                {
+                    var group = element.HostedElement as MotorGroupItem;
+                    group.ItemsGuids = group.TechMotors.Select(x => x.Guid).ToList();
+                }
+
                 (element.HostedElement as TechItem).SetBounds(element.GetBounds());
                 project.Items.Add(element.HostedElement as TechItem);
             }